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
Diff: main.cpp
- Revision:
- 2:d98eb31a4b69
- Parent:
- 0:f2f48fcea638
- Child:
- 3:d7fd752817e1
--- a/main.cpp Fri Jun 12 17:52:57 2015 +0000
+++ b/main.cpp Mon Jul 09 17:53:48 2018 +0000
@@ -14,12 +14,15 @@
//DigitalOut blue_led(LED3);
//Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
-PwmOut IN1(PTC8); // Pin IN1 input to MC34931 (FRDM PIN Name)
-PwmOut IN2 (PTA5); // Pin IN2 input to MC34931 (FRDM PIN Name)
-DigitalOut EN(PTE0); // Pin EN input to MC34931 (FRDM PIN Name)
-DigitalOut DIS(PTA2); // Pin D1 input to MC34931 (FRDM PIN Name)
-DigitalIn STATUS(PTB3);
-AnalogIn CFB(PTB0);
+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
@@ -28,7 +31,7 @@
int frequencyHz = 500;
int runstop = 0;
int direction = 1;
-int braking;
+int braking; // needs to be initialized?
int dutycycle = 75;
int newDataFlag = 0;
int status = 0;
@@ -46,16 +49,19 @@
// USB COMMANDS
// These are sent from the PC
-#define WRITE_LED 0x20
-#define WRITE_GEN_EN 0x40
+#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
+#define WRITE_RESET 0xA0 // what is this? What should the GUI kickoff here?
#define WRITE_D1 0xB1
-#define WRITE_D2_B 0xC1
+#define WRITE_EN 0xC1
+#define WRITE_D2B 0xD5
+#define WRITE_SLEW 0xE5
+#define WRITE_INV 0xF5
#define scaleFactor 0.11868
@@ -113,26 +119,27 @@
////////
case WRITE_DIRECTION:
newDataFlag = 1;
-
- if(recv_report.data[1] != 0)
+ if(recv_report.data[1] == 1) // used to be != 0
{
- direction = 1;
+ direction = 1; // corrected allocation for FWD
+ //direction = 0; // corrected allocation for REV
}
else
{
- direction = 0;
+ direction = 0; // corrected allocation for REV
+ //direction = 1; // corrected allocation for FWD
}
break;
////////
case WRITE_BRAKING:
newDataFlag = 1;
- if(recv_report.data[1] == 1)
+ if(recv_report.data[1] != 0) // used to be == 1
{
- braking = 1;
+ braking = 1; // this is HS recirc
}
else
{
- braking = 0;
+ braking = 0; // this is LS recirc
}
break;
////////
@@ -140,25 +147,68 @@
newDataFlag = 1;
if(recv_report.data[1] == 1)
{
- DIS = 1;
+ DIS1 = 1; // logic hi will disable the part
}
else
{
- DIS = 0;
+ 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_D2_B:
- newDataFlag = 1;
+ case WRITE_D2B:
+ newDataFlag = 1;
if(recv_report.data[1] == 1)
{
- EN = 0;
+ D2B = 1;
}
else
{
- EN = 1;
+ D2B = 0;
+ }
+ break;
+
+////////
+ case WRITE_SLEW:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ SLEW = 1;
+ }
+ else
+ {
+ SLEW = 0;
}
- break;
+ break;
+
+////////
+ case WRITE_INV:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ INV = 1;
+ //INV = 0;
+ }
+ else
+ {
+ INV = 0;
+ //INV = 1;
+ }
+ break;
+
////////
default:
@@ -169,7 +219,7 @@
// end command parser
//-----------------------------------------------------------------------------------------------------------------
- status = STATUS;
+ 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
@@ -212,12 +262,13 @@
if(braking == 1) //dynamic
{
IN1.period(1/(float)frequencyHz);
- IN1 = (float)dutycycle/100.0;
+ //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;
+ IN1 = 0; // this is REV + LS
IN2.period(1/(float)frequencyHz);
IN2 = (float)dutycycle/100.0;
}
@@ -226,15 +277,16 @@
{
if(braking == 1) //dynamic
{
- IN1 = 1;
+ IN1 = 1;
IN2.period(1/(float)frequencyHz);
- IN2 = (float)dutycycle/100.0;
+ //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;
+ IN2 = 0; // FWD + LS
}
}
}
@@ -259,3 +311,4 @@
}
}
}
+