main.cpp

00001 #include "mbed.h"
00002 #include "USBHID.h"
00003 
00004 // We declare a USBHID device.
00005 // HID In/Out Reports are 64 Bytes long
00006 // Vendor ID (VID):     0x15A2
00007 // Product ID (PID):    0x0138
00008 // Serial Number:       0x0001
00009 USBHID hid(64, 64, 0x15A2, 0x0138, 0x0001, true);
00010 
00011 //Setup Digital Outputs for the LEDs on the FRDM
00012 DigitalOut red_led(LED1);
00013 DigitalOut green_led(LED2);
00014 DigitalOut blue_led(LED3);
00015 
00016 //Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
00017 PwmOut IN1(PTD4); // Pin IN1 input to MPC17510 (FRDM PIN Name)
00018 PwmOut IN2(PTA12); // Pin IN2 input to MPC17510 (FRDM PIN Name)
00019 DigitalOut EN(PTC7); // Pin EN input to MPC17510 (FRDM PIN Name)
00020 DigitalOut GINB(PTC0); // Pin GIN_B input to MPC17510 (FRDM PIN Name)
00021 DigitalOut READY(PTC5); // Pin READY input to Motor Control Board (FRDM PIN Name)
00022 
00023 //Variables
00024 int pwm_freq_lo;
00025 int pwm_freq_hi;
00026 int frequencyHz;
00027 int storedFreq;
00028 int storedDuty;
00029 int runstop = 0;
00030 int runStopChange;
00031 int direction = 1;
00032 int directionChange;
00033 int braking;
00034 int brakingChange;
00035 int dutycycle;
00036 int motorState = 0;
00037 int ramptime = 0;
00038 
00039 //storage for send and receive data
00040 HID_REPORT send_report;
00041 HID_REPORT recv_report;
00042 
00043 bool initflag = true;
00044 
00045 // USB COMMANDS
00046 // These are sent from the PC
00047 #define WRITE_LED       0x20
00048 #define WRITE_GEN_EN  0x40
00049 #define WRITE_DUTY_CYCLE  0x50
00050 #define WRITE_PWM_FREQ  0x60
00051 #define WRITE_RUN_STOP  0x70
00052 #define WRITE_DIRECTION  0x71
00053 #define WRITE_BRAKING  0x90
00054 #define WRITE_RESET  0xA0
00055 
00056 
00057 // MOTOR STATES
00058 #define STOP            0x00
00059 #define RUN             0x02
00060 #define RESET           0x05
00061 
00062 // LED CONSTANTS
00063 #define LEDS_OFF        0x00
00064 #define RED             0x01
00065 #define GREEN           0x02
00066 #define BLUE            0x03
00067 #define READY_LED       0x04
00068 
00069 // LOGICAL CONSTANTS
00070 #define OFF             0x00
00071 #define ON              0x01
00072 
00073 //Functions
00074 void set_PWM_Freq(int freq);
00075 void set_Duty_Cycle(int dutycycle);
00076 
00077 
00078 int main() 
00079 {
00080     send_report.length = 64;
00081     recv_report.length = 64;
00082     
00083     red_led     = 1;        // Red LED = OFF
00084     green_led   = 1;        // Green LED = OFF
00085     blue_led    = 0;        // Blue LED = ON
00086     
00087     motorState = RESET;
00088     initflag = true;
00089     
00090     IN1.period(1);          //initially set period to 1 second
00091     IN2.period(1);
00092 
00093     IN1.write(0);           //set PWM percentage to 0
00094     IN2.write(0);
00095 
00096     
00097     while(1) 
00098     {
00099         //try to read a msg
00100         if(hid.readNB(&recv_report)) 
00101         {
00102             if(initflag == true)
00103             {
00104                 initflag = false;
00105                 blue_led = 1;               //turn off blue LED
00106             }
00107             switch(recv_report.data[0])     //byte 0 of recv_report.data is command
00108             {
00109 //-----------------------------------------------------------------------------------------------------------------
00110 //          COMMAND PARSER
00111 //-----------------------------------------------------------------------------------------------------------------
00112 ////////
00113                 case WRITE_LED:
00114                     switch(recv_report.data[1])
00115                     {
00116                         case LEDS_OFF:
00117                             red_led = 1;
00118                             green_led = 1;
00119                             blue_led = 1;
00120                             break;
00121                         case RED:
00122                             if(recv_report.data[2] == 1){red_led = 0;} else {red_led = 1;}
00123                             break;
00124                         case GREEN:
00125                             if(recv_report.data[2] == 1){green_led = 0;} else {green_led = 1;}
00126                             break; 
00127                         case BLUE:
00128                             if(recv_report.data[2] == 1){blue_led = 0;} else {blue_led = 1;}
00129                             break;     
00130                          default:
00131                             break;
00132                             
00133                         
00134                     }// End recv report data[1]
00135                     break;
00136   ////////                    
00137 
00138   ////////              
00139                  case  WRITE_DUTY_CYCLE:
00140                     dutycycle = recv_report.data[1];
00141                     set_Duty_Cycle(dutycycle);
00142                     break;
00143 ////////                
00144                  case  WRITE_PWM_FREQ:                      //PWM frequency can be larger than 1 byte
00145                     pwm_freq_lo = recv_report.data[1];      //so we have to re-assemble the number
00146                     pwm_freq_hi = recv_report.data[2] * 100;
00147                     frequencyHz = pwm_freq_lo + pwm_freq_hi;
00148                     set_PWM_Freq(frequencyHz);
00149                     break;
00150 ////////                
00151                 case  WRITE_RUN_STOP:
00152                     if(recv_report.data[1] == 1)
00153                     {
00154                         if(runstop != 1)
00155                         {
00156                             red_led = 1;
00157                             blue_led = 1;
00158                             green_led = 0;
00159                             READY = 1;
00160                             runstop = 1;
00161                             runStopChange = 1;
00162                             motorState = RUN;
00163                             frequencyHz = storedFreq;
00164                             set_PWM_Freq(frequencyHz);
00165                             dutycycle = storedDuty;
00166                             set_Duty_Cycle(dutycycle);
00167                         }
00168  
