Rajkumar R / Mbed 2 deprecated DC_Motor

MOTOR

Dependencies:   USBDevice mbed

Fork of Brushed_DC_Motor_Control_MC34931_MC33931 by NXP

main_copy.cpp@0:f2f48fcea638, 2015-06-12 (annotated)

Committer:
pnandy
Date:
Fri Jun 12 17:51:20 2015 +0000
Revision:
0:f2f48fcea638
Brushed DC Motor Control using MC34931/MC33931

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pnandy 0:f2f48fcea638 1 #include "mbed.h"
pnandy 0:f2f48fcea638 2 #include "USBHID.h"
pnandy 0:f2f48fcea638 3
pnandy 0:f2f48fcea638 4 // We declare a USBHID device.
pnandy 0:f2f48fcea638 5 // HID In/Out Reports are 64 Bytes long
pnandy 0:f2f48fcea638 6 // Vendor ID (VID): 0x15A2
pnandy 0:f2f48fcea638 7 // Product ID (PID): 0x0138
pnandy 0:f2f48fcea638 8 // Serial Number: 0x0001
pnandy 0:f2f48fcea638 9 USBHID hid(64, 64, 0x15A2, 0x0138, 0x0001, true);
pnandy 0:f2f48fcea638 10
pnandy 0:f2f48fcea638 11 //Setup Digital Outputs for the LEDs on the FRDM
pnandy 0:f2f48fcea638 12 //PwmOut red_led(LED1);
pnandy 0:f2f48fcea638 13 //DigitalOut green_led(LED2);
pnandy 0:f2f48fcea638 14 //DigitalOut blue_led(LED3);
pnandy 0:f2f48fcea638 15
pnandy 0:f2f48fcea638 16 //Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
pnandy 0:f2f48fcea638 17 PwmOut IN1(PTC8); // Pin IN1 input to MC34931 (FRDM PIN Name)
pnandy 0:f2f48fcea638 18 PwmOut IN2 (PTA5); // Pin IN2 input to MC34931 (FRDM PIN Name)
pnandy 0:f2f48fcea638 19 DigitalOut EN(PTE0); // Pin EN input to MC34931 (FRDM PIN Name)
pnandy 0:f2f48fcea638 20 DigitalOut DIS(PTA2); // Pin D1 input to MC34931 (FRDM PIN Name)
pnandy 0:f2f48fcea638 21 DigitalIn STATUS(PTB3);
pnandy 0:f2f48fcea638 22 AnalogIn CFB(PTB0);
pnandy 0:f2f48fcea638 23 //DigitalOut READY(PTC7); // Pin READY input to Motor Control Board (FRDM PIN Name)
pnandy 0:f2f48fcea638 24
pnandy 0:f2f48fcea638 25 //Variables
pnandy 0:f2f48fcea638 26 int pwm_freq_lo;
pnandy 0:f2f48fcea638 27 int pwm_freq_hi;
pnandy 0:f2f48fcea638 28 int frequencyHz = 500;
pnandy 0:f2f48fcea638 29 int runstop = 0;
pnandy 0:f2f48fcea638 30 int direction = 1;
pnandy 0:f2f48fcea638 31 int braking;
pnandy 0:f2f48fcea638 32 int dutycycle = 75;
pnandy 0:f2f48fcea638 33 int newDataFlag = 0;
pnandy 0:f2f48fcea638 34 int status = 0;
pnandy 0:f2f48fcea638 35 uint16_t CurrFB;
pnandy 0:f2f48fcea638 36 uint16_t CFBArray[101];
pnandy 0:f2f48fcea638 37 uint32_t CFBTotal;
pnandy 0:f2f48fcea638 38 uint16_t CFBAvg;
pnandy 0:f2f48fcea638 39 uint16_t CFBtemp;
pnandy 0:f2f48fcea638 40
pnandy 0:f2f48fcea638 41 //storage for send and receive data
pnandy 0:f2f48fcea638 42 HID_REPORT send_report;
pnandy 0:f2f48fcea638 43 HID_REPORT recv_report;
pnandy 0:f2f48fcea638 44
pnandy 0:f2f48fcea638 45 bool initflag = true;
pnandy 0:f2f48fcea638 46
