wip

2026-04-15 23:12:13 +02:00
parent e2accf6ffa
commit 60536ed738
96 changed files with 357096 additions and 305622 deletions
--- a/workspace/AUTOM10/Core/Src/cdc_int.c
+++ b/workspace/AUTOM10/Core/Src/cdc_int.c
@@ -20,6 +20,9 @@ extern uint16_t ch6 ;
 extern uint16_t ch7 ;
 extern uint16_t ch8 ;
 extern const uint8_t deftab[];
+extern omCiclo_st stCiclo;
+extern omCiclo_st memstCiclo;
+extern uint8_t stPulsanti;

 bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
 	if((c1>='0')&&(c1<='9')){
@@ -72,6 +75,7 @@ void manageCDC(void){
 	  if (rx < 0) return;
 	  //uint8_t out = (uint8_t)c;
 	  //if (out >= 'a' && out <= 'z') out -= 32; // to upper
+
 	  rxbuf[rxidx]=rx;
 	  while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
 	  if((rx==0x0d)||(rx==0x0a)){
@@ -86,6 +90,8 @@ void manageCDC(void){
 				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
 				  sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
 				  while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
+				  sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
+				  while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
 				  break;
 			  case 'I':
 				  sprintf((char*)s,"\nID000000");
--- a/workspace/AUTOM10/Core/Src/eeprom.c
+++ b/workspace/AUTOM10/Core/Src/eeprom.c
@@ -10,6 +10,25 @@
 *  [2..] Records...
 */

+extern uint16_t m1pwmap;
+extern uint16_t m1pwmch;
+extern uint16_t m2pwmap;
+extern uint16_t m2pwmch;
+extern uint16_t m3pwmap;
+extern uint16_t m3pwmch;
+extern uint16_t m4pwmap;
+extern uint16_t m4pwmch;
+extern uint16_t t1ap;
+extern uint16_t t2ap;
+extern uint16_t t3ap;
+extern uint16_t t4ap;
+extern uint16_t twap;
+extern uint16_t tramp;
+extern uint16_t t1ch;
+extern uint16_t t2ch;
+extern uint16_t t3ch;
+extern uint16_t twch;
+
 const uint8_t deftab[32]={
 	40,	//m1pwmap
 	60, //m1pwmch
@@ -28,6 +47,10 @@ const uint8_t deftab[32]={
 	8,  //t3ap
 	40, //t4ap
 	1,  //twap
+	30,  //t1ch
+	30,  //t2ch
+	40,  //t3ch
+	1,  //twch
 	0,
 	0,
 	0,
@@ -38,11 +61,7 @@ const uint8_t deftab[32]={
 	0,
 	0,
 	0,
-	0,
-	0,
-	0,
-	0,
-	0,
+	10,  //tramp
 };

 typedef struct
@@ -334,3 +353,24 @@ uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
    st = EE_PageTransfer(VirtAddress, Data);
    return (uint16_t)st;
 }
+
+void loadEE(void){
+	EEW_Read(M1PWMAP, &m1pwmap);
+	EEW_Read(M1PWMCH, &m1pwmch);
+	EEW_Read(M2PWMAP, &m2pwmap);
+	EEW_Read(M2PWMCH, &m2pwmch);
+	EEW_Read(M3PWMAP, &m3pwmap);
+	EEW_Read(M3PWMCH, &m3pwmch);
+	EEW_Read(M4PWMAP, &m4pwmap);
+	EEW_Read(M4PWMCH, &m4pwmch);
+	EEW_Read(T1AP, &t1ap);
+	EEW_Read(T2AP, &t2ap);
+	EEW_Read(T3AP, &t3ap);
+	EEW_Read(T4AP, &t4ap);
+	EEW_Read(TWAP, &twap);
+	EEW_Read(T1CH, &t1ch);
+	EEW_Read(T2CH, &t2ch);
+	EEW_Read(T3CH, &t3ch);
+	EEW_Read(TWCH, &twch);
+	EEW_Read(TRAMP, &tramp);
+}
--- a/workspace/AUTOM10/Core/Src/eeprom.h
+++ b/workspace/AUTOM10/Core/Src/eeprom.h
@@ -65,6 +65,31 @@ typedef enum
 #define EE_NUM_VIRTUAL_ADDR    32U
 #define EEW_ADDR(i)            (uint16_t)(0x0001 + (i))   // i = 0..31

