NXP
Contains code to drive a small brushed DC motor with a Freescale FRDM-17510 MPC17510 H-bridge driver evaluation board, and a Freedom FRDM-KL25Z. Configures the KL25Z as USB HID device and requres a GUI on the PC.
Fork of
LVHB DC Motor Drive
by 
Freescale
This program uses a Freescale FRDM-KL25 and FRDM-17510 Motor control board. It configures the KL25 as a USB HID device and is intended to work with a GUI which is downloaded from Freescale. (where is the link to this GUI?)
There is a list of Analog Tools that mention mbed software support here: http://www.freescale.com/webapp/sps/site/overview.jsp?code=ANALOGTOOLBOX&tid=vanAnalogTools
main.cpp
- Committer:
- bdbohn
- Date:
- 2014-11-12
- Revision:
- 0:41c74fead7a9
File content as of revision 0:41c74fead7a9:
#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
DigitalOut red_led(LED1);
DigitalOut green_led(LED2);
DigitalOut blue_led(LED3);
//Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
PwmOut IN1(PTD4); // Pin IN1 input to MPC17510 (FRDM PIN Name)
PwmOut IN2(PTA12); // Pin IN2 input to MPC17510 (FRDM PIN Name)
DigitalOut EN(PTC7); // Pin EN input to MPC17510 (FRDM PIN Name)
DigitalOut GINB(PTC0); // Pin GIN_B input to MPC17510 (FRDM PIN Name)
DigitalOut READY(PTC5); // Pin READY input to Motor Control Board (FRDM PIN Name)
//Variables
int pwm_freq_lo;
int pwm_freq_hi;
int frequencyHz;
int storedFreq;
int storedDuty;
int runstop = 0;
int runStopChange;
int direction = 1;
int directionChange;
int braking;
int brakingChange;
int dutycycle;
int motorState = 0;
int ramptime = 0;
//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
// MOTOR STATES
#define STOP 0x00
#define RUN 0x02
#define RESET 0x05
// LED CONSTANTS
#define LEDS_OFF 0x00
#define RED 0x01
#define GREEN 0x02
#define BLUE 0x03
#define READY_LED 0x04
// LOGICAL CONSTANTS
#define OFF 0x00
#define ON 0x01
//Functions
void set_PWM_Freq(int freq);
void set_Duty_Cycle(int dutycycle);
int main()
{
send_report.length = 64;
recv_report.length = 64;
red_led = 1; // Red LED = OFF
green_led = 1; // Green LED = OFF
blue_led = 0; // Blue LED = ON
motorState = RESET;
initflag = true;
IN1.period(1); //initially set period to 1 second
IN2.period(1);
IN1.write(0); //set PWM percentage to 0
IN2.write(0);
while(1)
{
//try to read a msg
if(hid.readNB(&recv_report))
{
if(initflag == true)
{
initflag = false;
blue_led = 1; //turn off blue LED
}
switch(recv_report.data[0]) //byte 0 of recv_report.data is command
{
//-----------------------------------------------------------------------------------------------------------------
// COMMAND PARSER
//-----------------------------------------------------------------------------------------------------------------
////////
case WRITE_LED:
switch(recv_report.data[1])
{
case LEDS_OFF:
red_led = 1;
green_led = 1;
blue_led = 1;
break;
case RED:
if(recv_report.data[2] == 1){red_led = 0;} else {red_led = 1;}
break;
case GREEN:
if(recv_report.data[2] == 1){green_led = 0;} else {green_led = 1;}
break;
case BLUE:
if(recv_report.data[2] == 1){blue_led = 0;} else {blue_led = 1;}
break;
default:
break;
}// End recv report data[1]
break;
////////
////////
case WRITE_DUTY_CYCLE:
dutycycle = recv_report.data[1];
set_Duty_Cycle(dutycycle);
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;
set_PWM_Freq(frequencyHz);
break;
////////
case WRITE_RUN_STOP:
if(recv_report.data[1] == 1)
{
if(runstop != 1)
{
red_led = 1;
blue_led = 1;
green_led = 0;
READY = 1;
runstop = 1;
runStopChange = 1;
motorState = RUN;
frequencyHz = storedFreq;
set_PWM_Freq(frequencyHz);
dutycycle = storedDuty;
set_Duty_Cycle(dutycycle);
}
}
else
{
if(runstop != 0)
{
runstop = 0;
runStopChange = 1;
motorState = STOP;
red_led = 0;
green_led = 1;
blue_led = 1;
storedFreq = frequencyHz;
storedDuty = dutycycle;
READY = 0;
}
}
break;
////////
case WRITE_DIRECTION:
if(recv_report.data[1] == 1)
{
if(direction != 1)
{
direction = 1;
directionChange = 1;
}
}
else
{
if(direction != 0)
{
direction = 0;
directionChange = 1;
}
}
break;
////////
case WRITE_BRAKING:
if(recv_report.data[1] == 1)
{
braking = 1;
}
else
{
braking = 0;
}
break;
////////
default:
break;
}// End Switch recv report data[0]
//-----------------------------------------------------------------------------------------------------------------
// end command parser
//-----------------------------------------------------------------------------------------------------------------
send_report.data[0] = recv_report.data[0]; // 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] = 0x00;
send_report.data[7] = 0x00;
//Send the report
hid.send(&send_report);
}// End If(hid.readNB(&recv_report))
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//End of USB message handling
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//************************************************************************************************************************
// This is handling of PWM, braking, direction
//***********************************************************************************************************************/
switch (motorState)
{
case STOP:
READY = 0;
if(braking == 1)
{
EN = 0;
IN1.period(1);
IN2.period(1);
IN1.write(0);
IN2.write(0);
}
else
{
EN = 0;
IN1.period(1);
IN2.period(1);
IN1.write(0);
IN2.write(0);
EN = 1;
}
break;
case RUN:
if(runStopChange != 0)
{
READY = 1;
EN = 1;
directionChange = 0;
runStopChange = 0;
set_PWM_Freq(frequencyHz);
set_Duty_Cycle(dutycycle);
}
break;
case RESET:
IN1.write(0.0);
IN2.write(0.0);
IN1.period(0.0);
IN2.period(0.0);
runStopChange = false;
motorState = STOP;
break;
}// end switch motorState
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
}// End While Loop
}// End Main
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void set_PWM_Freq(int freq)
{
storedFreq = freq;
float period = 1.0/freq;
if(direction == 1)
{
IN1.period(period);
IN2.period(0.0);
}
else
{
IN1.period(0.0);
IN2.period(period);
}
}
void set_Duty_Cycle(int dc)
{
storedDuty = dc;
if(direction == 1)
{
red_led = 0;
green_led = 1;
IN1.write(float(dc/100.0));
IN2.write(0);
}
else
{
red_led = 1;
green_led = 0;
IN2.write(float(dc/100.00));
IN1.write(0);
}
}