Diff: max14871_shield.cpp

Revision:

3:89bf07b855e5

Parent:

2:9b50d36d69c8

Child:

5:a206f6505109

diff -r 9b50d36d69c8 -r 89bf07b855e5 max14871_shield.cpp
--- a/max14871_shield.cpp	Tue Jul 28 03:42:06 2015 +0000
+++ b/max14871_shield.cpp	Tue Aug 11 04:11:46 2015 +0000
@@ -181,7 +181,7 @@
                 port_data |= (MD_EN << 4);
             }
             
-            set_pwm_duty_cycle(md, 0.0);
+            set_pwm_duty_cycle(md, 0.0f);
         break;
         
         case BRAKE:
@@ -194,7 +194,7 @@
                 port_data &= ~(MD_EN << 4);
             }
             
-            set_pwm_duty_cycle(md, 0.0);
+            set_pwm_duty_cycle(md, 0.0f);
         break;
         
         case REVERSE:
@@ -230,6 +230,11 @@
     {
         //write data back to port
         result = _p_io_expander->write_8_ports(low_port, (uint8_t) port_data);
+        
+        if(!result)
+        {
+            _motor_data_array[(md - 1)].op_mode = mode;
+        }
     }
 
     return result;
@@ -367,6 +372,12 @@
     {
         //write data back to port
         result = _p_io_expander->write_8_ports(low_port, (uint8_t) port_data);
+        
+        if(!result)
+        {
+            _motor_data_array[(md - 1)].i_reg_mode = mode;
+            _motor_data_array[(md - 1)].v_ref = vref;
+        }
     }
     
     return result;
@@ -421,18 +432,22 @@
     {
         case MD1:
             _p_pwm1->write(duty_cycle);
+            _motor_data_array[(md - 1)].duty_cycle = duty_cycle;
         break;
         
         case MD2:
             _p_pwm2->write(duty_cycle);
+            _motor_data_array[(md - 1)].duty_cycle = duty_cycle;
         break;
         
         case MD3:
             _p_pwm3->write(duty_cycle);
+            _motor_data_array[(md - 1)].duty_cycle = duty_cycle;
         break;
         
         case MD4:
             _p_pwm4->write(duty_cycle);
+            _motor_data_array[(md - 1)].duty_cycle = duty_cycle;
         break;
         
         default:
@@ -442,6 +457,34 @@
     
     return result;
 }
+
+
+//*********************************************************************
+Max14871_Shield::max14871_operating_mode_t Max14871_Shield::get_operating_mode(max14871_motor_driver_t md)
+{
+    return(_motor_data_array[(md - 1)].op_mode);
+}
+
+
+//*********************************************************************
+Max14871_Shield::max14871_current_regulation_mode_t Max14871_Shield::get_current_regulation_mode(max14871_motor_driver_t md)
+{
+    return(_motor_data_array[(md - 1)].i_reg_mode);
+}
+
+
+//*********************************************************************
+float Max14871_Shield::get_pwm_duty_cycle(max14871_motor_driver_t md)
+{
+    return(_motor_data_array[(md - 1)].duty_cycle);
+}
+
+
+//*********************************************************************
+float Max14871_Shield::get_external_voltage_ref(max14871_motor_driver_t md)
+{
+    return(_motor_data_array[(md - 1)].v_ref);
+}
       
 
 //*********************************************************************
@@ -479,4 +522,13 @@
     _p_pwm2->period(MIN_PERIOD);
     _p_pwm3->period(MIN_PERIOD);
     _p_pwm4->period(MIN_PERIOD);
+    
+    //init motor data to defaults
+    for(uint8_t idx = 0; idx < 4; idx++)
+    {
+        _motor_data_array[idx].op_mode = COAST;
+        _motor_data_array[idx].i_reg_mode = RIPPLE_25_INTERNAL_REF;
+        _motor_data_array[idx].duty_cycle = 0.0f;
+        _motor_data_array[idx].v_ref = 0.0f;
+    }
 }