Hochschule München / L9110S

L9110S H-Bridge Driver

Fork of L9110S by Hochschule München

L9110S.h@5:5d8bf5144d8f, 2016-07-20 (annotated)

Committer:
HMFK03LST1
Date:
Wed Jul 20 14:12:29 2016 +0000
Revision:
5:5d8bf5144d8f
Parent:
4:d2fb1359716e 
first

Who changed what in which revision?

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HMFK03LST1 0:1a9b998e0ec1 1 #include "mbed.h"
HMFK03LST1 0:1a9b998e0ec1 2
HMFK03LST1 0:1a9b998e0ec1 3 /** L9110S H-Brigh Driver Interface
HMFK03LST1 0:1a9b998e0ec1 4 *
HMFK03LST1 0:1a9b998e0ec1 5 * By Sebastian Donner
HMFK03LST1 0:1a9b998e0ec1 6 *
HMFK03LST1 0:1a9b998e0ec1 7 * Permission is hereby granted, free of charge, to any person
HMFK03LST1 0:1a9b998e0ec1 8 * obtaining a copy of this software and associated documentation
HMFK03LST1 0:1a9b998e0ec1 9 * files (the "Software"), to deal in the Software without
HMFK03LST1 0:1a9b998e0ec1 10 * restriction, including without limitation the rights to use,
HMFK03LST1 0:1a9b998e0ec1 11 * copy, modify, merge, publish, distribute, sublicense, and/or sell
HMFK03LST1 0:1a9b998e0ec1 12 * copies of the Software, and to permit persons to whom the
HMFK03LST1 0:1a9b998e0ec1 13 * Software is furnished to do so, subject to the following
HMFK03LST1 0:1a9b998e0ec1 14 * conditions:
HMFK03LST1 0:1a9b998e0ec1 15 *
HMFK03LST1 0:1a9b998e0ec1 16 * The above copyright notice and this permission notice shall be
HMFK03LST1 0:1a9b998e0ec1 17 * included in all copies or substantial portions of the Software.
HMFK03LST1 0:1a9b998e0ec1 18 *
HMFK03LST1 0:1a9b998e0ec1 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
HMFK03LST1 0:1a9b998e0ec1 20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
HMFK03LST1 0:1a9b998e0ec1 21 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
HMFK03LST1 0:1a9b998e0ec1 22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HMFK03LST1 0:1a9b998e0ec1 23 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
HMFK03LST1 0:1a9b998e0ec1 24 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
HMFK03LST1 0:1a9b998e0ec1 25 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
HMFK03LST1 0:1a9b998e0ec1 26 * OTHER DEALINGS IN THE SOFTWARE.
HMFK03LST1 0:1a9b998e0ec1 27 *
HMFK03LST1 0:1a9b998e0ec1 28 * @code
HMFK03LST1 0:1a9b998e0ec1 29 * #include "mbed.h"
HMFK03LST1 0:1a9b998e0ec1 30 * #include "L9110S.h"
HMFK03LST1 0:1a9b998e0ec1 31 *
HMFK03LST1 0:1a9b998e0ec1 32 * Serial debug(USBTX,USBRX);
HMFK03LST1 0:1a9b998e0ec1 33 * L9119S motor_x(p21, p22);
HMFK03LST1 0:1a9b998e0ec1 34 *
HMFK03LST1 0:1a9b998e0ec1 35 * int main()
HMFK03LST1 0:1a9b998e0ec1 36 * {
HMFK03LST1 0:1a9b998e0ec1 37 *
HMFK03LST1 0:1a9b998e0ec1 38 * int power = 0;
HMFK03LST1 0:1a9b998e0ec1 39 * int step = 1;
HMFK03LST1 0:1a9b998e0ec1 40
HMFK03LST1 0:1a9b998e0ec1 41 * debug.baud(115200);
HMFK03LST1 0:1a9b998e0ec1 42 * debug.printf("L9110S Motor Test");
HMFK03LST1 0:1a9b998e0ec1 43 *
HMFK03LST1 0:1a9b998e0ec1 44 * while(1)
HMFK03LST1 0:1a9b998e0ec1 45 * {
HMFK03LST1 0:1a9b998e0ec1 46 * power += step;
HMFK03LST1 0:1a9b998e0ec1 47 * motor_x.drive(power);
HMFK03LST1 0:1a9b998e0ec1 48 * debug.printf("Power: %i\n\r", power );
HMFK03LST1 0:1a9b998e0ec1 49 * wait(0.10);
HMFK03LST1 0:1a9b998e0ec1 50 * if ((power > 99)||(power < -99)) step *= -1;
HMFK03LST1 4:d2fb1359716e 51 * }
HMFK03LST1 0:1a9b998e0ec1 52 * }
HMFK03LST1 0:1a9b998e0ec1 53 * @endcode
HMFK03LST1 0:1a9b998e0ec1 54 */
HMFK03LST1 0:1a9b998e0ec1 55 class L9110S {