00169                     }
00170                     else
00171                     {
00172                         if(runstop != 0)
00173                         {
00174                             runstop = 0;
00175                             runStopChange = 1;
00176                             motorState = STOP;
00177                             red_led = 0;
00178                             green_led = 1;
00179                             blue_led = 1;                          
00180                            storedFreq = frequencyHz;
00181                            storedDuty = dutycycle;
00182                            READY = 0;
00183                         }
00184                     }
00185                      break;
00186 ////////                
00187                 case  WRITE_DIRECTION:
00188  
00189  
00190                     if(recv_report.data[1] == 1)
00191                     {
00192                         if(direction != 1)
00193                         {
00194                             direction = 1;
00195                             directionChange = 1;
00196                         }
00197                     }
00198                     else
00199                     {
00200                         if(direction != 0)
00201                         {
00202                             direction = 0;
00203                             directionChange = 1;
00204                          }
00205                     }                    
00206                     break;
00207 ////////
00208                 case  WRITE_BRAKING:
00209                     if(recv_report.data[1] == 1)
00210                     {
00211                             braking = 1;
00212                     }
00213                     else
00214                     {
00215                             braking = 0;
00216                     }
00217                     break;
00218 ////////                
00219                 default:
00220                     break;
00221             }// End Switch recv report data[0]
00222 
00223 //-----------------------------------------------------------------------------------------------------------------
00224 //      end command parser    
00225 //-----------------------------------------------------------------------------------------------------------------
00226             
00227             send_report.data[0] = recv_report.data[0];      // Echo Command
00228             send_report.data[1] = recv_report.data[1];      // Echo Subcommand 1
00229             send_report.data[2] = recv_report.data[2];      // Echo Subcommand 2
00230             send_report.data[3] = 0x00;
00231             send_report.data[4] = 0x00;
00232             send_report.data[5] = 0x00;
00233             send_report.data[6] = 0x00;
00234             send_report.data[7] = 0x00;
00235               
00236             //Send the report
00237             hid.send(&send_report);
00238         }// End If(hid.readNB(&recv_report))
00239 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
00240 //End of USB message handling        
00241 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
00242 
00243 //************************************************************************************************************************
00244 // This is handling of PWM, braking, direction
00245 //***********************************************************************************************************************/
00246 
00247         switch (motorState)
00248         {
00249             case STOP:
00250              READY = 0;                                
00251 
00252                 if(braking == 1)
00253                 {
00254                     EN = 0;                  
00255                     IN1.period(1);
00256                     IN2.period(1);
00257                     IN1.write(0);
00258                     IN2.write(0);    
00259                 }
00260                 else
00261                 {
00262                     EN = 0;
00263                     IN1.period(1);
00264                     IN2.period(1);                 
00265                     IN1.write(0);
00266                     IN2.write(0);  
00267                     EN = 1;                    
00268                 }
00269                 break;
00270              
00271             case RUN:
00272                 if(runStopChange != 0)
00273                 {
00274                     READY = 1;                    
00275                     EN = 1;
00276                     directionChange = 0;
00277                     runStopChange = 0;
00278                     set_PWM_Freq(frequencyHz);
00279                     set_Duty_Cycle(dutycycle);
00280                 }    
00281                 break;
00282                 
00283             case RESET:
00284                 IN1.write(0.0);
00285                 IN2.write(0.0);    
00286                 IN1.period(0.0);                            
00287                 IN2.period(0.0);                
00288                 runStopChange = false;
00289                 motorState = STOP;                
00290                 break;
00291                 
00292         }// end switch motorState
00293  ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////       
00294      }// End While Loop
00295  }// End Main  
00296 
00297 
00298 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
00299 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
00300 
00301 void set_PWM_Freq(int freq)
00302 {
00303         storedFreq = freq;
00304         float period = 1.0/freq;
00305         
00306         if(direction == 1)
00307         {
00308             IN1.period(period);
00309             IN2.period(0.0);  
00310         }
00311         else
00312         {
00313             IN1.period(0.0);
00314             IN2.period(period);  
00315         }
00316 }
00317             
00318 void set_Duty_Cycle(int dc)
00319 {
00320     storedDuty = dc;
00321     if(direction == 1)
00322     {
00323         red_led = 0;
00324         green_led = 1;
00325         IN1.write(float(dc/100.0));
00326         IN2.write(0);
00327     }
00328     else
00329     {
00330         red_led = 1;
00331         green_led = 0;
00332         IN2.write(float(dc/100.00));
00333         IN1.write(0);
00334     }
00335 }