Library for MAX14871 Shield, MAXREFDES89#
Dependents: MAXREFDES89_MAX14871_Shield_Demo MAXREFDES89_Test_Program Line_Following_Bot Line_Following_Bot_Pololu
max14871_shield.h@6:dc06cc75c1c8, 2016-05-13 (annotated)
- Committer:
- j3
- Date:
- Fri May 13 00:03:32 2016 +0000
- Revision:
- 6:dc06cc75c1c8
- Parent:
- 5:a206f6505109
- Child:
- 7:c0bee1397f3e
updated docs
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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j3 | 0:b5189f4ce1cb | 1 | /******************************************************************//** |
j3 | 1:7e9b864ddacf | 2 | * @file max14871_shield.h |
j3 | 0:b5189f4ce1cb | 3 | * Copyright (C) 2015 Maxim Integrated Products, Inc., All Rights Reserved. |
j3 | 0:b5189f4ce1cb | 4 | * |
j3 | 0:b5189f4ce1cb | 5 | * Permission is hereby granted, free of charge, to any person obtaining a |
j3 | 0:b5189f4ce1cb | 6 | * copy of this software and associated documentation files (the "Software"), |
j3 | 0:b5189f4ce1cb | 7 | * to deal in the Software without restriction, including without limitation |
j3 | 0:b5189f4ce1cb | 8 | * the rights to use, copy, modify, merge, publish, distribute, sublicense, |
j3 | 0:b5189f4ce1cb | 9 | * and/or sell copies of the Software, and to permit persons to whom the |
j3 | 0:b5189f4ce1cb | 10 | * Software is furnished to do so, subject to the following conditions: |
j3 | 0:b5189f4ce1cb | 11 | * |
j3 | 0:b5189f4ce1cb | 12 | * The above copyright notice and this permission notice shall be included |
j3 | 0:b5189f4ce1cb | 13 | * in all copies or substantial portions of the Software. |
j3 | 0:b5189f4ce1cb | 14 | * |
j3 | 0:b5189f4ce1cb | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS |
j3 | 0:b5189f4ce1cb | 16 | * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
j3 | 0:b5189f4ce1cb | 17 | * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
j3 | 0:b5189f4ce1cb | 18 | * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES |
j3 | 0:b5189f4ce1cb | 19 | * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, |
j3 | 0:b5189f4ce1cb | 20 | * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
j3 | 0:b5189f4ce1cb | 21 | * OTHER DEALINGS IN THE SOFTWARE. |
j3 | 0:b5189f4ce1cb | 22 | * |
j3 | 0:b5189f4ce1cb | 23 | * Except as contained in this notice, the name of Maxim Integrated |
j3 | 0:b5189f4ce1cb | 24 | * Products, Inc. shall not be used except as stated in the Maxim Integrated |
j3 | 0:b5189f4ce1cb | 25 | * Products, Inc. Branding Policy. |
j3 | 0:b5189f4ce1cb | 26 | * |
j3 | 0:b5189f4ce1cb | 27 | * The mere transfer of this software does not imply any licenses |
j3 | 0:b5189f4ce1cb | 28 | * of trade secrets, proprietary technology, copyrights, patents, |
j3 | 0:b5189f4ce1cb | 29 | * trademarks, maskwork rights, or any other form of intellectual |
j3 | 0:b5189f4ce1cb | 30 | * property whatsoever. Maxim Integrated Products, Inc. retains all |
j3 | 0:b5189f4ce1cb | 31 | * ownership rights. |
