Diff: botoesnh.cpp

Revision:

39:8e6912132896

Parent:

38:6e846a303dec

--- a/botoesnh.cpp	Wed Apr 18 14:12:03 2018 +0000
+++ b/botoesnh.cpp	Wed Apr 18 20:33:33 2018 +0000
@@ -1,42 +1,3 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  Davide Aliprandi, STMicroelectronics
- * @version V1.0.0
- * @date    October 14th, 2015
- * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
- *          Motor Control Expansion Board: control of 1 motor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
 /* Includes ------------------------------------------------------------------*/
 
 /* mbed specific header files. */
@@ -52,7 +13,7 @@
 /* Definitions ---------------------------------------------------------------*/
 
 /* Number of steps. */
-#define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
+#define STEPS_1 (200 * 8)   /* 1 revolution given a 200 steps motor configured at 1/8 microstep mode. */
 
 /* Delay in milliseconds. */
 #define DELAY_1 1000
@@ -73,7 +34,7 @@
 L6474_init_t init = {
     160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
     160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
-    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
+    2600,                             /* Maximum speed in pps. Range: (30..10000]. */
     800,                              /* Minimum speed in pps. Range: [30..10000). */
     250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
     L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
@@ -97,54 +58,21 @@
 };
 
 /* Motor Control Component. */
-L6474 *motor;
+L6474 *motor1;
+L6474 *motor2;
+L6474 *motor3;
+
 
 
 /* Functions -----------------------------------------------------------------*/
 
-/**
- * @brief  This is an example of user handler for the flag interrupt.
- * @param  None
- * @retval None
- * @note   If needed, implement it, and then attach and enable it:
- *           + motor->attach_flag_irq(&flag_irq_handler);
- *           + motor->enable_flag_irq();
- *         To disable it:
- *           + motor->disble_flag_irq();
- */
-void flag_irq_handler(void)
-{
-    /* Set ISR flag. */
-    motor->isr_flag = TRUE;
-
-    /* Get the value of the status register. */
-    unsigned int status = motor->get_status();
-
-    /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
-    /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
-    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
-        printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
-    }
-    
-    /* Reset ISR flag. */
-    motor->isr_flag = FALSE;
-}
 
 
 
-
-
-
-
-
-
-
-
-
-DigitalIn botao_A(D6);
-DigitalIn botao_B(D5);
-DigitalIn botao_C(D4);
-DigitalIn botao_D(D3);
+DigitalIn botao_A(A0);
+DigitalIn botao_B(A1);
+DigitalIn botao_C(A2);
+DigitalIn botao_D(A3);
 
 
 DigitalOut myled(LED1);
@@ -157,15 +85,20 @@
     DevSPI dev_spi(D11, D12, D13);
 
     /* Initializing Motor Control Component. */
-    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
-    if (motor->init(&init) != COMPONENT_OK) {
+    motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
+    motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
+    motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
+    if (motor1->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+    }
+    if (motor2->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+    }
+    if (motor3->init(&init) != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
 
-    /* Attaching and enabling interrupt handlers. */
-    motor->attach_flag_irq(&flag_irq_handler);
-    motor->enable_flag_irq();
-
+   
 int a,b,c,d;
 pc.baud(9600);
 
@@ -179,12 +112,16 @@
         if (botao_A==0) {
           a++;
           pc.printf("\n\rTecla A=%d",a);
-          motor->move(StepperMotor::FWD, 400);
+          motor1->move(StepperMotor::FWD, 400);
+          motor2->move(StepperMotor::FWD, 400);
+          motor3->move(StepperMotor::FWD, 400);
         }
         if (botao_B==0) {
           b++;
           pc.printf("\n\rTecla B=%d",b);
-          motor->move(StepperMotor::BWD, 400);
+          motor1->move(StepperMotor::BWD, 400);
+          motor2->move(StepperMotor::BWD, 400);
+          motor3->move(StepperMotor::BWD, 400);
         }
         if (botao_C==0) {
           c++;