Remi Beges / FRDM-TFC-HBRIDGE

Fork of the official library for the FRDM-TFC shield to add measurement of H-bridge sense currents

Dependents:   telemetry_demo_FRDM-TFC

Fork of FRDM-TFC by Eli Hughes

TFC.h@11:787a9a24dbfb, 2016-02-22 (annotated)

Committer:
Overdrivr
Date:
Mon Feb 22 13:40:03 2016 +0000
Revision:
11:787a9a24dbfb
Parent:
9:1c4fc3e224b5 
Bugfix - library fully functionnal, Hbridges current sense can be read correctly

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emh203 1:6f37253dab87 1
emh203 1:6f37253dab87 2 #include "mbed.h"
emh203 1:6f37253dab87 3
emh203 1:6f37253dab87 4 /** @file test.h*/
emh203 1:6f37253dab87 5
emh203 1:6f37253dab87 6 /**
emh203 1:6f37253dab87 7 * @defgroup FRDM-TFC_API FRDM-TFC_API
emh203 1:6f37253dab87 8 *
emh203 1:6f37253dab87 9 * @{
emh203 1:6f37253dab87 10 */
emh203 1:6f37253dab87 11
emh203 1:6f37253dab87 12
emh203 1:6f37253dab87 13 /**
emh203 1:6f37253dab87 14
emh203 1:6f37253dab87 15 @addtogroup FRDM-TFC_API
emh203 1:6f37253dab87 16
emh203 1:6f37253dab87 17 @{
emh203 1:6f37253dab87 18
emh203 1:6f37253dab87 19 Resources used by the TFC Library\n
emh203 1:6f37253dab87 20
emh203 1:6f37253dab87 21 I/O:\n
emh203 1:6f37253dab87 22 -------------------------------------------------------------------------------------------------\n
emh203 1:6f37253dab87 23
emh203 1:6f37253dab87 24 PTB0 (Servo Channel 0 - TPM1)\n
emh203 1:6f37253dab87 25 PTB1 (Servo Channel 1 - TPM1)\n
emh203 1:6f37253dab87 26 \n
emh203 1:6f37253dab87 27 PTB8 (Battery LED0)\n
emh203 1:6f37253dab87 28 PTB9 (Battery LED1)\n
emh203 1:6f37253dab87 29 PTB10 (Battery LED2)\n
emh203 1:6f37253dab87 30 PTB11 (Battery LED3)\n
emh203 1:6f37253dab87 31 \n
emh203 1:6f37253dab87 32 PTD7 (Camera SI)\n
emh203 1:6f37253dab87 33 PTE0 (Camera CLK)\n
emh203 1:6f37253dab87 34 PTD5 (Camera A0 - ADC_SE6b)\n
emh203 1:6f37253dab87 35 PTD6 (Camera A1 - ADC_SE7b)\n
emh203 1:6f37253dab87 36 \n
emh203 1:6f37253dab87 37 PTE2 DIP Switch 0\n
emh203 1:6f37253dab87 38 PTE3 DIP Switch 1\n
emh203 1:6f37253dab87 39 PTE4 DIP Switch 2\n
emh203 1:6f37253dab87 40 PTE5 DIP Switch 3\n
emh203 1:6f37253dab87 41
emh203 1:6f37253dab87 42 PTC13 Pushbutton SW1\n
emh203 1:6f37253dab87 43 PTC17 Pushbutton SW2\n
emh203 1:6f37253dab87 44
emh203 1:6f37253dab87 45 PTC3 H-Bridge A - 1 FTM0_CH3\n
emh203 1:6f37253dab87 46 PTC4 H-Bridge A - 2 FTM0_CH4\n
emh203 1:6f37253dab87 47 PTC1 H-Bridge B - 1 FTM0_CH1\n
emh203 1:6f37253dab87 48 PTC2 H-Bridge B - 2 FTM0_CH2\n
emh203 1:6f37253dab87 49
emh203 1:6f37253dab87 50 PTE21 H-Bridge Enable\n
emh203 1:6f37253dab87 51 PTE20 H-Bridge Fault\n
emh203 1:6f37253dab87 52
emh203 1:6f37253dab87 53 PTE23 H-Bridge A - IFB\n
emh203 1:6f37253dab87 54 PTE22 H-Bridge B - IFB\n
emh203 1:6f37253dab87 55
emh203 1:6f37253dab87 56 }
emh203 1:6f37253dab87 57 */