j3 | 0:b5189f4ce1cb | 32 | **********************************************************************/ |
j3 | 0:b5189f4ce1cb | 33 | |
j3 | 0:b5189f4ce1cb | 34 | |
j3 | 0:b5189f4ce1cb | 35 | #ifndef MAX14871_SHIELD_H |
j3 | 0:b5189f4ce1cb | 36 | #define MAX14871_SHIELD_H |
j3 | 0:b5189f4ce1cb | 37 | |
j3 | 0:b5189f4ce1cb | 38 | #include "mbed.h" |
j3 | 0:b5189f4ce1cb | 39 | #include "max7300.h" |
j3 | 0:b5189f4ce1cb | 40 | #include "max5387.h" |
j3 | 0:b5189f4ce1cb | 41 | |
j3 | 0:b5189f4ce1cb | 42 | |
j3 | 6:dc06cc75c1c8 | 43 | /** |
j3 | 6:dc06cc75c1c8 | 44 | * @brief MAX14871 Full-Bridge DC Motor Driver MBED Shield Library |
j3 | 6:dc06cc75c1c8 | 45 | * |
j3 | 6:dc06cc75c1c8 | 46 | * @details The MAXREFDES89# provides an ideal interface for anyone |
j3 | 6:dc06cc75c1c8 | 47 | * developing with brushed DC motors. The design is an |
j3 | 6:dc06cc75c1c8 | 48 | * mbed®-compatible, Arduino® form factor shield for the rapid |
j3 | 6:dc06cc75c1c8 | 49 | * development of brushed DC motor applications. The shield contains |
j3 | 6:dc06cc75c1c8 | 50 | * four MAX14871 full-bridge DC motor drivers for driving up to 4 |
j3 | 6:dc06cc75c1c8 | 51 | * motors. A MAX17501 DC-DC converter allows the system to operate |
j3 | 6:dc06cc75c1c8 | 52 | * from a single 7 to 36VDC power supply. Four MAX4704 4:1 |
j3 | 6:dc06cc75c1c8 | 53 | * multiplexers permit setting the current regulation mode of the |
j3 | 6:dc06cc75c1c8 | 54 | * MAX14871, while two MAX5387 digital potentiometers provide the |
j3 | 6:dc06cc75c1c8 | 55 | * ability to set the motor current limit. A MAX7300 GPIO expander |
j3 | 6:dc06cc75c1c8 | 56 | * supports interfacing each motor driver circuit to the |
j3 | 6:dc06cc75c1c8 | 57 | * mbed-enabled microcontroller platform. |
j3 | 6:dc06cc75c1c8 | 58 | * |
j3 | 6:dc06cc75c1c8 | 59 | * @code |
j3 | 6:dc06cc75c1c8 | 60 | * @endcode |
j3 | 6:dc06cc75c1c8 | 61 | */ |
j3 | 0:b5189f4ce1cb | 62 | class Max14871_Shield |
j3 | 0:b5189f4ce1cb | 63 | { |
j3 | 0:b5189f4ce1cb | 64 | public: |
j3 | 0:b5189f4ce1cb | 65 | |
j3 | 6:dc06cc75c1c8 | 66 | /** |
j3 | 6:dc06cc75c1c8 | 67 | * @brief Motor driver channels |
j3 | 6:dc06cc75c1c8 | 68 | * @details Simple enumeration of channels available on the shield |
j3 | 6:dc06cc75c1c8 | 69 | */ |
j3 | 0:b5189f4ce1cb | 70 | typedef enum |
j3 | 0:b5189f4ce1cb | 71 | { |
j3 | 0:b5189f4ce1cb | 72 | MD1 = 1, |
j3 | 0:b5189f4ce1cb | 73 | MD2, |
j3 | 0:b5189f4ce1cb | 74 | MD3, |
j3 | 0:b5189f4ce1cb | 75 | MD4 |
j3 | 0:b5189f4ce1cb | 76 | }max14871_motor_driver_t; |
j3 | 0:b5189f4ce1cb | 77 | |
j3 | 0:b5189f4ce1cb | 78 | |
j3 | 6:dc06cc75c1c8 | 79 | /** |
j3 | 6:dc06cc75c1c8 | 80 | * @brief Operating modes |
j3 | 6:dc06cc75c1c8 | 81 | * @details Motor operating modes offered on each channel |
j3 | 6:dc06cc75c1c8 | 82 | */ |
j3 | 0:b5189f4ce1cb | 83 | typedef enum |
j3 | 0:b5189f4ce1cb | 84 | { |
j3 | 0:b5189f4ce1cb | 85 | COAST = 1, |
j3 | 0:b5189f4ce1cb | 86 | BRAKE, |
j3 | 0:b5189f4ce1cb | 87 | REVERSE, |
j3 | 0:b5189f4ce1cb | 88 | FORWARD |
