Joy_Buttons versao 2
Dependencies: X_NUCLEO_IHM01A1 mbed
Fork of HelloWorld_IHM01A1_buttons by
Diff: botoesnh.cpp
- Revision:
- 39:8e6912132896
- Parent:
- 38:6e846a303dec
diff -r 6e846a303dec -r 8e6912132896 botoesnh.cpp --- 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>© 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++;