Functional test program for MAXREFDES89# that ramps each motor driver output up/down and in each direction sequentially. Uses default configuration, i.e. pwm signals are on D4, D5, D9 and D10 along with default I2C addresses for supporting I.C.s.
Dependencies: MAX14871_Shield mbed
main.cpp@2:be568cc42d4b, 2016-01-23 (annotated)
- Committer:
- j3
- Date:
- Sat Jan 23 02:23:43 2016 +0000
- Revision:
- 2:be568cc42d4b
- Parent:
- 1:c9cf8a2fc829
Updated shield library, Sam's main loop for testing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
j3 | 0:81e41ea3f51a | 1 | /********************************************************************** |
j3 | 0:81e41ea3f51a | 2 | * Copyright (C) 2015 Maxim Integrated Products, Inc., All Rights Reserved. |
j3 | 0:81e41ea3f51a | 3 | * |
j3 | 0:81e41ea3f51a | 4 | * Permission is hereby granted, free of charge, to any person obtaining a |
j3 | 0:81e41ea3f51a | 5 | * copy of this software and associated documentation files (the "Software"), |
j3 | 0:81e41ea3f51a | 6 | * to deal in the Software without restriction, including without limitation |
j3 | 0:81e41ea3f51a | 7 | * the rights to use, copy, modify, merge, publish, distribute, sublicense, |
j3 | 0:81e41ea3f51a | 8 | * and/or sell copies of the Software, and to permit persons to whom the |
j3 | 0:81e41ea3f51a | 9 | * Software is furnished to do so, subject to the following conditions: |
j3 | 0:81e41ea3f51a | 10 | * |
j3 | 0:81e41ea3f51a | 11 | * The above copyright notice and this permission notice shall be included |
j3 | 0:81e41ea3f51a | 12 | * in all copies or substantial portions of the Software. |
j3 | 0:81e41ea3f51a | 13 | * |
j3 | 0:81e41ea3f51a | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS |
j3 | 0:81e41ea3f51a | 15 | * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
j3 | 0:81e41ea3f51a | 16 | * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. |
j3 | 0:81e41ea3f51a | 17 | * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES |
j3 | 0:81e41ea3f51a | 18 | * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, |
j3 | 0:81e41ea3f51a | 19 | * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
j3 | 0:81e41ea3f51a | 20 | * OTHER DEALINGS IN THE SOFTWARE. |
j3 | 0:81e41ea3f51a | 21 | * |
j3 | 0:81e41ea3f51a | 22 | * Except as contained in this notice, the name of Maxim Integrated |
j3 | 0:81e41ea3f51a | 23 | * Products, Inc. shall not be used except as stated in the Maxim Integrated |
j3 | 0:81e41ea3f51a | 24 | * Products, Inc. Branding Policy. |
j3 | 0:81e41ea3f51a | 25 | * |
j3 | 0:81e41ea3f51a | 26 | * The mere transfer of this software does not imply any licenses |
j3 | 0:81e41ea3f51a | 27 | * of trade secrets, proprietary technology, copyrights, patents, |
j3 | 0:81e41ea3f51a | 28 | * trademarks, maskwork rights, or any other form of intellectual |
j3 | 0:81e41ea3f51a | 29 | * property whatsoever. Maxim Integrated Products, Inc. retains all |
j3 | 0:81e41ea3f51a | 30 | * ownership rights. |
j3 | 0:81e41ea3f51a | 31 | **********************************************************************/ |
j3 | 0:81e41ea3f51a | 32 | |
j3 | 0:81e41ea3f51a | 33 | |
j3 | 0:81e41ea3f51a | 34 | #include "mbed.h" |
j3 | 0:81e41ea3f51a | 35 | #include "max14871_shield.h" |
j3 | 0:81e41ea3f51a | 36 | |
j3 | 2:be568cc42d4b | 37 | template <typename T> |
j3 | 2:be568cc42d4b | 38 | static inline void REPORT (T set, T get) |
j3 | 2:be568cc42d4b | 39 | { |
j3 | 2:be568cc42d4b | 40 | const char *resp = (set == get) ? "Pass" : "Fail"; |
j3 | 2:be568cc42d4b | 41 | printf("%08d: %s\n", __LINE__, resp); |
j3 | 2:be568cc42d4b | 42 | } |
j3 | 2:be568cc42d4b | 43 | |
j3 | 2:be568cc42d4b | 44 | float float_status = 0.0f; |