j3 | 0:b5189f4ce1cb | 89 | }max14871_operating_mode_t; |
j3 | 0:b5189f4ce1cb | 90 | |
j3 | 0:b5189f4ce1cb | 91 | |
j3 | 6:dc06cc75c1c8 | 92 | /** |
j3 | 6:dc06cc75c1c8 | 93 | * @brief Current regulation modes |
j3 | 6:dc06cc75c1c8 | 94 | * @details Three different current regulation modes offered with |
j3 | 6:dc06cc75c1c8 | 95 | * either an internal or external reference for setting the regulation limit. |
j3 | 6:dc06cc75c1c8 | 96 | * This is not the fault current which is fixed, see datasheet. |
j3 | 6:dc06cc75c1c8 | 97 | */ |
j3 | 0:b5189f4ce1cb | 98 | typedef enum |
j3 | 0:b5189f4ce1cb | 99 | { |
j3 | 0:b5189f4ce1cb | 100 | RIPPLE_25_INTERNAL_REF = 1, |
j3 | 0:b5189f4ce1cb | 101 | RIPPLE_25_EXTERNAL_REF, |
j3 | 0:b5189f4ce1cb | 102 | TCOFF_FAST_INTERNAL_REF, |
j3 | 0:b5189f4ce1cb | 103 | TCOFF_SLOW_INTERNAL_REF, |
j3 | 0:b5189f4ce1cb | 104 | TCOFF_FAST_EXTERNAL_REF, |
j3 | 0:b5189f4ce1cb | 105 | TCOFF_SLOW_EXTERNAL_REF |
j3 | 0:b5189f4ce1cb | 106 | }max14871_current_regulation_mode_t; |
j3 | 0:b5189f4ce1cb | 107 | |
j3 | 0:b5189f4ce1cb | 108 | |
j3 | 0:b5189f4ce1cb | 109 | /**********************************************************//** |
j3 | 0:b5189f4ce1cb | 110 | * @brief Constructor for Max14871_Shield Class. |
j3 | 0:b5189f4ce1cb | 111 | * |
j3 | 0:b5189f4ce1cb | 112 | * @details Allows user to use existing I2C object |
j3 | 0:b5189f4ce1cb | 113 | * |
j3 | 0:b5189f4ce1cb | 114 | * On Entry: |
j3 | 0:b5189f4ce1cb | 115 | * @param[in] i2c_bus - pointer to existing I2C object |
j3 | 0:b5189f4ce1cb | 116 | * @param[in] default_config - true if board uses default |
j3 | 0:b5189f4ce1cb | 117 | * pwm channels and I2C addressing |
j3 | 0:b5189f4ce1cb | 118 | * |
j3 | 0:b5189f4ce1cb | 119 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 120 | * |
j3 | 6:dc06cc75c1c8 | 121 | * @return None |
j3 | 0:b5189f4ce1cb | 122 | **************************************************************/ |
j3 | 0:b5189f4ce1cb | 123 | Max14871_Shield(I2C *i2c_bus, bool default_config); |
j3 | 0:b5189f4ce1cb | 124 | |
j3 | 0:b5189f4ce1cb | 125 | |
j3 | 0:b5189f4ce1cb | 126 | /**********************************************************//** |
j3 | 0:b5189f4ce1cb | 127 | * @brief Constructor for Max14871_Shield Class. |
j3 | 0:b5189f4ce1cb | 128 | * |
j3 | 0:b5189f4ce1cb | 129 | * @details Allows user to create a new I2C object if not |
j3 | 0:b5189f4ce1cb | 130 | * already using one |
j3 | 0:b5189f4ce1cb | 131 | * |
j3 | 0:b5189f4ce1cb | 132 | * On Entry: |
j3 | 0:b5189f4ce1cb | 133 | * @param[in] sda - sda pin of I2C bus |
j3 | 0:b5189f4ce1cb | 134 | * @param[in] scl - scl pin of I2C bus |
j3 | 0:b5189f4ce1cb | 135 | * @param[in] default_config - true if board uses default |
j3 | 0:b5189f4ce1cb | 136 | * pwm channels and I2C addressing |
j3 | 0:b5189f4ce1cb | 137 | * |
j3 | 0:b5189f4ce1cb | 138 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 139 | * |
j3 | 6:dc06cc75c1c8 | 140 | * @return None |
j3 | 0:b5189f4ce1cb | 141 | **************************************************************/ |
