Diff: max14871_shield.cpp

Revision:

0:b5189f4ce1cb

Child:

1:7e9b864ddacf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/max14871_shield.cpp	Thu Jul 23 23:36:46 2015 +0000
@@ -0,0 +1,501 @@
+/******************************************************************//**
+* @file max14871_shield.h
+*
+* @author Justin Jordan
+*
+* @version 0.0
+*
+* Started: 18JUL15
+*
+* Updated: 
+*
+* @brief Source file for Max14871_Shield class
+***********************************************************************
+* Copyright (C) 2015 Maxim Integrated Products, Inc., All Rights Reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining a
+* copy of this software and associated documentation files (the "Software"),
+* to deal in the Software without restriction, including without limitation
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,
+* and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included
+* in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES
+* OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+* OTHER DEALINGS IN THE SOFTWARE.
+*
+* Except as contained in this notice, the name of Maxim Integrated
+* Products, Inc. shall not be used except as stated in the Maxim Integrated
+* Products, Inc. Branding Policy.
+*
+* The mere transfer of this software does not imply any licenses
+* of trade secrets, proprietary technology, copyrights, patents,
+* trademarks, maskwork rights, or any other form of intellectual
+* property whatsoever. Maxim Integrated Products, Inc. retains all
+* ownership rights.
+**********************************************************************/
+
+
+#include "max14871_shield.h"
+
+#define MIN_PERIOD (20) //50KHz
+
+//Motor Driver control inputs
+#define MD_EN    (0x01)
+#define MD_DIR   (0x02)
+#define MD_MODE0 (0x04)
+#define MD_MODE1 (0x08)
+
+#define MAX_VREF (100)
+
+//GPIO Expander Default Configurations
+#define MAX7300_ALL_OUTPUTS    (0x55)
+#define MAX7300_ALL_INPUTS     (0xFF)
+#define MAX7300_OUTPUT_DEFAULT (0xBB)
+
+
+//*********************************************************************
+Max14871_Shield::Max14871_Shield(I2C *i2c_bus, bool default_config): _p_i2c(i2c_bus)
+{
+    _i2c_owner = false;
+    
+    if(default_config)
+    {
+        _p_io_expander = new Max7300(_p_i2c, Max7300::MAX7300_I2C_ADRS0);
+        _p_digi_pot1 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS0);
+        _p_digi_pot2 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS1);
+        
+        _p_pwm1 = new PwmOut(D4);
+        _p_pwm2 = new PwmOut(D5);
+        _p_pwm3 = new PwmOut(D9);
+        _p_pwm4 = new PwmOut(D10);
+    }
+    else
+    {
+        _p_io_expander = new Max7300(_p_i2c, Max7300::MAX7300_I2C_ADRS1);
+        _p_digi_pot1 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS2);
+        _p_digi_pot2 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS3);
+        
+        _p_pwm1 = new PwmOut(D3);
+        _p_pwm2 = new PwmOut(D6);
+        _p_pwm3 = new PwmOut(D8);
+        _p_pwm4 = new PwmOut(D11);
+    }
+    
+    init_board();
+}
+
+
+//*********************************************************************
+Max14871_Shield::Max14871_Shield(PinName sda, PinName scl, bool default_config)
+{
+     _p_i2c = new I2C(sda, scl);
+    _i2c_owner = true;
+    
+    if(default_config)
+    {
+        _p_io_expander = new Max7300(_p_i2c, Max7300::MAX7300_I2C_ADRS0);
+        _p_digi_pot1 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS0);
+        _p_digi_pot2 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS1);
+        
+        _p_pwm1 = new PwmOut(D4);
+        _p_pwm2 = new PwmOut(D5);
+        _p_pwm3 = new PwmOut(D9);
+        _p_pwm4 = new PwmOut(D10);
+    }
+    else
+    {
+        _p_io_expander = new Max7300(_p_i2c, Max7300::MAX7300_I2C_ADRS1);
+        _p_digi_pot1 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS2);
+        _p_digi_pot2 = new Max5387(_p_i2c, Max5387::MAX5387_I2C_ADRS3);
+        
+        _p_pwm1 = new PwmOut(D3);
+        _p_pwm2 = new PwmOut(D6);
+        _p_pwm3 = new PwmOut(D8);
+        _p_pwm4 = new PwmOut(D11);
+    }
+    
+    init_board();
+}
+
+
+//*********************************************************************
+Max14871_Shield::~Max14871_Shield()
+{
+    if(_i2c_owner) 
+    {
+        delete _p_i2c;
+    }
+    
+    delete _p_io_expander;
+    delete _p_digi_pot1;
+    delete _p_digi_pot2;
+    delete _p_pwm1;
+    delete _p_pwm2;
+    delete _p_pwm3;
+    delete _p_pwm4;
+}
+
+
+//*********************************************************************
+int16_t Max14871_Shield::set_operating_mode(max14871_motor_driver_t md, 
+                                            max14871_operating_mode_t mode)
+{
+    int16_t result = 0;
