AKM Development Platform / AP1017

Motor driver library for the AP1017.

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AKM Development Platform

AP1017 Motor Driver

Import libraryAP1017

Motor driver library for the AP1017.

Last commit 02 May 2018 by AKM Development Platform

AP1017.cpp@6:d4d3bc82d446, 2017-04-21 (annotated)

Committer:
tkstreet
Date:
Fri Apr 21 23:22:06 2017 +0000
Revision:
6:d4d3bc82d446
Parent:
5:2da4339149a6
Child:
8:bc70a421ef4c
Changed Enable pin from DigitalOut to I2C/TCA9554A.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 0:a0435a630c5d 1 #include "AP1017.h"
tkstreet 4:c36159701cde 2 #include "debug.h"
tkstreet 0:a0435a630c5d 3
tkstreet 6:d4d3bc82d446 4 #define I2C_SPEED 400000
tkstreet 6:d4d3bc82d446 5
tkstreet 0:a0435a630c5d 6 /******************** Constructors & Destructors ****************************/
tkstreet 0:a0435a630c5d 7
tkstreet 0:a0435a630c5d 8 // Default constructor
tkstreet 3:f8e70f639ed0 9 AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0)
tkstreet 0:a0435a630c5d 10 {
tkstreet 6:d4d3bc82d446 11 //motor = new PwmOut(P0_10);
tkstreet 3:f8e70f639ed0 12 inA = new DigitalOut(P0_11);
tkstreet 5:2da4339149a6 13 inB = new DigitalOut(P0_9);
tkstreet 6:d4d3bc82d446 14
tkstreet 6:d4d3bc82d446 15 // Instantiate I2C
tkstreet 6:d4d3bc82d446 16 i2cMotor = new I2C(I2C_SDA0, I2C_SCL0);
tkstreet 6:d4d3bc82d446 17 i2cMotor->frequency(I2C_SPEED);
tkstreet 6:d4d3bc82d446 18
tkstreet 6:d4d3bc82d446 19 // Instantiate TCA9554A
tkstreet 6:d4d3bc82d446 20 motor = new TCA9554A(i2cMotor, TCA9554A::SLAVE_ADDRESS_38H); // 38H->Port 0->RSV
tkstreet 6:d4d3bc82d446 21
tkstreet 6:d4d3bc82d446 22 // Initialize RSV as output
tkstreet 6:d4d3bc82d446 23 if (motor->configurePort(TCA9554A::PORT_0, TCA9554A::DIR_OUTPUT)!= TCA9554A::SUCCESS) {
tkstreet 6:d4d3bc82d446 24 MSG("#AP1017: Error configuring TCA9554A port.\r\n");
tkstreet 6:d4d3bc82d446 25 }
tkstreet 6:d4d3bc82d446 26 motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW); // Turn motor off
tkstreet 0:a0435a630c5d 27 }
tkstreet 0:a0435a630c5d 28
tkstreet 0:a0435a630c5d 29 // Default destructor
tkstreet 0:a0435a630c5d 30 AP1017::~AP1017(void)
tkstreet 0:a0435a630c5d 31 {
tkstreet 3:f8e70f639ed0 32 stop();
tkstreet 6:d4d3bc82d446 33 delete inA, inB, motor, i2cMotor;
tkstreet 0:a0435a630c5d 34 }
tkstreet 0:a0435a630c5d 35
tkstreet 0:a0435a630c5d 36 /*********************** Member Functions ***********************************/
tkstreet 0:a0435a630c5d 37
tkstreet 4:c36159701cde 38 AP1017::Status AP1017::setDirection(AP1017::Rotation dir)
tkstreet 0:a0435a630c5d 39 {