j3 | 0:b5189f4ce1cb | 142 | Max14871_Shield(PinName sda, PinName scl, bool default_config); |
j3 | 0:b5189f4ce1cb | 143 | |
j3 | 0:b5189f4ce1cb | 144 | |
j3 | 0:b5189f4ce1cb | 145 | /**********************************************************//** |
j3 | 0:b5189f4ce1cb | 146 | * @brief Default destructor for Max14871_Shield Class. |
j3 | 0:b5189f4ce1cb | 147 | * |
j3 | 0:b5189f4ce1cb | 148 | * @details Destroys I2C object if owner |
j3 | 0:b5189f4ce1cb | 149 | * |
j3 | 0:b5189f4ce1cb | 150 | * On Entry: |
j3 | 0:b5189f4ce1cb | 151 | * |
j3 | 0:b5189f4ce1cb | 152 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 153 | * |
j3 | 6:dc06cc75c1c8 | 154 | * @return None |
j3 | 0:b5189f4ce1cb | 155 | **************************************************************/ |
j3 | 0:b5189f4ce1cb | 156 | ~Max14871_Shield(); |
j3 | 0:b5189f4ce1cb | 157 | |
j3 | 0:b5189f4ce1cb | 158 | |
j3 | 0:b5189f4ce1cb | 159 | /**********************************************************//** |
j3 | 0:b5189f4ce1cb | 160 | * @brief Set the operating mode of the motor driver |
j3 | 0:b5189f4ce1cb | 161 | * |
j3 | 0:b5189f4ce1cb | 162 | * @details Configures the /EN and DIR pins of the motor driver |
j3 | 0:b5189f4ce1cb | 163 | * via the MAX7300 GPIO Expander |
j3 | 0:b5189f4ce1cb | 164 | * |
j3 | 0:b5189f4ce1cb | 165 | * On Entry: |
j3 | 0:b5189f4ce1cb | 166 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 0:b5189f4ce1cb | 167 | * @param[in] mode - 1 of 4 operating modes of the motor driver |
j3 | 0:b5189f4ce1cb | 168 | * |
j3 | 0:b5189f4ce1cb | 169 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 170 | * |
j3 | 6:dc06cc75c1c8 | 171 | * @return 0 on success, non-0 on failure |
j3 | 0:b5189f4ce1cb | 172 | **************************************************************/ |
j3 | 0:b5189f4ce1cb | 173 | int16_t set_operating_mode(max14871_motor_driver_t md, |
j3 | 0:b5189f4ce1cb | 174 | max14871_operating_mode_t mode); |
j3 | 0:b5189f4ce1cb | 175 | |
j3 | 0:b5189f4ce1cb | 176 | |
j3 | 0:b5189f4ce1cb | 177 | /**********************************************************//** |
j3 | 0:b5189f4ce1cb | 178 | * @brief |
j3 | 0:b5189f4ce1cb | 179 | * |
j3 | 0:b5189f4ce1cb | 180 | * @details |
j3 | 0:b5189f4ce1cb | 181 | * |
j3 | 0:b5189f4ce1cb | 182 | * On Entry: |
j3 | 0:b5189f4ce1cb | 183 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 0:b5189f4ce1cb | 184 | * @param[in] mode - 1 of 6 current regulation modes of the |
j3 | 0:b5189f4ce1cb | 185 | * motor driver |
j3 | 1:7e9b864ddacf | 186 | * @param[in] vref - sets maximum motor current, Max of 2.0V |
j3 | 0:b5189f4ce1cb | 187 | * |
j3 | 0:b5189f4ce1cb | 188 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 189 | * |
j3 | 6:dc06cc75c1c8 | 190 | * @return 0 on success, non-0 on failure |
j3 | 0:b5189f4ce1cb | 191 | **************************************************************/ |
j3 | 0:b5189f4ce1cb | 192 | int16_t set_current_regulation_mode(max14871_motor_driver_t md, |