+
+#define M1PWMAP	0	//m1pwmap
+#define M1PWMCH	1	//m1pwmch
+#define M2PWMAP	2	//m2pwmap
+#define M2PWMCH	3	//m2pwmch
+#define M3PWMAP	4	//m3pwmap
+#define M3PWMCH	5	//m3pwmch
+#define M4PWMAP	6	//m4pwmap
+#define M4PWMCH	7	//m4pwmch
+#define M1RAMPSTART 8 //m1rampstart
+#define M2RAMPSTART 9 //m2rampstart
+#define M3RAMPSTART 10 //m3rampstart
+#define M4RAMPSTART 11 //m4rampstart
+#define T1AP 12 //t1ap
+#define T2AP 13 //t2ap
+#define T3AP 14 //t3ap
+#define T4AP 15 //t4ap
+#define TWAP 16 //twap
+#define T1CH 17 //t1ch
+#define T2CH 18 //t2ch
+#define T3CH 19 //t3ch
+#define TWCH 20 //twch
+#define TRAMP 31 //tramp
+
+
 /* Virtual address table (defined in eeprom.c, can be customized) */
 extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];

@@ -72,7 +97,7 @@ extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
 uint16_t EE_Init(void);
 uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data);
 uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
-
+void loadEE(void);
 /* Pseudo-array accessor EEW[idx] */
 static inline uint16_t EEW_Read(uint8_t idx, uint16_t *value)
 {
--- a/workspace/AUTOM10/Core/Src/main.c
+++ b/workspace/AUTOM10/Core/Src/main.c
@@ -31,24 +31,7 @@

 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN PTD */
-typedef enum{
-	omchiuso,
-	omapertura1,
-	omapertura2,
-	omapertura3,
-	omapertura4,
-	omapertura5,
-	omapertura6,
-	omstopapertura,
-	omaperto,
-	omchiusura1,
-	omchiusura2,
-	omchiusura3,
-	omchiusura4,
-	omchiusura5,
-	omchiusura6,
-	omstopchiusura,
-}omCiclo_st;
+
 typedef enum{
 	bzoff,
 	bzmoving,
@@ -61,6 +44,10 @@ typedef enum{
 #define P1STOP  0x02
 #define P2START 0x04
 #define P2STOP  0x08
+#define M1 1
+#define M2 2
+#define M3 3
+#define M4 4

 /* USER CODE END PD */

@@ -88,11 +75,33 @@ extern uint16_t ch7 ;
 extern uint16_t ch8 ;

 uint8_t pulsanti=0;
-volatile uint8_t rtP1=0;
-volatile uint8_t rtP2=0;
+volatile uint8_t rtP1=200;
+volatile uint8_t rtP2=200;
+volatile uint16_t rtramp[4];
+volatile uint16_t rtCiclo;
+uint16_t m1pwmap;
+uint16_t m1pwmch;
+uint16_t m2pwmap;
+uint16_t m2pwmch;
+uint16_t m3pwmap;
+uint16_t m3pwmch;
+uint16_t m4pwmap;
+uint16_t m4pwmch;
+uint16_t t1ap;
+uint16_t t2ap;
+uint16_t t3ap;
+uint16_t t4ap;
+uint16_t twap;
+uint16_t t1ch;
+uint16_t t2ch;
+uint16_t t3ch;
+uint16_t twch;
+uint16_t tramp;

+uint16_t mrampstart[4];
 uint8_t stPulsanti=0;
 omCiclo_st stCiclo=omchiuso;
+omCiclo_st memstCiclo=omchiuso;
 volatile stBuz_st stBuz=bzoff;
 /* USER CODE END PV */

@@ -116,6 +125,7 @@ void HAL_SYSTICK_Callback(void){
  static uint8_t c1s = 0;
  static uint8_t inidx=0;
  static uint8_t inbuf[4];
+  uint8_t i;