emh203 1:6f37253dab87 58
emh203 1:6f37253dab87 59
emh203 1:6f37253dab87 60
emh203 1:6f37253dab87 61 #ifndef _TFC_H
emh203 1:6f37253dab87 62 #define _TFC_H
emh203 1:6f37253dab87 63
emh203 1:6f37253dab87 64 #define TFC_HBRIDGE_EN_LOC (uint32_t)(1<<21)
emh203 1:6f37253dab87 65 #define TFC_HBRIDGE_FAULT_LOC (uint32_t)(1<<20)
emh203 1:6f37253dab87 66
emh203 1:6f37253dab87 67 #define TFC_HBRIDGE_ENABLE PTE->PSOR = TFC_HBRIDGE_EN_LOC
emh203 1:6f37253dab87 68 #define TFC_HBRIDGE_DISABLE PTE->PCOR = TFC_HBRIDGE_EN_LOC
emh203 1:6f37253dab87 69
emh203 1:6f37253dab87 70 #define TFC_DIP_SWITCH0_LOC ((uint32_t)(1<<2))
emh203 1:6f37253dab87 71 #define TFC_DIP_SWITCH1_LOC ((uint32_t)(1<<3))
emh203 1:6f37253dab87 72 #define TFC_DIP_SWITCH2_LOC ((uint32_t)(1<<4))
emh203 1:6f37253dab87 73 #define TFC_DIP_SWITCH3_LOC ((uint32_t)(1<<5))
emh203 1:6f37253dab87 74
emh203 1:6f37253dab87 75 #define TFC_PUSH_BUTT0N0_LOC ((uint32_t)(1<<13))
emh203 1:6f37253dab87 76 #define TFC_PUSH_BUTT0N1_LOC ((uint32_t)(1<<17))
emh203 1:6f37253dab87 77
emh203 1:6f37253dab87 78 #define TFC_BAT_LED0_LOC ((uint32_t)(1<<11))
emh203 1:6f37253dab87 79 #define TFC_BAT_LED1_LOC ((uint32_t)(1<<10))
emh203 1:6f37253dab87 80 #define TFC_BAT_LED2_LOC ((uint32_t)(1<<9))
emh203 1:6f37253dab87 81 #define TFC_BAT_LED3_LOC ((uint32_t)(1<<8))
emh203 1:6f37253dab87 82
emh203 1:6f37253dab87 83 #define TAOS_CLK_HIGH PTE->PSOR = (1<<1)
emh203 1:6f37253dab87 84 #define TAOS_CLK_LOW PTE->PCOR = (1<<1)
emh203 1:6f37253dab87 85 #define TAOS_SI_HIGH PTD->PSOR = (1<<7)
emh203 1:6f37253dab87 86 #define TAOS_SI_LOW PTD->PCOR = (1<<7)
emh203 1:6f37253dab87 87
emh203 1:6f37253dab87 88
emh203 1:6f37253dab87 89 /**
emh203 1:6f37253dab87 90
emh203 1:6f37253dab87 91 @addtogroup FRDM-TFC_API
emh203 1:6f37253dab87 92 @{
emh203 1:6f37253dab87 93 */
emh203 1:6f37253dab87 94
emh203 1:6f37253dab87 95 /**Macro to turn on LED 0 in the battery indicator array*/
emh203 1:6f37253dab87 96 #define TFC_BAT_LED0_ON PTB->PSOR = TFC_BAT_LED0_LOC
emh203 1:6f37253dab87 97 /** Macro to turn on LED 1 in the battery indicator array*/
emh203 1:6f37253dab87 98 #define TFC_BAT_LED1_ON PTB->PSOR = TFC_BAT_LED1_LOC
emh203 1:6f37253dab87 99 /** Macro to turn on LED 2 in the battery indicator array*/
emh203 1:6f37253dab87 100 #define TFC_BAT_LED2_ON PTB->PSOR = TFC_BAT_LED2_LOC
emh203 1:6f37253dab87 101 /** Macro to turn on LED 3 in the battery indicator array*/
emh203 1:6f37253dab87 102 #define TFC_BAT_LED3_ON PTB->PSOR = TFC_BAT_LED3_LOC
emh203 1:6f37253dab87 103
emh203 1:6f37253dab87 104
emh203 1:6f37253dab87 105 /** Macro to turn off LED 0 in the battery indicator array*/
emh203 1:6f37253dab87 106 #define TFC_BAT_LED0_OFF PTB->PCOR = TFC_BAT_LED0_LOC
emh203 1:6f37253dab87 107 /** Macro to turn off LED 1 in the battery indicator array*/