j3 | 0:b5189f4ce1cb | 193 | max14871_current_regulation_mode_t mode, |
j3 | 1:7e9b864ddacf | 194 | float vref); |
j3 | 0:b5189f4ce1cb | 195 | |
j3 | 0:b5189f4ce1cb | 196 | |
j3 | 0:b5189f4ce1cb | 197 | /**********************************************************//** |
j3 | 5:a206f6505109 | 198 | * @brief Sets pwm channel for given motor driver |
j3 | 5:a206f6505109 | 199 | * |
j3 | 5:a206f6505109 | 200 | * @details Must use default, or alternate channel for specific |
j3 | 5:a206f6505109 | 201 | * motor driver. Function allows for mix of default and |
j3 | 5:a206f6505109 | 202 | * alternates for each motor driver vs all default or |
j3 | 5:a206f6505109 | 203 | * all alternate. |
j3 | 5:a206f6505109 | 204 | * |
j3 | 5:a206f6505109 | 205 | * On Entry: |
j3 | 5:a206f6505109 | 206 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 5:a206f6505109 | 207 | * @param[in] ch - PWM channel using Arduino naming convention |
j3 | 5:a206f6505109 | 208 | * |
j3 | 5:a206f6505109 | 209 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 210 | * |
j3 | 6:dc06cc75c1c8 | 211 | * @return 0 on success, non-0 on failure |
j3 | 5:a206f6505109 | 212 | **************************************************************/ |
j3 | 5:a206f6505109 | 213 | int16_t set_pwm_channel(max14871_motor_driver_t md, PinName ch); |
j3 | 5:a206f6505109 | 214 | |
j3 | 5:a206f6505109 | 215 | |
j3 | 5:a206f6505109 | 216 | /**********************************************************//** |
j3 | 0:b5189f4ce1cb | 217 | * @brief Sets period of pwm signal for selected motor driver |
j3 | 0:b5189f4ce1cb | 218 | * |
j3 | 0:b5189f4ce1cb | 219 | * @details period must be in micro-seconds |
j3 | 0:b5189f4ce1cb | 220 | * |
j3 | 0:b5189f4ce1cb | 221 | * On Entry: |
j3 | 0:b5189f4ce1cb | 222 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 1:7e9b864ddacf | 223 | * @param[in] period - PWM period specified in seconds |
j3 | 0:b5189f4ce1cb | 224 | * |
j3 | 0:b5189f4ce1cb | 225 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 226 | * |
j3 | 6:dc06cc75c1c8 | 227 | * @return 0 on success, non-0 on failure |
j3 | 0:b5189f4ce1cb | 228 | **************************************************************/ |
j3 | 1:7e9b864ddacf | 229 | int16_t set_pwm_period(max14871_motor_driver_t md, float period); |
j3 | 0:b5189f4ce1cb | 230 | |
j3 | 0:b5189f4ce1cb | 231 | |
j3 | 0:b5189f4ce1cb | 232 | /**********************************************************//** |
j3 | 0:b5189f4ce1cb | 233 | * @brief Sets duty cycle of pwm signal for selected motor driver |
j3 | 0:b5189f4ce1cb | 234 | * |
j3 | 0:b5189f4ce1cb | 235 | * @details duty cycle must be in micro-seconds |
j3 | 0:b5189f4ce1cb | 236 | * |
j3 | 0:b5189f4ce1cb | 237 | * On Entry: |
j3 | 0:b5189f4ce1cb | 238 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 1:7e9b864ddacf | 239 | * @param[in] duty_cycle - duty cycle of the pwm signal specified |
j3 | 1:7e9b864ddacf | 240 | * as a percentage |
j3 | 0:b5189f4ce1cb | 241 | * |