pnandy 0:f2f48fcea638 47 // USB COMMANDS
pnandy 0:f2f48fcea638 48 // These are sent from the PC
pnandy 0:f2f48fcea638 49 #define WRITE_LED 0x20
pnandy 0:f2f48fcea638 50 #define WRITE_GEN_EN 0x40
pnandy 0:f2f48fcea638 51 #define WRITE_DUTY_CYCLE 0x50
pnandy 0:f2f48fcea638 52 #define WRITE_PWM_FREQ 0x60
pnandy 0:f2f48fcea638 53 #define WRITE_RUN_STOP 0x70
pnandy 0:f2f48fcea638 54 #define WRITE_DIRECTION 0x71
pnandy 0:f2f48fcea638 55 #define WRITE_BRAKING 0x90
pnandy 0:f2f48fcea638 56 #define WRITE_RESET 0xA0
pnandy 0:f2f48fcea638 57 #define WRITE_D1 0xB1
pnandy 0:f2f48fcea638 58 #define WRITE_D2_B 0xC1
pnandy 0:f2f48fcea638 59
pnandy 0:f2f48fcea638 60 #define scaleFactor 0.11868
pnandy 0:f2f48fcea638 61
pnandy 0:f2f48fcea638 62 // LOGICAL CONSTANTS
pnandy 0:f2f48fcea638 63 #define OFF 0x00
pnandy 0:f2f48fcea638 64 #define ON 0x01
pnandy 0:f2f48fcea638 65
pnandy 0:f2f48fcea638 66
pnandy 0:f2f48fcea638 67 int main()
pnandy 0:f2f48fcea638 68 {
pnandy 0:f2f48fcea638 69 send_report.length = 64;
pnandy 0:f2f48fcea638 70 recv_report.length = 64;
pnandy 0:f2f48fcea638 71
pnandy 0:f2f48fcea638 72
pnandy 0:f2f48fcea638 73 while(1)
pnandy 0:f2f48fcea638 74 {
pnandy 0:f2f48fcea638 75 //try to read a msg
pnandy 0:f2f48fcea638 76 if(hid.readNB(&recv_report))
pnandy 0:f2f48fcea638 77 {
pnandy 0:f2f48fcea638 78 switch(recv_report.data[0]) //byte 0 of recv_report.data is command
pnandy 0:f2f48fcea638 79 {
pnandy 0:f2f48fcea638 80 //-----------------------------------------------------------------------------------------------------------------
pnandy 0:f2f48fcea638 81 // COMMAND PARSER
pnandy 0:f2f48fcea638 82 //-----------------------------------------------------------------------------------------------------------------
pnandy 0:f2f48fcea638 83 ////////
pnandy 0:f2f48fcea638 84 case WRITE_LED:
pnandy 0:f2f48fcea638 85 break;
pnandy 0:f2f48fcea638 86 ////////
pnandy 0:f2f48fcea638 87
pnandy 0:f2f48fcea638 88 ////////
pnandy 0:f2f48fcea638 89 case WRITE_DUTY_CYCLE:
pnandy 0:f2f48fcea638 90 dutycycle = recv_report.data[1];
pnandy 0:f2f48fcea638 91 newDataFlag = 1;
pnandy 0:f2f48fcea638 92 break;
pnandy 0:f2f48fcea638 93 ////////
pnandy 0:f2f48fcea638 94 case WRITE_PWM_FREQ: //PWM frequency can be larger than 1 byte
pnandy 0:f2f48fcea638 95 pwm_freq_lo = recv_report.data[1]; //so we have to re-assemble the number
pnandy 0:f2f48fcea638 96 pwm_freq_hi = recv_report.data[2] * 100;
pnandy 0:f2f48fcea638 97 frequencyHz = pwm_freq_lo + pwm_freq_hi;
pnandy 0:f2f48fcea638 98 newDataFlag = 1;
pnandy 0:f2f48fcea638 99 break;
pnandy 0:f2f48fcea638 100 ////////
pnandy 0:f2f48fcea638 101 case WRITE_RUN_STOP:
pnandy 0:f2f48fcea638 102 newDataFlag = 1;
pnandy 0:f2f48fcea638 103 if(recv_report.data[1] != 0)