tkstreet 3:f8e70f639ed0 40 direction = dir;
tkstreet 4:c36159701cde 41
tkstreet 3:f8e70f639ed0 42 switch(direction){
tkstreet 4:c36159701cde 43 case DIRECTION_CW: // direction = 0x00
tkstreet 4:c36159701cde 44 if(isMotorOn())
tkstreet 4:c36159701cde 45 {
tkstreet 4:c36159701cde 46 MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
tkstreet 0:a0435a630c5d 47 return ERROR_MOTORON;
tkstreet 4:c36159701cde 48 }else
tkstreet 4:c36159701cde 49 {
tkstreet 4:c36159701cde 50 inA->write(1);
tkstreet 4:c36159701cde 51 inB->write(0);
tkstreet 4:c36159701cde 52 MSG("#AP1017.cpp: Direction: CCW\r\n");
tkstreet 4:c36159701cde 53 }
tkstreet 0:a0435a630c5d 54 break;
tkstreet 4:c36159701cde 55 case DIRECTION_CCW: // direction = 0x01
tkstreet 4:c36159701cde 56 if(isMotorOn())
tkstreet 4:c36159701cde 57 {
tkstreet 4:c36159701cde 58 MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
tkstreet 0:a0435a630c5d 59 return ERROR_MOTORON;
tkstreet 4:c36159701cde 60 }else
tkstreet 4:c36159701cde 61 {
tkstreet 4:c36159701cde 62 inA->write(0);
tkstreet 4:c36159701cde 63 inB->write(1);
tkstreet 4:c36159701cde 64 MSG("#AP1017.cpp: Direction: CW\r\n");
tkstreet 4:c36159701cde 65 }
tkstreet 0:a0435a630c5d 66 break;
tkstreet 4:c36159701cde 67 case DIRECTION_BRAKE: // direction = 0x03
tkstreet 1:4d4c77589134 68 inA->write(1);
tkstreet 1:4d4c77589134 69 inB->write(1);
tkstreet 4:c36159701cde 70 MSG("#AP1017.cpp: Direction: Brake\r\n");
tkstreet 0:a0435a630c5d 71 break;
tkstreet 4:c36159701cde 72 case DIRECTION_COAST: // direction = 0x04
tkstreet 1:4d4c77589134 73 inA->write(0);
tkstreet 1:4d4c77589134 74 inB->write(0);
tkstreet 0:a0435a630c5d 75 motorOn = false;
tkstreet 4:c36159701cde 76 MSG("#AP1017.cpp: Direction: Coast\r\n");
tkstreet 0:a0435a630c5d 77 break;
tkstreet 0:a0435a630c5d 78 default:
tkstreet 0:a0435a630c5d 79 return ERROR_DIRECTION;
tkstreet 0:a0435a630c5d 80 }
tkstreet 0:a0435a630c5d 81
tkstreet 0:a0435a630c5d 82 return SUCCESS;
tkstreet 0:a0435a630c5d 83 }
tkstreet 0:a0435a630c5d 84
tkstreet 3:f8e70f639ed0 85
tkstreet 3:f8e70f639ed0 86 AP1017::Rotation AP1017::getDirection(void)
tkstreet 0:a0435a630c5d 87 {
tkstreet 3:f8e70f639ed0 88 return direction;
tkstreet 3:f8e70f639ed0 89 }
tkstreet 3:f8e70f639ed0 90
tkstreet 0:a0435a630c5d 91
tkstreet 3:f8e70f639ed0 92 AP1017::Status AP1017::setSpeed(float dc)
tkstreet 3:f8e70f639ed0 93 {
tkstreet 4:c36159701cde 94 if((dc <= 100.0) && (dc >= 0.0)){
tkstreet 3:f8e70f639ed0 95 dutyCycle = dc/100.0;
tkstreet 4:c36159701cde 96 MSG("#AP1017.cpp: dutyCycle = %.1f%%\r\n", dc);
tkstreet 0:a0435a630c5d 97