j3 | 2:be568cc42d4b | 45 | Max14871_Shield::max14871_current_regulation_mode_t reg_mode_status = Max14871_Shield::TCOFF_SLOW_EXTERNAL_REF; |
j3 | 2:be568cc42d4b | 46 | Max14871_Shield::max14871_operating_mode_t op_mode_status = Max14871_Shield::FORWARD; |
j3 | 0:81e41ea3f51a | 47 | |
j3 | 0:81e41ea3f51a | 48 | int main(void) |
j3 | 0:81e41ea3f51a | 49 | { |
j3 | 2:be568cc42d4b | 50 | |
j3 | 0:81e41ea3f51a | 51 | uint8_t idx = 0; |
j3 | 0:81e41ea3f51a | 52 | const uint8_t DELAY = 50; |
j3 | 0:81e41ea3f51a | 53 | const float VREF = 2.0f; |
j3 | 0:81e41ea3f51a | 54 | const float PWM_PERIOD = 0.000025f; //40KHz |
j3 | 0:81e41ea3f51a | 55 | float pwm_duty_cycle = 0.0f; |
j3 | 2:be568cc42d4b | 56 | |
j3 | 2:be568cc42d4b | 57 | puts("Starting Test"); |
j3 | 0:81e41ea3f51a | 58 | Max14871_Shield shld(D14, D15, true); |
j3 | 2:be568cc42d4b | 59 | |
j3 | 2:be568cc42d4b | 60 | Max14871_Shield::max14871_motor_driver_t MD_ARRAY[] = {Max14871_Shield::MD1, Max14871_Shield::MD2, |
j3 | 2:be568cc42d4b | 61 | Max14871_Shield::MD3, Max14871_Shield::MD4 |
j3 | 2:be568cc42d4b | 62 | }; |
j3 | 2:be568cc42d4b | 63 | |
j3 | 0:81e41ea3f51a | 64 | //configure motor drivers |
j3 | 2:be568cc42d4b | 65 | for(idx = 0; idx < 4; idx++) { |
j3 | 0:81e41ea3f51a | 66 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 67 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 68 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 69 | |
j3 | 0:81e41ea3f51a | 70 | shld.set_pwm_period(MD_ARRAY[idx], PWM_PERIOD); |
j3 | 2:be568cc42d4b | 71 | // no get pwm_period method |
j3 | 2:be568cc42d4b | 72 | float_status = shld.get_pwm_period(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 73 | REPORT(PWM_PERIOD, float_status); |
j3 | 2:be568cc42d4b | 74 | |
j3 | 0:81e41ea3f51a | 75 | shld.set_current_regulation_mode(MD_ARRAY[idx], Max14871_Shield::RIPPLE_25_EXTERNAL_REF, VREF); |
j3 | 2:be568cc42d4b | 76 | reg_mode_status = shld.get_current_regulation_mode(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 77 | REPORT(Max14871_Shield::RIPPLE_25_EXTERNAL_REF, reg_mode_status); |
j3 | 2:be568cc42d4b | 78 | |
j3 | 0:81e41ea3f51a | 79 | shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::BRAKE); |
j3 | 2:be568cc42d4b | 80 | op_mode_status = shld.get_operating_mode(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 81 | REPORT(Max14871_Shield::BRAKE, op_mode_status); |
j3 | 0:81e41ea3f51a | 82 | } |
j3 | 2:be568cc42d4b | 83 | |
j3 | 2:be568cc42d4b | 84 | for(idx = 0; idx < 4; idx++) { |
j3 | 2:be568cc42d4b | 85 | shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::FORWARD); |
j3 | 2:be568cc42d4b | 86 | op_mode_status = shld.get_operating_mode(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 87 | REPORT(Max14871_Shield::FORWARD, op_mode_status); |
j3 | 2:be568cc42d4b | 88 | |
j3 | 2:be568cc42d4b | 89 | //Ramp up |
j3 | 2:be568cc42d4b | 90 | printf("Ramping up Forward, MD = %d\n", MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 91 | for(pwm_duty_cycle = 0.0f; pwm_duty_cycle < 1.0f; pwm_duty_cycle += 0.1f) { |
j3 | 2:be568cc42d4b | 92 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 93 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 94 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 95 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 96 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 97 | } |
j3 | 2:be568cc42d4b | 98 | |
j3 | 2:be568cc42d4b | 99 | //100% duty cycle |
j3 | 2:be568cc42d4b | 100 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 101 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 102 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 103 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 104 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 105 | |