HMFK03LST1 0:1a9b998e0ec1 56 public:
HMFK03LST1 0:1a9b998e0ec1 57 //! Min Power in PWM% for clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 58 int cw_min;
HMFK03LST1 0:1a9b998e0ec1 59
HMFK03LST1 0:1a9b998e0ec1 60 //! Max Power in PWM% for clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 61 int cw_max;
HMFK03LST1 0:1a9b998e0ec1 62
HMFK03LST1 0:1a9b998e0ec1 63 //! Min Power in PWM% for counter clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 64 int ccw_min;
HMFK03LST1 0:1a9b998e0ec1 65
HMFK03LST1 0:1a9b998e0ec1 66 //! Max Power in PWM% for counter clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 67 int ccw_max;
HMFK03LST1 0:1a9b998e0ec1 68
HMFK03LST1 0:1a9b998e0ec1 69
HMFK03LST1 0:1a9b998e0ec1 70 /** Create a new interface for an L9110S
HMFK03LST1 0:1a9b998e0ec1 71 *
HMFK03LST1 0:1a9b998e0ec1 72 * @param cw_r is the pin for clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 73 * @param ccw_r is the pin for counter clockwise rotate
HMFK03LST1 0:1a9b998e0ec1 74 */
HMFK03LST1 0:1a9b998e0ec1 75 L9110S(PinName cw_r, PinName ccw_r);
HMFK03LST1 0:1a9b998e0ec1 76
HMFK03LST1 3:695e0c6881c5 77 /** sets Pulswidth cw(+) ccw(-)
HMFK03LST1 0:1a9b998e0ec1 78 *
HMFK03LST1 3:695e0c6881c5 79 * @param power positiv in clockwise Dir
HMFK03LST1 3:695e0c6881c5 80 * @param power negativ in counter clockwise Dir
HMFK03LST1 0:1a9b998e0ec1 81 *
HMFK03LST1 0:1a9b998e0ec1 82 * in % of range from min_(cw/ccw) to max_(cw/ccw)
HMFK03LST1 0:1a9b998e0ec1 83 *
HMFK03LST1 0:1a9b998e0ec1 84 */
HMFK03LST1 0:1a9b998e0ec1 85 void drive(int power);
HMFK03LST1 0:1a9b998e0ec1 86
HMFK03LST1 3:695e0c6881c5 87 /** sets Pulswidth and Dir
HMFK03LST1 0:1a9b998e0ec1 88 *
HMFK03LST1 3:695e0c6881c5 89 * @param dir positiv dir is clockwise direction
HMFK03LST1 3:695e0c6881c5 90 * @param dir negativ dir is counter clockwise direction
HMFK03LST1 3:695e0c6881c5 91 * @param dir zero is stop
HMFK03LST1 0:1a9b998e0ec1 92 *
HMFK03LST1 3:695e0c6881c5 93 * @param power in % of range from min_(cw/ccw) to max_(cw/ccw) allways positiv
HMFK03LST1 0:1a9b998e0ec1 94 *
HMFK03LST1 0:1a9b998e0ec1 95 */
HMFK03LST1 0:1a9b998e0ec1 96 void drive(int dir, int power);
HMFK03LST1 0:1a9b998e0ec1 97
HMFK03LST1 0:1a9b998e0ec1 98 /** sets the PWM frequency
HMFK03LST1 0:1a9b998e0ec1 99 *
HMFK03LST1 0:1a9b998e0ec1 100 * @param hz is the PWM frequency (default 2000 Hz)
HMFK03LST1 0:1a9b998e0ec1 101 */
HMFK03LST1 0:1a9b998e0ec1 102 void frequency(int hz);
HMFK03LST1 0:1a9b998e0ec1 103
HMFK03LST1 4:d2fb1359716e 104 void drive_diff(float Soll, float Ist, int kp ,int i_lim, int trash);
HMFK03LST1 4:d2fb1359716e 105 /** sets the PWM frequency
HMFK03LST1 4:d2fb1359716e 106 *
HMFK03LST1 4:d2fb1359716e 107 * @param Soll target value
HMFK03LST1 4:d2fb1359716e 108 * @param Ist actual value
HMFK03LST1 4:d2fb1359716e 109 * @param kp prop Faktor
HMFK03LST1 4:d2fb1359716e 110 * @param i_lim I Limiter
HMFK03LST1 4:d2fb1359716e 111 * @param trash Deathband wide in value * 10
HMFK03LST1 4:d2fb1359716e 112 *
HMFK03LST1 4:d2fb1359716e 113 */
HMFK03LST1 4:d2fb1359716e 114
HMFK03LST1 0:1a9b998e0ec1 115 private:
HMFK03LST1 0:1a9b998e0ec1 116 PwmOut _cw;
HMFK03LST1 0:1a9b998e0ec1 117 PwmOut _ccw;
HMFK03LST1 0:1a9b998e0ec1 118 int periode;
HMFK03LST1 5:5d8bf5144d8f 119 int power_act;
HMFK03LST1 5:5d8bf5144d8f 120 float drive_i;
HMFK03LST1 4:d2fb1359716e 121 float deg_diff(float Soll, float Ist);
HMFK03LST1 0:1a9b998e0ec1 122
HMFK03LST1 0:1a9b998e0ec1 123 };