tkstreet 0:a0435a630c5d 98 if(motorOn == true){
tkstreet 6:d4d3bc82d446 99 //TODO
tkstreet 4:c36159701cde 100 MSG("#AP1017.cpp: Changed running motor speed.\r\n");
tkstreet 0:a0435a630c5d 101 }
tkstreet 0:a0435a630c5d 102 }
tkstreet 0:a0435a630c5d 103 else{
tkstreet 0:a0435a630c5d 104 dutyCycle = 0.0;
tkstreet 0:a0435a630c5d 105
tkstreet 0:a0435a630c5d 106 return ERROR_DUTY_CYCLE;
tkstreet 0:a0435a630c5d 107 }
tkstreet 0:a0435a630c5d 108
tkstreet 0:a0435a630c5d 109 return SUCCESS;
tkstreet 0:a0435a630c5d 110 }
tkstreet 0:a0435a630c5d 111
tkstreet 0:a0435a630c5d 112
tkstreet 3:f8e70f639ed0 113 float AP1017::getSpeed(void)
tkstreet 0:a0435a630c5d 114 {
tkstreet 4:c36159701cde 115 MSG("#AP1017.cpp: Speed = %.1f%%\r\n", dutyCycle);
tkstreet 3:f8e70f639ed0 116 return dutyCycle*100.0;
tkstreet 0:a0435a630c5d 117 }
tkstreet 0:a0435a630c5d 118
tkstreet 0:a0435a630c5d 119
tkstreet 3:f8e70f639ed0 120 AP1017::Status AP1017::start(void)
tkstreet 0:a0435a630c5d 121 {
tkstreet 6:d4d3bc82d446 122 motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::HIGH); // set RSV high
tkstreet 4:c36159701cde 123 MSG("#AP1017.cpp: Motor: ON\r\n");
tkstreet 0:a0435a630c5d 124 motorOn = true; // Set ON flag
tkstreet 0:a0435a630c5d 125
tkstreet 0:a0435a630c5d 126 return SUCCESS;
tkstreet 0:a0435a630c5d 127 }
tkstreet 0:a0435a630c5d 128
tkstreet 0:a0435a630c5d 129
tkstreet 3:f8e70f639ed0 130 AP1017::Status AP1017::stop(void)
tkstreet 0:a0435a630c5d 131 {
tkstreet 6:d4d3bc82d446 132 motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW); // set RSV low
tkstreet 4:c36159701cde 133 MSG("#AP1017.cpp: Motor: OFF\r\n");
tkstreet 0:a0435a630c5d 134 motorOn = false; // Set OFF flag
tkstreet 0:a0435a630c5d 135
tkstreet 0:a0435a630c5d 136 return SUCCESS;
tkstreet 0:a0435a630c5d 137 }
tkstreet 0:a0435a630c5d 138
tkstreet 3:f8e70f639ed0 139 AP1017::Status AP1017::brake(void)
tkstreet 0:a0435a630c5d 140 {
tkstreet 0:a0435a630c5d 141 setDirection(DIRECTION_BRAKE);
tkstreet 4:c36159701cde 142 MSG("#AP1017.cpp: Motor: BRAKE\r\n");
tkstreet 0:a0435a630c5d 143 return SUCCESS;
tkstreet 0:a0435a630c5d 144 }
tkstreet 0:a0435a630c5d 145
tkstreet 3:f8e70f639ed0 146 AP1017::Status AP1017::coast(void)
tkstreet 0:a0435a630c5d 147 {
tkstreet 0:a0435a630c5d 148 setDirection(DIRECTION_COAST);
tkstreet 4:c36159701cde 149 MSG("#AP1017.cpp: Motor: COAST\r\n");
tkstreet 0:a0435a630c5d 150 return SUCCESS;
tkstreet 4:c36159701cde 151 }
tkstreet 4:c36159701cde 152
tkstreet 4:c36159701cde 153 bool AP1017::isMotorOn(void)
tkstreet 4:c36159701cde 154 {
tkstreet 4:c36159701cde 155 return motorOn;
tkstreet 0:a0435a630c5d 156 }