emh203 1:6f37253dab87 108 #define TFC_BAT_LED1_OFF PTB->PCOR = TFC_BAT_LED1_LOC
emh203 1:6f37253dab87 109 /** Macro to turn off LED 2 in the battery indicator array*/
emh203 1:6f37253dab87 110 #define TFC_BAT_LED2_OFF PTB->PCOR = TFC_BAT_LED2_LOC
emh203 1:6f37253dab87 111 /** Macro to turn off LED 3 in the battery indicator array*/
emh203 1:6f37253dab87 112 #define TFC_BAT_LED3_OFF PTB->PCOR = TFC_BAT_LED3_LOC
emh203 1:6f37253dab87 113
emh203 1:6f37253dab87 114
emh203 1:6f37253dab87 115 /** Macro to toggle LED 0 in the battery indicator array*/
emh203 1:6f37253dab87 116 #define TFC_BAT_LED0_TOGGLE PTB->PTOR = TFC_BAT_LED0_LOC
emh203 1:6f37253dab87 117 /** Macro to toggle LED 1 in the battery indicator array*/
emh203 1:6f37253dab87 118 #define TFC_BAT_LED1_TOGGLE PTB->PTOR = TFC_BAT_LED1_LOC
emh203 1:6f37253dab87 119 /** Macro to toggle LED 2 in the battery indicator array*/
emh203 1:6f37253dab87 120 #define TFC_BAT_LED2_TOGGLE PTB->PTOR = TFC_BAT_LED2_LOC
emh203 1:6f37253dab87 121 /** Macro to toggle LED 3 in the battery indicator array*/
emh203 1:6f37253dab87 122 #define TFC_BAT_LED3_TOGGLE PTB->PTOR = TFC_BAT_LED3_LOC
emh203 1:6f37253dab87 123
emh203 1:6f37253dab87 124
emh203 1:6f37253dab87 125 /** Macro to read the state of the pushbutton SW1*/
emh203 1:6f37253dab87 126 #define TFC_PUSH_BUTTON_0_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N0_LOC)>0)
emh203 1:6f37253dab87 127 /** Macro to read the state of the pushbutton SW1*/
emh203 1:6f37253dab87 128 #define TFC_PUSH_BUTTON_1_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N1_LOC)>0)
emh203 1:6f37253dab87 129
emh203 1:6f37253dab87 130 /** Macro to read the state of switch 0 in the 4 position DIP switch*/
emh203 1:6f37253dab87 131 #define TFC_DIP_SWITCH_0_ON ((TFC_GetDIP_Switch()&0x01)>0)
emh203 1:6f37253dab87 132
emh203 1:6f37253dab87 133 /** Macro to read the state of switch 1 in the 4 position DIP switch*/
emh203 1:6f37253dab87 134 #define TFC_DIP_SWITCH_1_ON ((TFC_GetDIP_Switch()&0x02)>0)
emh203 1:6f37253dab87 135
emh203 1:6f37253dab87 136 /** Macro to read the state of switch 2 in the 4 position DIP switch*/
emh203 1:6f37253dab87 137 #define TFC_DIP_SWITCH_2_ON ((TFC_GetDIP_Switch()&0x04)>0)
emh203 1:6f37253dab87 138
emh203 1:6f37253dab87 139 /** Macro to read the state of switch 3 in the 4 position DIP switch*/
emh203 1:6f37253dab87 140 #define TFC_DIP_SWITCH_3_ON ((TFC_GetDIP_Switch()&0x08)>0)
emh203 1:6f37253dab87 141
emh203 1:6f37253dab87 142
emh203 1:6f37253dab87 143 /** Initialized the TFC API. Call before using any other API calls.
emh203 1:6f37253dab87 144 *
emh203 1:6f37253dab87 145 */
emh203 1:6f37253dab87 146 void TFC_Init();
emh203 1:6f37253dab87 147
emh203 1:6f37253dab87 148 /** ServoTicker will increment once every servo cycle.