j3 | 0:b5189f4ce1cb | 242 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 243 | * |
j3 | 6:dc06cc75c1c8 | 244 | * @return 0 on success, non-0 on failure |
j3 | 0:b5189f4ce1cb | 245 | **************************************************************/ |
j3 | 1:7e9b864ddacf | 246 | int16_t set_pwm_duty_cycle(max14871_motor_driver_t md, float duty_cycle); |
j3 | 3:89bf07b855e5 | 247 | |
j3 | 3:89bf07b855e5 | 248 | |
j3 | 3:89bf07b855e5 | 249 | /**********************************************************//** |
j3 | 3:89bf07b855e5 | 250 | * @brief Get operating mode of selected motor driver |
j3 | 3:89bf07b855e5 | 251 | * |
j3 | 3:89bf07b855e5 | 252 | * @details |
j3 | 3:89bf07b855e5 | 253 | * |
j3 | 3:89bf07b855e5 | 254 | * On Entry: |
j3 | 3:89bf07b855e5 | 255 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 3:89bf07b855e5 | 256 | * |
j3 | 3:89bf07b855e5 | 257 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 258 | * |
j3 | 6:dc06cc75c1c8 | 259 | * @return Operating mode of selected motor driver |
j3 | 3:89bf07b855e5 | 260 | **************************************************************/ |
j3 | 3:89bf07b855e5 | 261 | max14871_operating_mode_t get_operating_mode(max14871_motor_driver_t md); |
j3 | 3:89bf07b855e5 | 262 | |
j3 | 3:89bf07b855e5 | 263 | |
j3 | 3:89bf07b855e5 | 264 | /**********************************************************//** |
j3 | 3:89bf07b855e5 | 265 | * @brief Get current regulation mode of selected motor driver |
j3 | 3:89bf07b855e5 | 266 | * |
j3 | 3:89bf07b855e5 | 267 | * @details |
j3 | 3:89bf07b855e5 | 268 | * |
j3 | 3:89bf07b855e5 | 269 | * On Entry: |
j3 | 3:89bf07b855e5 | 270 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 3:89bf07b855e5 | 271 | * |
j3 | 3:89bf07b855e5 | 272 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 273 | * |
j3 | 6:dc06cc75c1c8 | 274 | * @return Current regulation mode of selected motor driver |
j3 | 3:89bf07b855e5 | 275 | **************************************************************/ |
j3 | 3:89bf07b855e5 | 276 | max14871_current_regulation_mode_t get_current_regulation_mode(max14871_motor_driver_t md); |
j3 | 3:89bf07b855e5 | 277 | |
j3 | 3:89bf07b855e5 | 278 | |
j3 | 3:89bf07b855e5 | 279 | /**********************************************************//** |
j3 | 3:89bf07b855e5 | 280 | * @brief Get duty cycle of selected motor driver |
j3 | 3:89bf07b855e5 | 281 | * |
j3 | 3:89bf07b855e5 | 282 | * @details |
j3 | 3:89bf07b855e5 | 283 | * |
j3 | 3:89bf07b855e5 | 284 | * On Entry: |
j3 | 3:89bf07b855e5 | 285 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 3:89bf07b855e5 | 286 | * |
j3 | 3:89bf07b855e5 | 287 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 288 | * |
j3 | 6:dc06cc75c1c8 | 289 | * @return Duty cycle of selected motor driver |
j3 | 3:89bf07b855e5 | 290 | **************************************************************/ |
j3 | 3:89bf07b855e5 | 291 | float get_pwm_duty_cycle(max14871_motor_driver_t md); |
j3 | 3:89bf07b855e5 | 292 | |
