Andy K
Tripple Controller for the TLE5206 H Bridge motor controller
Revision 5:bfc5c5cc161e, committed 2011-07-05
- Comitter:
- AjK
- Date:
- Tue Jul 05 16:08:38 2011 +0000
- Parent:
- 4:d69f22061c03
- Commit message:
- 0.7 Beta See ChangeLog.h
Changed in this revision
--- a/inc/ChangeLog.h Tue Jul 05 14:55:29 2011 +0000
+++ b/inc/ChangeLog.h Tue Jul 05 16:08:38 2011 +0000
@@ -1,5 +1,12 @@
/*
+0.7 Beta 5/Jul/2011
+ * More docs and typo fixes.
+ * Remove the need to switch to GPIO for "always on" and instead
+ set the demand value to duty+1 which keeps the output high through
+ the entire cycle.
+ * Removed some dup code that wasn't needed.
+
0.6 Beta 5/Jul/2011
* Added some extra documentation. doxygen still ToDo.
* Removed reference to Serial() ports as unused by demos.
--- a/inc/example1.h Tue Jul 05 14:55:29 2011 +0000
+++ b/inc/example1.h Tue Jul 05 16:08:38 2011 +0000
@@ -6,7 +6,7 @@
* Mode 2 Sign/Magnitude Control using two PWM outputs to
* control speed and direction.
*
- * Pins that be be used are p21, p22, p23, p24, p25 and/or p26
+ * Pins that can be used are p21, p22, p23, p24, p25 and/or p26
* in pairs. So the library supports upto 3 TLE5206 devices/motors.
*
* All PWM outputs use a common duty cycle. Therefore the third arg
@@ -86,10 +86,11 @@
// a high update rate (0.025) assuming you are attaching
// an oscilloscope just for testing. It goes without saying
// that the update rates for B and C are way to big, I just
- // choose these (0.005 and 0.0025) because it looks nice
+ // choose these (0.005 and 0.0025) because it looks pretty
// when used on LEDs!
// Always use appropriate accel/decel rates when handling
- // motors/external hardware that moves.
+ // motors/external hardware that moves. See example2.h for
+ // a simple linear accel/decel profiler that does this.
A.attach(Acallback, 0.025);
B.attach(Bcallback, 0.005);
--- a/src/SimpleTLE5206.cpp Tue Jul 05 14:55:29 2011 +0000
+++ b/src/SimpleTLE5206.cpp Tue Jul 05 16:08:38 2011 +0000
@@ -28,7 +28,6 @@
SimpleTLE5206::SimpleTLE5206(SimpleTLE5206Output *in1, SimpleTLE5206Output *in2)
{
- // Start initially as GPIO and both on (no drive, no speed).
_in1 = in1;
_in2 = in2;
init(0);
@@ -36,15 +35,17 @@
SimpleTLE5206::SimpleTLE5206(SimpleTLE5206Output *in1, SimpleTLE5206Output *in2, int duty_cycle_hz)
{
- // Start initially as GPIO and both on (no drive, no speed).
_in1 = in1;
_in2 = in2;
+ if (duty_cycle_hz == 0) error("Division by zero!\n");
init((uint32_t)(12000000UL / duty_cycle_hz * 2));
}
void
SimpleTLE5206::init(uint32_t duty)
{
+ _in1->as_pwm();
+ _in2->as_pwm();
if (duty != 0) setDuty(duty);
setSpeed(0.0);
}
@@ -55,7 +56,7 @@
_duty = duty;
- // Skip the setup if teh duty has already been set
+ // Skip the setup if the duty has already been set
// by a previous instance of controller.
if (LPC_PWM1->MR0 == duty) {
return;
@@ -79,61 +80,53 @@
LPC_PWM1->MR5 = 0;
LPC_PWM1->MR6 = 0;
- LPC_PWM1->MCR = 2; // MR0 resets TC.
-
+ LPC_PWM1->MCR = 2; // MR0 resets TC.
LPC_PWM1->TCR = 9; // Enable.
}
void
SimpleTLE5206::setSpeed(double speed)
{
- uint32_t value;
+ uint32_t value1, value2;
// Ensure we cap the speed to +/-1.0
if (speed > +1.0) speed = +1.0;
if (speed < -1.0) speed = -1.0;
+
+ value1 = _duty + 1; // Output always on.
+ value2 = _duty + 1; // Output always on.
- if (speed == 0) {
- _in1->as_gpio();
- _in2->as_gpio();
- _in1->write(1);
- _in2->write(1);
- }
- else {
+ if (speed != 0.0) {
if (speed > 0.0) {
- // Check the outputs are configured for the direction requested.
- if (_in1->get_pin_type() != SimpleTLE5206Output::IsGPIO) _in1->as_gpio();
- if (_in2->get_pin_type() != SimpleTLE5206Output::IsPWM) _in2->as_pwm();
+ value2 = (uint32_t)(speed * _duty); // Scale for requested speed.
+ if (value2 >= _duty) value2 = _duty - 1; // Don't allow the value to overrun the duty.
+ value2 = _duty - value2; // Invert logic sense.
}
if (speed < 0.0) {
- // Check the outputs are configured for the direction requested.
- if (_in1->get_pin_type() != SimpleTLE5206Output::IsPWM) _in1->as_pwm();
- if (_in2->get_pin_type() != SimpleTLE5206Output::IsGPIO) _in2->as_gpio();
speed *= -1; // invert sign.
+ value1 = (uint32_t)(speed * _duty); // Scale for requested speed.
+ if (value1 >= _duty) value1 = _duty - 1; // Don't allow the value to overrun the duty.
+ value1 = _duty - value1; // Invert logic sense.
}
+ }
- value = (uint32_t)(speed * _duty); // Scale for requested speed.
- if (value >= _duty) value = _duty - 1; // Don't allow the value to overrun the duty.
- value = _duty - value; // Invert logic sense.
+ switch(_in1->getPin()) {
+ case p21: setMRx(Pwm6, value1); break;
+ case p22: setMRx(Pwm5, value1); break;
+ case p23: case LED4: setMRx(Pwm4, value1); break;
+ case p24: case LED3: setMRx(Pwm3, value1); break;
+ case p25: case LED2: setMRx(Pwm2, value1); break;
+ case p26: case LED1: setMRx(Pwm1, value1); break;
+ }
- switch(_in1->getPin()) {
- case p21: setMRx(Pwm6, value); break;
- case p22: setMRx(Pwm5, value); break;
- case p23: case LED4: setMRx(Pwm4, value); break;
- case p24: case LED3: setMRx(Pwm3, value); break;
- case p25: case LED2: setMRx(Pwm2, value); break;
- case p26: case LED1: setMRx(Pwm1, value); break;
- }
-
- switch(_in2->getPin()) {
- case p21: setMRx(Pwm6, value); break;
- case p22: setMRx(Pwm5, value); break;
- case p23: case LED4: setMRx(Pwm4, value); break;
- case p24: case LED3: setMRx(Pwm3, value); break;
- case p25: case LED2: setMRx(Pwm2, value); break;
- case p26: case LED1: setMRx(Pwm1, value); break;
- }
+ switch(_in2->getPin()) {
+ case p21: setMRx(Pwm6, value2); break;
+ case p22: setMRx(Pwm5, value2); break;
+ case p23: case LED4: setMRx(Pwm4, value2); break;
+ case p24: case LED3: setMRx(Pwm3, value2); break;
+ case p25: case LED2: setMRx(Pwm2, value2); break;
+ case p26: case LED1: setMRx(Pwm1, value2); break;
}
}