emh203 1:6f37253dab87 149 * It can be used to synchronize events to the start of a servo cycle. ServoTicker is a volatile uint32_t and is updated in the TPM1 overlflow interrupt. This means you will see ServoTicker increment on the rising edge of the servo PWM signal
emh203 1:6f37253dab87 150 *
emh203 1:6f37253dab87 151 */
emh203 1:6f37253dab87 152 extern volatile uint32_t TFC_ServoTicker;
emh203 1:6f37253dab87 153
emh203 1:6f37253dab87 154
emh203 1:6f37253dab87 155 /** Gets the state of the 4-positiomn DIP switch on the FRDM-TFC
emh203 1:6f37253dab87 156 *
emh203 1:6f37253dab87 157 * @returns The lower 4-bits of the return value map to the 4-bits of the DIP switch
emh203 1:6f37253dab87 158 */
emh203 1:6f37253dab87 159 uint8_t TFC_GetDIP_Switch();
emh203 1:6f37253dab87 160
emh203 1:6f37253dab87 161
emh203 1:6f37253dab87 162 /** Reads the state of the pushbuttons (SW1, SW2) on the FRDM-TFC
emh203 1:6f37253dab87 163 * @param Index Selects the pushbutton (0 for SW1 and 1 for SW2)
emh203 1:6f37253dab87 164 * @returns A non-zero value if the button is pushed
emh203 1:6f37253dab87 165 */
emh203 1:6f37253dab87 166 uint8_t TFC_ReadPushButton(uint8_t Index);
emh203 1:6f37253dab87 167
emh203 1:6f37253dab87 168
emh203 1:6f37253dab87 169 /** Controls the 4 battery level LEDs on the FRDM-TFC boards.
emh203 1:6f37253dab87 170 *
emh203 1:6f37253dab87 171 * @param Value The lower 4-bits of the parameter maps to the 4 LEDs.
emh203 1:6f37253dab87 172 */
emh203 1:6f37253dab87 173 void TFC_SetBatteryLED(uint8_t Value);
emh203 1:6f37253dab87 174
emh203 1:6f37253dab87 175
emh203 1:6f37253dab87 176 /** Sets the servo channels
emh203 1:6f37253dab87 177 *
emh203 1:6f37253dab87 178 * @param ServoNumber Which servo channel on the FRDM-TFC to use (0 or 1). 0 is the default channel for steering
emh203 1:6f37253dab87 179 * @param Position Angle setting for servo in a normalized (-1.0 to 1.0) form. The range of the servo can be changed with the InitServos function.
emh203 1:6f37253dab87 180 * This is called in the TFC constructor with some useful default values--> 20mSec period, 0.5mS min and 2.0mSec max. you may need to adjust these for your own particular setup.
emh203 1:6f37253dab87 181 */
emh203 1:6f37253dab87 182 void TFC_SetServo(uint8_t ServoNumber, float Position);
emh203 1:6f37253dab87 183
emh203 1:6f37253dab87 184 /** Initializes TPM for the servoes. It also sets the max and min ranges
emh203 1:6f37253dab87 185 *
emh203 1:6f37253dab87 186 * @param ServoPulseWidthMin Minimum pulse width (in seconds) for the servo. The value of -1.0 in SetServo is mapped to this pulse width. I.E. .001
emh203 1:6f37253dab87 187 * @param ServoPulseWidthMax Maximum pulse width (in seconds) for the servo. The value of +1.0 in SetServo is mapped to this pulse width. I.E. .002
emh203 1:6f37253dab87 188 * @param ServoPeriod Period of the servo pulses (in seconds). I.e. .020 for 20mSec
emh203 1:6f37253dab87 189 */
emh203 1:6f37253dab87 190
emh203 1:6f37253dab87 191 void TFC_InitServos(float ServoPulseWidthMin, float ServoPulseWidthMax, float ServoPeriod);
emh203 1:6f37253dab87 192
emh203 1:6f37253dab87 193
emh203 1:6f37253dab87 194 /** Initialized TPM0 to be used for generating PWM signals for the the dual drive motors. This method is called in the TFC constructor with a default value of 4000.0Hz
emh203 1:6f37253dab87 195 *
emh203 1:6f37253dab87 196 * @param SwitchingFrequency PWM Switching Frequency in floating point format. Pick something between 1000 and 9000. Maybe you can modulate it and make a tune.
