Diff: L6230_BLDC.cpp

Revision:

0:5b1b141e5837

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L6230_BLDC.cpp	Thu Jun 25 17:21:30 2020 +0000
@@ -0,0 +1,87 @@
+#include "L6230_BLDC.h"
+#include "mbed.h"
+ 
+L6230_BLDC::L6230_BLDC(PinName en1_pin, PinName en2_pin, PinName en3_pin, PinName out1_pin, PinName out2_pin, PinName out3_pin) :
+            _en1_pin(en1_pin), _en2_pin(en2_pin), _en3_pin(en3_pin), _out1_pin(out1_pin), _out2_pin(out2_pin), _out3_pin(out3_pin)
+{
+    _en1_pin = 0;
+    _en2_pin = 0;
+    _en3_pin = 0;
+    _out1_pin = 0;
+    _out2_pin = 0;
+    _out3_pin = 0;
+}
+
+void L6230_BLDC::stop()
+{  
+    _out1_pin = 0; _out2_pin = 0; _out3_pin = 0;
+    _en1_pin = 0; _en2_pin = 0; _en3_pin = 0; 
+}
+ 
+void L6230_BLDC::turn(bool dir, int delay_time)
+{
+}
+ 
+  
+void L6230_BLDC::turn_n_steps(bool dir, int delay_time, int stepNum) 
+{
+    /* Digital outputs are initially zero */
+    _out1_pin = 0; _out2_pin = 0; _out3_pin = 0;
+    
+    /* Enable the outputs initially */
+    _en1_pin = 1; _en2_pin = 1; _en3_pin = 1; 
+    
+    int stepCount = 0; // Number of step counts
+    
+    /* Magical data_array to drive the brushless motor */ 
+    // HIGH:1, LOW:0, HIGH-Z:2
+    char data_array[]={1,2,0, 1,0,2, 2,0,1, 0,2,1, 0,1,2, 2,1,0};
+    char data_arrayInv[]={0,1,2, 0,2,1, 2,0,1, 1,0,2, 1,2,0, 2,1,0};
+    
+    if(dir==1)      // if dir = 1, reverse the motor direction
+        for(int k=0; k<18; k++)
+            data_array[k] = data_arrayInv[k];      
+    
+    for (int i=0; i<stepNum; i++)
+    {
+        i%=6;  // Steps will be repeated at mod6
+        _out1_pin = data_array[3*i];    (data_array[3*i]   == 2)?(_en1_pin = 0):(_en1_pin = 1);   
+        _out2_pin = data_array[3*i+1];  (data_array[3*i+1] == 2)?(_en2_pin = 0):(_en2_pin = 1); 
+        _out3_pin = data_array[3*i+2];  (data_array[3*i+2] == 2)?(_en3_pin = 0):(_en3_pin = 1); 
+        wait_us(delay_time);   
+        if(++stepCount == stepNum) break;    
+    }
+}
+ 
+void L6230_BLDC::one_step(bool dir, int delay_time, int* prevStep)
+{
+    /* Digital outputs are initially zero */
+    _out1_pin = 0; _out2_pin = 0; _out3_pin = 0;
+    
+    /* Enable the outputs initially */
+   _en1_pin = 1; _en2_pin = 1; _en3_pin = 1; 
+    
+    /* Magical data_array to drive the brushless motor */ 
+    // HIGH:1, LOW:0, HIGH-Z:2
+    char data_array[]={1,2,0, 1,0,2, 2,0,1, 0,2,1, 0,1,2, 2,1,0};
+      
+    if(dir==1)
+        *prevStep = *prevStep + 1;    // Increase prevStep for next step || WARNING: *prevStep++ did not work
+    else 
+        *prevStep = *prevStep - 1; 
+        
+    int i = *prevStep;
+        
+    if (i<0)   // Mod operation for the negative number
+    {
+        i*=(-1); i%=6; i=6-i; 
+        i%=6;  // if i=6, it should be zero.   
+    }   
+    else 
+        i%=6;   // Steps will be repeated at mod6
+    
+    _out1_pin = data_array[3*i];    (data_array[3*i]   == 2)?(_en1_pin = 0):(_en1_pin = 1);   
+    _out2_pin = data_array[3*i+1];  (data_array[3*i+1] == 2)?(_en2_pin = 0):(_en2_pin = 1); 
+    _out3_pin = data_array[3*i+2];  (data_array[3*i+2] == 2)?(_en3_pin = 0):(_en3_pin = 1);   
+    wait_us(delay_time);  
+} 
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