  if (++c10ms >= 10) {               // 10 ms
 	  c10ms = 0;
@@ -133,6 +143,9 @@ void HAL_SYSTICK_Callback(void){
 	  readAdc();
 	  if (++c100ms >= 10) {               // 10 ms
 		  c100ms = 0;	    //flag_10ms = 1;                // set a flag; do real work in main loop
+		  for(i=0;i<4;i++){
+			  if(rtramp[i])rtramp[i]--;
+		  }
 //**** gestione buzzer *****************************************************************************
 		  if(stBuz==bzmoving){
 			  if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
@@ -142,6 +155,7 @@ void HAL_SYSTICK_Callback(void){
 //**************************************************************************************************
 		  if (++c1s >= 10) {               // 10 ms
 			  c1s = 0;
+			  if(rtCiclo)rtCiclo--;
 			  HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
 		  }
 	  }
@@ -172,55 +186,218 @@ void manageCiclo(void){
 		case omchiuso:
 			if(stPulsanti&P1START){
 				stBuz=bzmoving;
+				(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
 				stCiclo=omapertura1;
 			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
 		case omapertura1:
+			if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t1ap;
+				stCiclo=omapertura2;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
 		case omapertura2:
+			if(rtCiclo==0){
+				(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura3;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
 		case omapertura3:
+			if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura4;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
 		case omapertura4:
+			if(rtCiclo==0){
+				(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura5;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
 		case omapertura5:
+			if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ap;
+				stCiclo=omapertura6;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
 		case omapertura6:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura7:
+			if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ap;
+				stCiclo=omapertura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura8:
+			if(rtCiclo==0){
+				(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
+				(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura9:
+			if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twap;
+				stCiclo=omapertura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
+				stCiclo=omapertura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura11:
+			if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
+				rtCiclo=t4ap;
+				stCiclo=omapertura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura12:
+			if(rtCiclo==0){
+				(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
+				stCiclo=omapertura13;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura13:
+			if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twap;
+				stCiclo=omapertura14;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
+			break;
+		case omapertura14:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omaperto;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopapertura;
 			break;
 		case omstopapertura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
 			stBuz=bzoff;
 			stCiclo=omchiuso;
 			stPulsanti&=(~P1STOP);
 			break;
 		case omaperto:
+			if(stPulsanti&P1START){
+				stBuz=bzmoving;
+				(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
+				(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura1;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura1:
+			if((ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE)){
+				rtCiclo=t1ch;
+				stCiclo=omchiusura2;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura2:
+			if(rtCiclo==0){
+				(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
+				(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura3;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura3:
+			if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
+				rtCiclo=twch;
+				stCiclo=omchiusura4;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura4:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura5;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura5:
+			if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t2ch;
+				stCiclo=omchiusura6;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omchiusura6:
+			if(rtCiclo==0){
+				(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura7;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura7:
+			if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura8;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura8:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
+				stCiclo=omchiusura9;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura9:
+			if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
+				rtCiclo=t3ch;
+				stCiclo=omchiusura10;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura10:
+			if(rtCiclo==0){
+				(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
+				stCiclo=omchiusura11;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura11:
+			if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
+				rtCiclo=twch;
+				stCiclo=omchiusura12;
+			}
+			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
+			break;
+		case omchiusura12:
+			if(rtCiclo==0){
+				stBuz=bzoff;
+				stCiclo=omchiuso;
+			}
 			if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
 			break;
 		case omstopchiusura:
+			SetMotPerc(M1,FW,0);
+			SetMotPerc(M2,FW,0);
+			SetMotPerc(M3,FW,0);
+			SetMotPerc(M4,FW,0);
 			stBuz=bzoff;
 			stCiclo=omaperto;
 			stPulsanti&=(~P1STOP);
@@ -280,6 +457,7 @@ int main(void)
  if (EE_Init() != EE_OK){
      for(;;);//errore eeprom
  }
+  loadEE();
  /* USER CODE END 2 */

  /* Infinite loop */
--- a/workspace/AUTOM10/Core/Src/pwm.c
+++ b/workspace/AUTOM10/Core/Src/pwm.c
@@ -14,7 +14,8 @@ extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
-
+extern volatile uint8_t rtramp[4];
+extern uint8_t mrampstart[4];
 bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
 {
    HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
@@ -242,3 +243,41 @@ void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
 	}

 }
+
+uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
+	static uint8_t memrtramp[4];
+	uint16_t delta;
+	switch(mode){
+	case RAMPINIT:
+		memrtramp[mot-1]=percStart=tr;
+		SetMotPerc(mot,dir,mrampstart[mot-1]);
+		return DONE;
+	case RAMPRUN:
+		if(memrtramp[mot-1]!=rtramp[mot-1]){
+			memrtramp[mot-1]=rtramp[mot-1];
+			if(rtramp[mot-1]){
+				if(mrampstart[mot-1]>percEnd){
+					delta=mrampstart[mot-1]-percEnd;
+					delta=delta*(uint16_t)(tr-rtramp[mot-1]);
+					delta=delta/tr;
+					SetMotPerc(mot,dir,mrampstart[mot-1]-delta);
+					return RUNNING;
+				}else if(mrampstart[mot-1]<percEnd){
+					delta=percEnd-mrampstart[mot-1];
+					delta=delta*(uint16_t)(tr-rtramp[mot-1]);
+					delta=delta/tr;
+					SetMotPerc(mot,dir,mrampstart[mot-1]+delta);
+					return RUNNING;
+				}else{
+					SetMotPerc(mot,dir,percEnd);
+					return DONE;
+				}
+			}else{
+				SetMotPerc(mot,dir,percEnd);
+				return DONE;
+			}
+		}else return RUNNING;
+		break;
+	}
+	return DONE;
+}