Hochschule München / L9110S

L9110S H-Bridge Driver

Fork of L9110S by Hochschule München

L9110S.cpp@1:4c6c89e42fa4, 2015-10-31 (annotated)

Committer:
HMFK03LST1
Date:
Sat Oct 31 15:32:57 2015 +0000
Revision:
1:4c6c89e42fa4
Parent:
0:1a9b998e0ec1
Child:
2:5d4f1e2b27fe
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HMFK03LST1 1:4c6c89e42fa4 1 /* L9110S H-Brigh Driver Interface
HMFK03LST1 0:1a9b998e0ec1 2 *
HMFK03LST1 0:1a9b998e0ec1 3 * By Sebastian Donner
HMFK03LST1 0:1a9b998e0ec1 4 *
HMFK03LST1 0:1a9b998e0ec1 5 * Permission is hereby granted, free of charge, to any person
HMFK03LST1 0:1a9b998e0ec1 6 * obtaining a copy of this software and associated documentation
HMFK03LST1 0:1a9b998e0ec1 7 * files (the "Software"), to deal in the Software without
HMFK03LST1 0:1a9b998e0ec1 8 * restriction, including without limitation the rights to use,
HMFK03LST1 0:1a9b998e0ec1 9 * copy, modify, merge, publish, distribute, sublicense, and/or sell
HMFK03LST1 0:1a9b998e0ec1 10 * copies of the Software, and to permit persons to whom the
HMFK03LST1 0:1a9b998e0ec1 11 * Software is furnished to do so, subject to the following
HMFK03LST1 0:1a9b998e0ec1 12 * conditions:
HMFK03LST1 0:1a9b998e0ec1 13 *
HMFK03LST1 0:1a9b998e0ec1 14 * The above copyright notice and this permission notice shall be
HMFK03LST1 0:1a9b998e0ec1 15 * included in all copies or substantial portions of the Software.
HMFK03LST1 0:1a9b998e0ec1 16 *
HMFK03LST1 0:1a9b998e0ec1 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
HMFK03LST1 0:1a9b998e0ec1 18 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
HMFK03LST1 0:1a9b998e0ec1 19 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
HMFK03LST1 0:1a9b998e0ec1 20 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HMFK03LST1 0:1a9b998e0ec1 21 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
HMFK03LST1 0:1a9b998e0ec1 22 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
HMFK03LST1 0:1a9b998e0ec1 23 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
HMFK03LST1 0:1a9b998e0ec1 24 * OTHER DEALINGS IN THE SOFTWARE.
HMFK03LST1 0:1a9b998e0ec1 25 */
HMFK03LST1 0:1a9b998e0ec1 26
HMFK03LST1 0:1a9b998e0ec1 27 #include "mbed.h"
HMFK03LST1 0:1a9b998e0ec1 28 #include "L9110S.h"
HMFK03LST1 0:1a9b998e0ec1 29
HMFK03LST1 0:1a9b998e0ec1 30 /** Create a new interface for an L9110S
HMFK03LST1 0:1a9b998e0ec1 31 *
HMFK03LST1 0:1a9b998e0ec1 32 * @param cw_r is the pin for clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 33 * @param ccw_r is the pin for counter clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 34 */
HMFK03LST1 0:1a9b998e0ec1 35 L9110S::L9110S(PinName cw_r, PinName ccw_r):
HMFK03LST1 0:1a9b998e0ec1 36 cw_min(0), cw_max(100), ccw_min(0), ccw_max(100), _cw(cw_r), _ccw(ccw_r), periode(500)
HMFK03LST1 0:1a9b998e0ec1 37 {
HMFK03LST1 0:1a9b998e0ec1 38 _cw.period_us( periode);
HMFK03LST1 0:1a9b998e0ec1 39 _ccw.period_us(periode);
HMFK03LST1 0:1a9b998e0ec1 40 _cw.pulsewidth_us( 0);
HMFK03LST1 0:1a9b998e0ec1 41 _ccw.pulsewidth_us(0);
HMFK03LST1 0:1a9b998e0ec1 42 }
HMFK03LST1 0:1a9b998e0ec1 43
HMFK03LST1 0:1a9b998e0ec1 44 /** sets Pulswidth