+    int16_t port_data;
+    
+    Max7300::max7300_port_number_t low_port;
+    
+    //determine the low port of an 8 bit register to read/write 
+    if(md < MD3)
+    {
+        low_port = Max7300::MAX7300_PORT_04;
+    }
+    else
+    {
+        low_port = Max7300::MAX7300_PORT_12;
+    }
+    
+    //get current state of outputs
+    port_data = _p_io_expander->read_8_ports(low_port);
+
+    switch(mode)
+    {
+        //if(md % 2) for following cases, modify control bits
+        //of odd motor driver
+
+        case COAST:
+            if(md % 2)
+            {
+                port_data |= MD_EN;
+            }
+            else
+            {
+                port_data |= (MD_EN << 4);
+            }
+        break;
+        
+        case BRAKE:
+            if(md % 2)
+            {
+                port_data &= ~MD_EN;
+            }
+            else
+            {
+                port_data &= ~(MD_EN << 4);
+            }
+            
+            set_pwm_duty_cycle(md, 0);
+        break;
+        
+        case REVERSE:
+            if(md % 2)
+            {
+                port_data &= ~(MD_EN + MD_DIR);
+            }
+            else
+            {
+                port_data &= ~((MD_EN + MD_DIR) << 4);
+            }
+        break;
+        
+        case FORWARD:
+            if(md % 2)
+            {
+                port_data &= ~MD_EN;
+                port_data |= MD_DIR;
+            }
+            else
+            {
+                port_data &= ~(MD_EN << 4);
+                port_data |= (MD_DIR << 4);
+            } 
+        break;
+        
+        default:
+            result = -1;
+        break;
+    }
+    
+    if(!result)
+    {
+        //write data back to port
+        result = _p_io_expander->write_8_ports(low_port, (uint8_t) port_data);
+    }
+
+    return result;
+}
+
+
+//*********************************************************************
+int16_t Max14871_Shield::set_current_regulation_mode(max14871_motor_driver_t md, 
+                                                     max14871_current_regulation_mode_t mode,
+                                                     uint8_t vref)
+{
+    int16_t result = 0;
+    int16_t port_data;
+    
+    Max7300::max7300_port_number_t low_port;
+    Max5387 *p_digi_pot;
+    
+    //determine the low port of an 8 bit register to read/write 
+    if(md < MD3)
+    {
+        low_port = Max7300::MAX7300_PORT_04;
+        p_digi_pot = _p_digi_pot1;
+    }
+    else
+    {
+        low_port = Max7300::MAX7300_PORT_12;
+        p_digi_pot = _p_digi_pot2;
+    }
+    
+    //get current state of outputs
+    port_data = _p_io_expander->read_8_ports(low_port);
+        
+    switch(mode)
+    {
+        case RIPPLE_25_INTERNAL_REF:
+            if(md % 2)
+            {
+                port_data &= ~MD_MODE0;
+                port_data |= MD_MODE1;
+                p_digi_pot->write_ch_A(0);
+            }
+            else
+            {
+                port_data &= ~(MD_MODE0 << 4);
+                port_data |= (MD_MODE1 << 4);
+                p_digi_pot->write_ch_B(0);
+            }
+        break;
+        
+        case RIPPLE_25_EXTERNAL_REF:
+            if(md % 2)
+            {
+                port_data &= ~MD_MODE0;
+                port_data |= MD_MODE1;
+                
+                if(vref > MAX_VREF)
+                {
+                    vref = MAX_VREF;
+                }
+                p_digi_pot->write_ch_A(vref);
+            }
+            else
+            {
+                port_data &= ~(MD_MODE0 << 4);
+                port_data |= (MD_MODE1 << 4);
+                
+                if(vref > MAX_VREF)
+                {
+                    vref = MAX_VREF;
+                }
+                p_digi_pot->write_ch_B(vref);
+            }
+        break;
+        
+        case TCOFF_FAST_INTERNAL_REF:
+            if(md % 2)
+            {
+                port_data |= (MD_MODE1 + MD_MODE0);
+                p_digi_pot->write_ch_A(0);
+            }
+            else
+            {
+                port_data |= ((MD_MODE1 + MD_MODE0) << 4);
+                p_digi_pot->write_ch_B(0);
+            }
+        break;
+        
+        case TCOFF_SLOW_INTERNAL_REF:
+            if(md % 2)
+            {
+                port_data |= MD_MODE0;
+                port_data &= ~MD_MODE1;
+                p_digi_pot->write_ch_A(0);
+            }
+            else
+            {
+                port_data |= (MD_MODE0 << 4);
+                port_data &= ~(MD_MODE1 << 4);
+                p_digi_pot->write_ch_B(0);
+            }
+        break;
+        
+        case TCOFF_FAST_EXTERNAL_REF:
+            if(md % 2)