emh203 1:6f37253dab87 197 */
emh203 1:6f37253dab87 198 void TFC_InitMotorPWM(float SwitchingFrequency);
emh203 1:6f37253dab87 199
emh203 1:6f37253dab87 200 /** Sets the PWM value for each motor.
emh203 1:6f37253dab87 201 *
emh203 1:6f37253dab87 202 * @param MotorA The PWM value for HBridgeA. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
emh203 1:6f37253dab87 203 * @param MotorB The PWM value for HBridgeB. The value is normalized to the floating point range of -1.0 to +1.0. -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
emh203 1:6f37253dab87 204 */
emh203 1:6f37253dab87 205 void TFC_SetMotorPWM(float MotorA ,float MotorB);
emh203 1:6f37253dab87 206
emh203 1:6f37253dab87 207 /** Reads the potentiometers
emh203 1:6f37253dab87 208 *
emh203 1:6f37253dab87 209 * @param Channel Selects which pot is read. I.e. 0 for POT0 or 1 for POT1
emh203 1:6f37253dab87 210 * @returns Pot value from -1.0 to 1.0
emh203 1:6f37253dab87 211 */
emh203 1:6f37253dab87 212 float TFC_ReadPot(uint8_t Channel);
emh203 1:6f37253dab87 213
emh203 1:6f37253dab87 214 /** Gets the current battery voltage
emh203 1:6f37253dab87 215 *
emh203 1:6f37253dab87 216 * @returns Battery voltage in floating point form.
emh203 1:6f37253dab87 217 */
emh203 1:6f37253dab87 218 float TFC_ReadBatteryVoltage();
emh203 1:6f37253dab87 219
Overdrivr 9:1c4fc3e224b5 220 /** Gets the current inside each motor. Current is a good indicator of the wheel's rotation, unlike the motorPWM.
Overdrivr 9:1c4fc3e224b5 221 * If you invert the PWM but the wheel keeps temporarily rotating the same way, current inside the motor will reflect that.
Overdrivr 9:1c4fc3e224b5 222 *
Overdrivr 9:1c4fc3e224b5 223 * @param motorChannel Selects which motor is read. 0 for HBdrige A, 1 for A
Overdrivr 9:1c4fc3e224b5 224 * @returns Current inside the selected motor
Overdrivr 9:1c4fc3e224b5 225 */
Overdrivr 9:1c4fc3e224b5 226 float TFC_ReadMotorCurrent(uint8_t motorChannel);
emh203 3:23cce037011f 227
emh203 3:23cce037011f 228 /** Sets the Battery level indiciate
emh203 3:23cce037011f 229 *
emh203 3:23cce037011f 230 * @param BattLevel A number betwween 0 and 4. This will light the bar from left to right with the specifified number of segments.
emh203 3:23cce037011f 231 *
emh203 3:23cce037011f 232 */
emh203 3:23cce037011f 233 void TFC_SetBatteryLED_Level(uint8_t BattLevel);
emh203 3:23cce037011f 234
emh203 3:23cce037011f 235
emh203 1:6f37253dab87 236 /** Pointer to two channels of line scan camera data. Each channel is 128 points of uint8_t's. Note that the underlying implementation is ping-pong buffer These pointers will point to the
emh203 1:6f37253dab87 237 *inactive buffer.
emh203 1:6f37253dab87 238 *
emh203 1:6f37253dab87 239 */
emh203 1:6f37253dab87 240
emh203 3:23cce037011f 241 extern volatile uint16_t * TFC_LineScanImage0;
emh203 3:23cce037011f 242 extern volatile uint16_t * TFC_LineScanImage1;
emh203 3:23cce037011f 243
emh203 1:6f37253dab87 244
emh203 1:6f37253dab87 245 /** This flag will increment when a new frame is ready. Check for a non zero value (and reset to zero!) when you want to read the camera(s)
emh203 1:6f37253dab87 246 *
emh203 1:6f37253dab87 247 */
emh203 1:6f37253dab87 248
emh203 3:23cce037011f 249 extern volatile uint8_t TFC_LineScanImageReady;
emh203 3:23cce037011f 250
emh203 3:23cce037011f 251
emh203 3:23cce037011f 252
emh203 1:6f37253dab87 253
emh203 1:6f37253dab87 254
emh203 1:6f37253dab87 255 /** @} */
emh203 1:6f37253dab87 256
emh203 1:6f37253dab87 257
emh203 1:6f37253dab87 258 #endif