HMFK03LST1 0:1a9b998e0ec1 45 *
HMFK03LST1 1:4c6c89e42fa4 46 * @param power positiv in clockwise Dir
HMFK03LST1 1:4c6c89e42fa4 47 * @param power negativ in counter clockwise Dir
HMFK03LST1 0:1a9b998e0ec1 48 *
HMFK03LST1 0:1a9b998e0ec1 49 * in % of range from min_(cw/ccw) to max_(cw/ccw)
HMFK03LST1 0:1a9b998e0ec1 50 *
HMFK03LST1 0:1a9b998e0ec1 51 */
HMFK03LST1 0:1a9b998e0ec1 52 void L9110S::drive(int power)
HMFK03LST1 0:1a9b998e0ec1 53 {
HMFK03LST1 0:1a9b998e0ec1 54 // Calc PWM in us
HMFK03LST1 0:1a9b998e0ec1 55 if (power > 0) {power = ((power * (cw_max - cw_min )) + (cw_min * 100)) * periode / 100000;}
HMFK03LST1 0:1a9b998e0ec1 56 else { if (power < 0) {power = ((power * (ccw_max- ccw_min)) - (ccw_min * 100)) * periode / 100000;}
HMFK03LST1 0:1a9b998e0ec1 57 else power = 0;}
HMFK03LST1 0:1a9b998e0ec1 58
HMFK03LST1 0:1a9b998e0ec1 59 // Limit PWM -100 to 100
HMFK03LST1 0:1a9b998e0ec1 60 if ((power > 100) || (power < -100)) power = 0;
HMFK03LST1 0:1a9b998e0ec1 61
HMFK03LST1 0:1a9b998e0ec1 62 //cw or ccw Rotate
HMFK03LST1 0:1a9b998e0ec1 63 if (power >= 0){_ccw.pulsewidth_us(0); _cw.pulsewidth_us(power);}
HMFK03LST1 0:1a9b998e0ec1 64 else {_cw.pulsewidth_us(0); _ccw.pulsewidth_us(-power);}
HMFK03LST1 0:1a9b998e0ec1 65 }
HMFK03LST1 0:1a9b998e0ec1 66
HMFK03LST1 0:1a9b998e0ec1 67 /** sets Pulswidth
HMFK03LST1 0:1a9b998e0ec1 68 *
HMFK03LST1 1:4c6c89e42fa4 69 * @param dir positiv dir is clockwise direction
HMFK03LST1 1:4c6c89e42fa4 70 * @param dir negativ dir is counter clockwise direction
HMFK03LST1 1:4c6c89e42fa4 71 * @param dir zero is stop
HMFK03LST1 0:1a9b998e0ec1 72 *
HMFK03LST1 1:4c6c89e42fa4 73 * @param power in % of range from min_(cw/ccw) to max_(cw/ccw) allways positiv
HMFK03LST1 0:1a9b998e0ec1 74 *
HMFK03LST1 0:1a9b998e0ec1 75 */
HMFK03LST1 0:1a9b998e0ec1 76 void L9110S::drive(int dir, int power)
HMFK03LST1 0:1a9b998e0ec1 77 {
HMFK03LST1 0:1a9b998e0ec1 78 // Calc PWM in us
HMFK03LST1 0:1a9b998e0ec1 79 if (dir > 0) {power = ((power * (cw_max - cw_min )) + (cw_min * 100)) * periode / 100000;}
HMFK03LST1 0:1a9b998e0ec1 80 else { if (dir < 0) {power = ((power * (ccw_max- ccw_min)) + (ccw_min * 100)) * periode / 100000;}
HMFK03LST1 0:1a9b998e0ec1 81 else power = 0;}
HMFK03LST1 0:1a9b998e0ec1 82 // Limit PWM 0 to 100 and Stop
HMFK03LST1 0:1a9b998e0ec1 83 if ((power > 100) || (power < 0) || (dir == 0)) power = 0;
HMFK03LST1 0:1a9b998e0ec1 84
HMFK03LST1 0:1a9b998e0ec1 85 //cw or ccw Rotate
HMFK03LST1 0:1a9b998e0ec1 86 if (dir > 0){_ccw.pulsewidth_us(0); _cw.pulsewidth_us(power);}
HMFK03LST1 0:1a9b998e0ec1 87 else {_cw.pulsewidth_us(0); _ccw.pulsewidth_us(power);}
HMFK03LST1 0:1a9b998e0ec1 88 }
HMFK03LST1 0:1a9b998e0ec1 89
HMFK03LST1 0:1a9b998e0ec1 90 /** sets the PWM frequency
HMFK03LST1 0:1a9b998e0ec1 91 *
HMFK03LST1 0:1a9b998e0ec1 92 * @param hz is the PWM frequency (default 2000 Hz)
HMFK03LST1 0:1a9b998e0ec1 93 */
HMFK03LST1 0:1a9b998e0ec1 94 void L9110S::frequency(int hz)
HMFK03LST1 0:1a9b998e0ec1 95 {
HMFK03LST1 0:1a9b998e0ec1 96 periode = 1000000/hz;
HMFK03LST1 0:1a9b998e0ec1 97 }
HMFK03LST1 0:1a9b998e0ec1 98
HMFK03LST1 0:1a9b998e0ec1 99