+            {
+                port_data |= (MD_MODE1 + MD_MODE0);
+                
+                if(vref > MAX_VREF)
+                {
+                    vref = MAX_VREF;
+                }
+                p_digi_pot->write_ch_A(vref);
+            }
+            else
+            {
+                port_data |= ((MD_MODE1 + MD_MODE0) << 4);
+                
+                if(vref > MAX_VREF)
+                {
+                    vref = MAX_VREF;
+                }
+                p_digi_pot->write_ch_B(vref);
+            }
+        break;
+        
+        case TCOFF_SLOW_EXTERNAL_REF:
+            if(md % 2)
+            {
+                port_data |= MD_MODE0;
+                port_data &= ~MD_MODE1;
+                
+                if(vref > MAX_VREF)
+                {
+                    vref = MAX_VREF;
+                }
+                p_digi_pot->write_ch_A(vref);
+            }
+            else
+            {
+                port_data |= (MD_MODE0 << 4);
+                port_data &= ~(MD_MODE1 << 4);
+                
+                if(vref > MAX_VREF)
+                {
+                    vref = MAX_VREF;
+                }
+                p_digi_pot->write_ch_B(vref);
+            }
+        break;
+        
+        default:
+            result = -1;
+        break;
+    }
+    
+    if(!result)
+    {
+        //write data back to port
+        result = _p_io_expander->write_8_ports(low_port, (uint8_t) port_data);
+    }
+    
+    return result;
+}
+
+
+//*********************************************************************
+int16_t Max14871_Shield::set_pwm_period(max14871_motor_driver_t md, uint16_t period)
+{
+    int16_t result = 0;
+    
+    if(period < MIN_PERIOD)
+    {
+        result = -1;
+    }
+    else
+    {
+        switch(md)
+        {
+            case MD1:
+                _p_pwm1->period_us(period);
+            break;
+            
+            case MD2:
+                _p_pwm2->period_us(period);
+            break;
+            
+            case MD3:
+                _p_pwm3->period_us(period);
+            break;
+            
+            case MD4:
+                _p_pwm4->period_us(period);
+            break;
+            
+            default:
+                result = -1;
+            break;
+        }
+    }
+    
+    return result;
+}
+
+
+//*********************************************************************
+int16_t Max14871_Shield::set_pwm_duty_cycle(max14871_motor_driver_t md, uint16_t duty_cycle)
+{
+    int16_t result = 0;
+    
+    switch(md)
+    {
+        case MD1:
+            _p_pwm1->pulsewidth_us(duty_cycle);
+        break;
+        
+        case MD2:
+            _p_pwm2->pulsewidth_us(duty_cycle);
+        break;
+        
+        case MD3:
+            _p_pwm3->pulsewidth_us(duty_cycle);
+        break;
+        
+        case MD4:
+            _p_pwm4->pulsewidth_us(duty_cycle);
+        break;
+        
+        default:
+            result = -1;
+        break;
+    }
+    
+    return result;
+}
+      
+
+//*********************************************************************
+void Max14871_Shield::init_board(void)
+{
+    //configure these ports as outputs
+    _p_io_expander->config_4_ports(Max7300::MAX7300_PORT_04, MAX7300_ALL_OUTPUTS);
+    _p_io_expander->config_4_ports(Max7300::MAX7300_PORT_08, MAX7300_ALL_OUTPUTS);
+    _p_io_expander->config_4_ports(Max7300::MAX7300_PORT_12, MAX7300_ALL_OUTPUTS);
+    _p_io_expander->config_4_ports(Max7300::MAX7300_PORT_16, MAX7300_ALL_OUTPUTS);
+    
+    //Set /EN and DIR pin of all motor drivers and set mode pin 
+    //of all motor drivers to 0.75V
+    _p_io_expander->write_8_ports(Max7300::MAX7300_PORT_04, MAX7300_OUTPUT_DEFAULT);
+    _p_io_expander->write_8_ports(Max7300::MAX7300_PORT_12, MAX7300_OUTPUT_DEFAULT);
+    
+    //configure these ports as inputs w/pull-up, 
+    _p_io_expander->config_4_ports(Max7300::MAX7300_PORT_20, MAX7300_ALL_INPUTS);
+    _p_io_expander->config_4_ports(Max7300::MAX7300_PORT_24, MAX7300_ALL_INPUTS);
+    _p_io_expander->config_4_ports(Max7300::MAX7300_PORT_28, MAX7300_ALL_INPUTS);
+    
+    //config port 31 as output for interrupt
+    _p_io_expander->config_port(Max7300::MAX7300_PORT_31, Max7300::MAX7300_PORT_OUTPUT);
+    
+    _p_io_expander->enable_transition_detection();
+    _p_io_expander->enable_ports();
+    
+    //set Vref pin of all motor drivers to 1.3V
+    _p_digi_pot1->write_ch_AB(MAX_VREF);
+    _p_digi_pot2->write_ch_AB(MAX_VREF);
+    
+    //set switching frequency of all motor drivers to 50KHz
+    _p_pwm1->period_us(MIN_PERIOD);  
+    _p_pwm2->period_us(MIN_PERIOD);
+    _p_pwm3->period_us(MIN_PERIOD);
+    _p_pwm4->period_us(MIN_PERIOD);
+}