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Brushed_DC_Motor_Control_MC33926
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Brushed_DC_Motor_Control_MC33926
by 
Travis Alexander
Diff: main_copy.cpp
- Revision:
- 3:d7fd752817e1
- Parent:
- 2:d98eb31a4b69
--- a/main_copy.cpp Mon Jul 09 17:53:48 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,314 +0,0 @@
-#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);
-
- }
- }
- }
- }
-}
-