quentin godbert / Mbed OS t2-stm32-lift

interrupt géré compil ok sans isr

Fork of T2_STM32 by Atechsys

lift.h@9:d3dcad0c7d57, 2018-02-06 (annotated)

Committer:
ketingue
Date:
Tue Feb 06 11:04:00 2018 +0000
Revision:
9:d3dcad0c7d57
Parent:
8:dcaa5c9d8706 
lift avec interruption sans isr

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Tioneb 5:d6484db1ec5c 1 //Ne pas oublier la détection de surintensité
ketingue 6:6291f032e996 2 #include <string>
ketingue 6:6291f032e996 3 #include "mbed.h"
ketingue 6:6291f032e996 4 #include "mbed_events.h"
ketingue 6:6291f032e996 5
ketingue 6:6291f032e996 6 using namespace std;
Tioneb 5:d6484db1ec5c 7
Tioneb 5:d6484db1ec5c 8 #define PeakCurrent 510 // Valeur à vérifier
ketingue 6:6291f032e996 9 #define _EVENT_SIZE 512
ketingue 6:6291f032e996 10
ketingue 6:6291f032e996 11 PinName motionspin ,
ketingue 6:6291f032e996 12 motiondir ,
ketingue 9:d3dcad0c7d57 13 motionsensor = LIFTCURRENTSENSOR;
ketingue 6:6291f032e996 14
ketingue 8:dcaa5c9d8706 15 DigitalOut RED(D6);
ketingue 8:dcaa5c9d8706 16 DigitalOut GRN(D5);
ketingue 8:dcaa5c9d8706 17 DigitalOut AMB(D4);
ketingue 8:dcaa5c9d8706 18 DigitalOut myled(LED1);
ketingue 6:6291f032e996 19
ketingue 8:dcaa5c9d8706 20 Ticker timer;
ketingue 8:dcaa5c9d8706 21
ketingue 8:dcaa5c9d8706 22 PwmOut Step(motionspin);
ketingue 8:dcaa5c9d8706 23 AnalogIn Step2(motionsensor);
ketingue 8:dcaa5c9d8706 24 DigitalOut Dir2(motiondir);
ketingue 6:6291f032e996 25
Tioneb 5:d6484db1ec5c 26
Tioneb 5:d6484db1ec5c 27 class Lift {
Tioneb 5:d6484db1ec5c 28
Tioneb 5:d6484db1ec5c 29 public:
ketingue 8:dcaa5c9d8706 30 Lift(PinName);
ketingue 6:6291f032e996 31 Lift();
ketingue 6:6291f032e996 32 ~Lift();
ketingue 6:6291f032e996 33
Tioneb 5:d6484db1ec5c 34
Tioneb 5:d6484db1ec5c 35 void Starting();
Tioneb 5:d6484db1ec5c 36 void Stopping();
Tioneb 5:d6484db1ec5c 37 void GoUp();
Tioneb 5:d6484db1ec5c 38 void GoDown();
Tioneb 5:d6484db1ec5c 39
Tioneb 5:d6484db1ec5c 40 private:
ketingue 8:dcaa5c9d8706 41
ketingue 8:dcaa5c9d8706 42 unsigned char *trye;
ketingue 8:dcaa5c9d8706 43 // EventQueue queue(32);
ketingue 6:6291f032e996 44 Thread t;
ketingue 8:dcaa5c9d8706 45 InterruptIn _interrupt;
ketingue 6:6291f032e996 46
Tioneb 5:d6484db1ec5c 47 bool InMotion;
Tioneb 5:d6484db1ec5c 48 char sTargetPos,
Tioneb 5:d6484db1ec5c 49 PreviousPos,
Tioneb 5:d6484db1ec5c 50 CurrentPos;
Tioneb 5:d6484db1ec5c 51 int StepPin,
Tioneb 5:d6484db1ec5c 52 spinDown,
Tioneb 5:d6484db1ec5c 53 sMiddleSensor,
Tioneb 5:d6484db1ec5c 54 CurrentSensor,
Tioneb 5:d6484db1ec5c 55 tempStepPin,
Tioneb 5:d6484db1ec5c 56 tempDirPin;
Tioneb 5:d6484db1ec5c 57 };
Tioneb 5:d6484db1ec5c 58
Tioneb 5:d6484db1ec5c 59
Tioneb 5:d6484db1ec5c 60
Tioneb 5:d6484db1ec5c 61 void Lift::Starting(){
Tioneb 5:d6484db1ec5c 62 int i;
Tioneb 5:d6484db1ec5c 63 for(i=0; i<128; i++){
ketingue 6:6291f032e996 64 Step.write(i);
ketingue 6:6291f032e996 65 wait(10);
Tioneb 5:d6484db1ec5c 66 }
Tioneb 5:d6484db1ec5c 67 }
Tioneb 5:d6484db1ec5c 68
Tioneb 5:d6484db1ec5c 69 void Lift::Stopping(){
Tioneb 5:d6484db1ec5c 70 int i;
Tioneb 5:d6484db1ec5c 71 for(i=128; i>0; i--){
ketingue 6:6291f032e996 72 Step.write(i);
ketingue 6:6291f032e996 73 wait(10);
Tioneb 5:d6484db1ec5c 74 }
Tioneb 5:d6484db1ec5c 75 }
Tioneb 5:d6484db1ec5c 76
Tioneb 5:d6484db1ec5c 77 void Lift::GoUp(){
ketingue 6:6291f032e996 78 Dir2.write(0);
Tioneb 5:d6484db1ec5c 79 Starting();
ketingue 6:6291f032e996 80
Tioneb 5:d6484db1ec5c 81 }
Tioneb 5:d6484db1ec5c 82
Tioneb 5:d6484db1ec5c 83 void Lift::GoDown(){
ketingue 6:6291f032e996 84 Dir2.write(1);
Tioneb 5:d6484db1ec5c 85 Starting();
Tioneb 5:d6484db1ec5c 86 }
Tioneb 5:d6484db1ec5c 87
ketingue 8:dcaa5c9d8706 88
ketingue 8:dcaa5c9d8706 89
ketingue 9:d3dcad0c7d57 90 Lift::Lift(PinName Step2): _interrupt(Step2){
ketingue 8:dcaa5c9d8706 91 //t.start(callback(&queue, &EventQueue::dispatch_forever));
ketingue 8:dcaa5c9d8706 92 printf("Starting in context %p\r\n", Thread::gettid());
ketingue 8:dcaa5c9d8706 93 _interrupt.mode(PullUp);
ketingue 8:dcaa5c9d8706 94 // The 'rise' handler will execute in IRQ context
ketingue 8:dcaa5c9d8706 95 _interrupt.rise(callback(this, &Lift::Stopping));
ketingue 8:dcaa5c9d8706 96 // The 'fall' handler will execute in the context of thread 't'
ketingue 8:dcaa5c9d8706 97 //_interrupt.fall(queue.event(fall_handler));
ketingue 8:dcaa5c9d8706 98 while(1){
ketingue 8:dcaa5c9d8706 99 sleep(); //Sleep to save power, Interrupted by Ticker and Pulse events
ketingue 8:dcaa5c9d8706 100 }
ketingue 8:dcaa5c9d8706 101 }