j3 | 3:89bf07b855e5 | 293 | |
j3 | 3:89bf07b855e5 | 294 | /**********************************************************//** |
j3 | 5:a206f6505109 | 295 | * @brief Get pwm period of selected motor driver |
j3 | 5:a206f6505109 | 296 | * |
j3 | 5:a206f6505109 | 297 | * @details |
j3 | 5:a206f6505109 | 298 | * |
j3 | 5:a206f6505109 | 299 | * On Entry: |
j3 | 5:a206f6505109 | 300 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 5:a206f6505109 | 301 | * |
j3 | 5:a206f6505109 | 302 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 303 | * |
j3 | 6:dc06cc75c1c8 | 304 | * @return pwm period of selected motor driver |
j3 | 5:a206f6505109 | 305 | **************************************************************/ |
j3 | 5:a206f6505109 | 306 | float get_pwm_period(max14871_motor_driver_t md); |
j3 | 5:a206f6505109 | 307 | |
j3 | 5:a206f6505109 | 308 | |
j3 | 5:a206f6505109 | 309 | /**********************************************************//** |
j3 | 3:89bf07b855e5 | 310 | * @brief Get external voltage reference of selected motor driver |
j3 | 3:89bf07b855e5 | 311 | * |
j3 | 3:89bf07b855e5 | 312 | * @details |
j3 | 3:89bf07b855e5 | 313 | * |
j3 | 3:89bf07b855e5 | 314 | * On Entry: |
j3 | 3:89bf07b855e5 | 315 | * @param[in] md - 1 of 4 motor drivers on the shield |
j3 | 3:89bf07b855e5 | 316 | * |
j3 | 3:89bf07b855e5 | 317 | * On Exit: |
j3 | 6:dc06cc75c1c8 | 318 | * |
j3 | 6:dc06cc75c1c8 | 319 | * @return External voltage reference of selected motor driver |
j3 | 3:89bf07b855e5 | 320 | **************************************************************/ |
j3 | 3:89bf07b855e5 | 321 | float get_external_voltage_ref(max14871_motor_driver_t md); |
j3 | 0:b5189f4ce1cb | 322 | |
j3 | 0:b5189f4ce1cb | 323 | |
j3 | 0:b5189f4ce1cb | 324 | private: |
j3 | 0:b5189f4ce1cb | 325 | |
j3 | 3:89bf07b855e5 | 326 | struct motor_data_s |
j3 | 3:89bf07b855e5 | 327 | { |
j3 | 3:89bf07b855e5 | 328 | max14871_operating_mode_t op_mode; |
j3 | 3:89bf07b855e5 | 329 | max14871_current_regulation_mode_t i_reg_mode; |
j3 | 3:89bf07b855e5 | 330 | float duty_cycle; |
j3 | 5:a206f6505109 | 331 | float period; |
j3 | 3:89bf07b855e5 | 332 | float v_ref; |
j3 | 3:89bf07b855e5 | 333 | }; |
j3 | 3:89bf07b855e5 | 334 | |
j3 | 3:89bf07b855e5 | 335 | struct motor_data_s _motor_data_array[4]; |
j3 | 3:89bf07b855e5 | 336 | |
j3 | 0:b5189f4ce1cb | 337 | I2C *_p_i2c; |
j3 | 0:b5189f4ce1cb | 338 | Max7300 *_p_io_expander; |
j3 | 0:b5189f4ce1cb | 339 | Max5387 *_p_digi_pot1; |
j3 | 0:b5189f4ce1cb | 340 | Max5387 *_p_digi_pot2; |
j3 | 0:b5189f4ce1cb | 341 | PwmOut *_p_pwm1; |
j3 | 0:b5189f4ce1cb | 342 | PwmOut *_p_pwm2; |
j3 | 0:b5189f4ce1cb | 343 | PwmOut *_p_pwm3; |
j3 | 0:b5189f4ce1cb | 344 | PwmOut *_p_pwm4; |
j3 | 0:b5189f4ce1cb | 345 | |
j3 | 0:b5189f4ce1cb | 346 | bool _i2c_owner; |
j3 | 0:b5189f4ce1cb | 347 | |
j3 | 0:b5189f4ce1cb | 348 | void init_board(void); |
j3 | 0:b5189f4ce1cb | 349 | }; |
j3 | 0:b5189f4ce1cb | 350 | |
j3 | 0:b5189f4ce1cb | 351 | #endif/* MAX14871_SHIELD_H */ |