NXP
Firmware for MC33926 evaluation on KL25Z-based EVB. This works with a Graphical User Interface (GUI) available on NXP.com to control a brushed DC motor using FRDM-33926ESEVM or FRDM-33926PNBEVM. The code enables control of the PWM frequency, duty cycle, enable/disable controls, invert, slew rate control, real-time current monitoring, and includes status flag pin monitoring for undervoltage, short circuit and over-temperature events.
Fork of
Brushed_DC_Motor_Control_MC33926
by 
Travis Alexander
main_copy.cpp
- Committer:
- nxf42866
- Date:
- 2018-07-09
- Revision:
- 2:d98eb31a4b69
File content as of revision 2:d98eb31a4b69:
#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-KL25Z to FRDM-17510
PwmOut IN1(PTA5); // Pin IN1 input to MC33926 (FRDM PIN Name)
PwmOut IN2(PTC8); // Pin IN2 input to MC33926 (FRDM PIN Name)
DigitalOut EN(PTE0); // Pin EN input to MC33926 (FRDM PIN Name)
DigitalOut DIS1(PTA2); // Pin D1 input to MC33926 (FRDM PIN Name)
DigitalOut D2B(PTD5); // Pin D2B input to MC33926 (FRDM PIN Name)
DigitalOut SLEW(PTA13); // Pin Slew input to MC33926 (FRDM PIN Name)
DigitalOut INV(PTD0); // Pin INV input to MC33926 (FRDM PIN Name)
DigitalIn SFB(PTB3); // Pin SF_B output from MC33926 to FRDM-KL25Z
AnalogIn CFB(PTB0); // Pin FB output from MC33926 to FRDM-KL25Z
//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; // needs to be initialized?
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 // what is this? What should the GUI kickoff here?
#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 // what is this? What should the GUI kickoff here?
#define WRITE_D1 0xB1
#define WRITE_EN 0xC1
#define WRITE_D2B 0xD5
#define WRITE_SLEW 0xE5
#define WRITE_INV 0xF5
#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] == 1) // used to be != 0
{
direction = 1; // corrected allocation for FWD
//direction = 0; // corrected allocation for REV
}
else
{
direction = 0; // corrected allocation for REV
//direction = 1; // corrected allocation for FWD
}
break;
////////
case WRITE_BRAKING:
newDataFlag = 1;
if(recv_report.data[1] != 0) // used to be == 1
{
braking = 1; // this is HS recirc
}
else
{
braking = 0; // this is LS recirc
}
break;
////////
case WRITE_D1:
newDataFlag = 1;
if(recv_report.data[1] == 1)
{
DIS1 = 1; // logic hi will disable the part
}
else
{
DIS1 = 0; // logic lo will enable the part
}
break;
////////
case WRITE_EN:
newDataFlag = 1;
if(recv_report.data[1] == 1)
{
//EN = 0; // this is enable case
EN = 1; // align with the signal being sent from GUI
}
else
{
//EN = 1; // this is disable case
EN = 0; // align with signal being sent from GUI
}
break;
////////
case WRITE_D2B:
newDataFlag = 1;
if(recv_report.data[1] == 1)
{
D2B = 1;
}
else
{
D2B = 0;
}
break;
////////
case WRITE_SLEW:
newDataFlag = 1;
if(recv_report.data[1] == 1)
{
SLEW = 1;
}
else
{
SLEW = 0;
}
break;
////////
case WRITE_INV:
newDataFlag = 1;
if(recv_report.data[1] == 1)
{
INV = 1;
//INV = 0;
}
else
{
INV = 0;
//INV = 1;
}
break;
////////
default:
break;
}// End Switch recv report data[0]
//-----------------------------------------------------------------------------------------------------------------
// end command parser
//-----------------------------------------------------------------------------------------------------------------
status = SFB;
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; // this is REV + HS, inverted d
IN1 = 1.0-((float)dutycycle/100.0); // this is REV + HS
IN2 = 1;
}
else //coast
{
IN1 = 0; // this is REV + LS
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; // this is FWD + HS, inverted d
IN2 = 1.0-((float)dutycycle/100.0); // this is FWD + HS
}
else //coast
{
IN1.period(1/(float)frequencyHz);
IN1 = (float)dutycycle/100.0;
IN2 = 0; // FWD + LS
}
}
}
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);
}
}
}
}
}