j3 | 2:be568cc42d4b | 106 | //Ramp down |
j3 | 2:be568cc42d4b | 107 | printf("Ramping down Forward, MD = %d\n", MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 108 | for(pwm_duty_cycle = 1.0f; pwm_duty_cycle > 0.0f; pwm_duty_cycle -= 0.1f) { |
j3 | 2:be568cc42d4b | 109 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 110 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 111 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 112 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 113 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 114 | } |
j3 | 2:be568cc42d4b | 115 | |
j3 | 2:be568cc42d4b | 116 | //0% duty cycle |
j3 | 2:be568cc42d4b | 117 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 118 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 119 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 120 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 121 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 122 | |
j3 | 2:be568cc42d4b | 123 | shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::REVERSE); |
j3 | 2:be568cc42d4b | 124 | op_mode_status = shld.get_operating_mode(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 125 | REPORT(Max14871_Shield::REVERSE, op_mode_status); |
j3 | 2:be568cc42d4b | 126 | |
j3 | 2:be568cc42d4b | 127 | //Ramp up |
j3 | 2:be568cc42d4b | 128 | printf("Ramping up Reverse, MD = %d\n", MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 129 | for(pwm_duty_cycle = 0.0f; pwm_duty_cycle < 1.0f; pwm_duty_cycle += 0.1f) { |
j3 | 2:be568cc42d4b | 130 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 131 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 132 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 133 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 134 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 135 | } |
j3 | 2:be568cc42d4b | 136 | |
j3 | 2:be568cc42d4b | 137 | //100% duty cycle |
j3 | 2:be568cc42d4b | 138 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 139 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 140 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 141 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 142 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 143 | |
j3 | 2:be568cc42d4b | 144 | //Ramp down |
j3 | 2:be568cc42d4b | 145 | printf("Ramping down Reverse, MD = %d\n", MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 146 | for(pwm_duty_cycle = 1.0f; pwm_duty_cycle > 0.0f; pwm_duty_cycle -= 0.1f) { |
j3 | 2:be568cc42d4b | 147 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 148 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 149 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 150 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 151 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 152 | } |
j3 | 2:be568cc42d4b | 153 | |
j3 | 2:be568cc42d4b | 154 | //0% duty cycle |
j3 | 2:be568cc42d4b | 155 | printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 156 | shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); |
j3 | 2:be568cc42d4b | 157 | float_status = shld.get_pwm_duty_cycle(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 158 | REPORT(pwm_duty_cycle, float_status); |
j3 | 2:be568cc42d4b | 159 | wait_ms(DELAY); |
j3 | 2:be568cc42d4b | 160 | |
j3 | 2:be568cc42d4b | 161 | shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::COAST); |
j3 | 2:be568cc42d4b | 162 | op_mode_status = shld.get_operating_mode(MD_ARRAY[idx]); |
j3 | 2:be568cc42d4b | 163 | REPORT(Max14871_Shield::COAST, op_mode_status); |
j3 | 0:81e41ea3f51a | 164 | } |
j3 | 2:be568cc42d4b | 165 | |
j3 | 0:81e41ea3f51a | 166 | return 0; |
j3 | 0:81e41ea3f51a | 167 | } |