NXP
MCU Code for FRDM-K64F which works with Graphical User Interface available on Freescale website to control a brushed DC motor using X-FRDM-34931SEVM. The code enables controlling the PWM frequency, duty cycle, enabling/disabling while monitoring status flag pin for undervoltge, short circuit and over-temperature events as well as real time load current for implementing advanced diagnostics.
Fork of
Brushed DC Motor Control using X-FRDM-34931SEVM and FRDM-K64F
by 
Freescale
Diff: main.cpp
- Revision:
- 0:77e608030314
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 28 17:33:03 2015 +0000
@@ -0,0 +1,262 @@
+#include "mbed.h"
+#include "USBHID.h"
+
+// We declare a USBHID device.
+// HID In/Out Reports are 64 Bytes long
+// Vendor ID (VID): 0x15A2
+// Product ID (PID): 0x0138
+// Serial Number: 0x0001
+USBHID hid(64, 64, 0x15A2, 0x0138, 0x0001, true);
+
+//Setup Digital Outputs for the LEDs on the FRDM
+//PwmOut red_led(LED1);
+//DigitalOut green_led(LED2);
+//DigitalOut blue_led(LED3);
+
+//Setup PWM and Digital Outputs from FRDM-K64F
+PwmOut IN1(PTC2); // Pin IN1 input to MC34931 (FRDM PIN Name)
+PwmOut IN2 (PTA2); // Pin IN2 input to MC34931 (FRDM PIN Name)
+DigitalOut EN(PTE25); // Pin EN input to MC34931 (FRDM PIN Name)
+DigitalOut DIS(PTC17); // Pin D1 input to MC34931 (FRDM PIN Name)
+DigitalIn STATUS(PTB11);
+AnalogIn CFB(PTB2);
+//DigitalOut READY(PTC7); // Pin READY input to Motor Control Board (FRDM PIN Name)
+
+//Variables
+int pwm_freq_lo;
+int pwm_freq_hi;
+int frequencyHz = 500;
+int runstop = 0;
+int direction = 1;
+int braking;
+int dutycycle = 75;
+int newDataFlag = 0;
+int status = 0;
+uint16_t CurrFB;
+uint16_t CFBArray[101];
+uint32_t CFBTotal;
+uint16_t CFBAvg;
+uint16_t CFBtemp;
+
+//storage for send and receive data
+HID_REPORT send_report;
+HID_REPORT recv_report;
+
+bool initflag = true;
+
+// USB COMMANDS
+// These are sent from the PC
+#define WRITE_LED 0x20
+#define WRITE_GEN_EN 0x40
+#define WRITE_DUTY_CYCLE 0x50
+#define WRITE_PWM_FREQ 0x60
+#define WRITE_RUN_STOP 0x70
+#define WRITE_DIRECTION 0x71
+#define WRITE_BRAKING 0x90
+#define WRITE_RESET 0xA0
+#define WRITE_D1 0xB1
+#define WRITE_D2_B 0xC1
+
+#define scaleFactor 0.11868
+
+// LOGICAL CONSTANTS
+#define OFF 0x00
+#define ON 0x01
+
+
+int main()
+{
+ send_report.length = 64;
+ recv_report.length = 64;
+
+
+ while(1)
+ {
+ //try to read a msg
+ if(hid.readNB(&recv_report))
+ {
+ switch(recv_report.data[0]) //byte 0 of recv_report.data is command
+ {
+//-----------------------------------------------------------------------------------------------------------------
+// COMMAND PARSER
+//-----------------------------------------------------------------------------------------------------------------
+////////
+ case WRITE_LED:
+ break;
+////////
+
+////////
+ case WRITE_DUTY_CYCLE:
+ dutycycle = recv_report.data[1];
+ newDataFlag = 1;
+ break;
+////////
+ case WRITE_PWM_FREQ: //PWM frequency can be larger than 1 byte
+ pwm_freq_lo = recv_report.data[1]; //so we have to re-assemble the number
+ pwm_freq_hi = recv_report.data[2] * 100;
+ frequencyHz = pwm_freq_lo + pwm_freq_hi;
+ newDataFlag = 1;
+ break;
+////////
+ case WRITE_RUN_STOP:
+ newDataFlag = 1;
+ if(recv_report.data[1] != 0)
+ {
+ runstop = 1;
+ }
+ else
+ {
+ runstop = 0;
+ }
+ break;
+
+////////
+ case WRITE_DIRECTION:
+ newDataFlag = 1;
+
+ if(recv_report.data[1] != 0)
+ {
+ direction = 1;
+ }
+ else
+ {
+ direction = 0;
+ }
+ break;
+////////
+ case WRITE_BRAKING:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ braking = 1;
+ }
+ else
+ {
+ braking = 0;
+ }
+ break;
+////////
+ case WRITE_D1:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ DIS = 1;
+ }
+ else
+ {
+ DIS = 0;
+ }
+ break;
+////////
+ case WRITE_D2_B:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ EN = 0;
+ }
+ else
+ {
+ EN = 1;
+ }
+ break;
+
+////////
+ default:
+ break;
+ }// End Switch recv report data[0]
+
+//-----------------------------------------------------------------------------------------------------------------
+// end command parser
+//-----------------------------------------------------------------------------------------------------------------
+
+ status = STATUS;
+ send_report.data[0] = status; // Echo Command
+ send_report.data[1] = recv_report.data[1]; // Echo Subcommand 1
+ send_report.data[2] = recv_report.data[2]; // Echo Subcommand 2
+ send_report.data[3] = 0x00;
+ send_report.data[4] = 0x00;
+ send_report.data[5] = 0x00;
+ send_report.data[6] = (CFBAvg << 8) >> 8;
+ send_report.data[7] = CFBAvg >> 8;
+
+ //Send the report
+ hid.send(&send_report);
+ }// End If(hid.readNB(&recv_report))
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//End of USB message handling
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ CurrFB = CFB.read_u16();
+ CFBArray[0] = CurrFB;
+ CFBTotal = 0;
+ int i = 0;
+ for(i=0; i<100; i++)
+ {
+ CFBTotal = CFBTotal + CFBArray[i];
+ }
+ CFBAvg = CFBTotal / 100;
+
+ for(i=100; i>=0; i--)
+ {
+
+ CFBArray[i+1] = CFBArray[i];
+ }
+
+ if(newDataFlag != 0) //GUI setting changed
+ {
+ newDataFlag = 0;
+ if(runstop != 0) //Running
+ {
+ if(direction == 0) //reverse
+ {
+ if(braking == 1) //dynamic
+ {
+ IN1.period(1/(float)frequencyHz);
+ IN1 = (float)dutycycle/100.0;
+ IN2 = 1;
+ }
+ else //coast
+ {
+ IN1 = 0;
+ IN2.period(1/(float)frequencyHz);
+ IN2 = (float)dutycycle/100.0;
+ }
+ }
+ else //forward
+ {
+ if(braking == 1) //dynamic
+ {
+ IN1 = 1;
+ IN2.period(1/(float)frequencyHz);
+ IN2 = (float)dutycycle/100.0;
+ }
+ else //coast
+ {
+ IN1.period(1/(float)frequencyHz);
+ IN1 = (float)dutycycle/100.0;
+ IN2 = 0;
+ }
+ }
+ }
+ else //Stopped
+ {
+ if(braking == 1) //braking
+ {
+ IN1.period(1);
+ IN2.period(1);
+ IN1.write(1);
+ IN2.write(1);
+ }
+ else //coasting
+ {
+ IN1.period(1);
+ IN2.period(1);
+ IN1.write(0);
+ IN2.write(0);
+
+ }
+ }
+ }
+ }
+}
+
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