pnandy 0:f2f48fcea638 104 {
pnandy 0:f2f48fcea638 105 runstop = 1;
pnandy 0:f2f48fcea638 106 }
pnandy 0:f2f48fcea638 107 else
pnandy 0:f2f48fcea638 108 {
pnandy 0:f2f48fcea638 109 runstop = 0;
pnandy 0:f2f48fcea638 110 }
pnandy 0:f2f48fcea638 111 break;
pnandy 0:f2f48fcea638 112
pnandy 0:f2f48fcea638 113 ////////
pnandy 0:f2f48fcea638 114 case WRITE_DIRECTION:
pnandy 0:f2f48fcea638 115 newDataFlag = 1;
pnandy 0:f2f48fcea638 116
pnandy 0:f2f48fcea638 117 if(recv_report.data[1] != 0)
pnandy 0:f2f48fcea638 118 {
pnandy 0:f2f48fcea638 119 direction = 1;
pnandy 0:f2f48fcea638 120 }
pnandy 0:f2f48fcea638 121 else
pnandy 0:f2f48fcea638 122 {
pnandy 0:f2f48fcea638 123 direction = 0;
pnandy 0:f2f48fcea638 124 }
pnandy 0:f2f48fcea638 125 break;
pnandy 0:f2f48fcea638 126 ////////
pnandy 0:f2f48fcea638 127 case WRITE_BRAKING:
pnandy 0:f2f48fcea638 128 newDataFlag = 1;
pnandy 0:f2f48fcea638 129 if(recv_report.data[1] == 1)
pnandy 0:f2f48fcea638 130 {
pnandy 0:f2f48fcea638 131 braking = 1;
pnandy 0:f2f48fcea638 132 }
pnandy 0:f2f48fcea638 133 else
pnandy 0:f2f48fcea638 134 {
pnandy 0:f2f48fcea638 135 braking = 0;
pnandy 0:f2f48fcea638 136 }
pnandy 0:f2f48fcea638 137 break;
pnandy 0:f2f48fcea638 138 ////////
pnandy 0:f2f48fcea638 139 case WRITE_D1:
pnandy 0:f2f48fcea638 140 newDataFlag = 1;
pnandy 0:f2f48fcea638 141 if(recv_report.data[1] == 1)
pnandy 0:f2f48fcea638 142 {
pnandy 0:f2f48fcea638 143 DIS = 1;
pnandy 0:f2f48fcea638 144 }
pnandy 0:f2f48fcea638 145 else
pnandy 0:f2f48fcea638 146 {
pnandy 0:f2f48fcea638 147 DIS = 0;
pnandy 0:f2f48fcea638 148 }
pnandy 0:f2f48fcea638 149 break;
pnandy 0:f2f48fcea638 150 ////////
pnandy 0:f2f48fcea638 151 case WRITE_D2_B:
pnandy 0:f2f48fcea638 152 newDataFlag = 1;
pnandy 0:f2f48fcea638 153 if(recv_report.data[1] == 1)
pnandy 0:f2f48fcea638 154 {
pnandy 0:f2f48fcea638 155 EN = 0;
pnandy 0:f2f48fcea638 156 }
pnandy 0:f2f48fcea638 157 else
pnandy 0:f2f48fcea638 158 {
pnandy 0:f2f48fcea638 159 EN = 1;
pnandy 0:f2f48fcea638 160 }
pnandy 0:f2f48fcea638 161 break;
pnandy 0:f2f48fcea638 162
pnandy 0:f2f48fcea638 163 ////////
pnandy 0:f2f48fcea638 164 default:
pnandy 0:f2f48fcea638 165 break;
pnandy 0:f2f48fcea638 166 }// End Switch recv report data[0]
pnandy 0:f2f48fcea638 167
pnandy 0:f2f48fcea638 168 //-----------------------------------------------------------------------------------------------------------------
pnandy 0:f2f48fcea638 169 // end command parser
pnandy 0:f2f48fcea638 170 //-----------------------------------------------------------------------------------------------------------------
pnandy 0:f2f48fcea638 171
pnandy 0:f2f48fcea638 172 status = STATUS;
pnandy 0:f2f48fcea638 173 send_report.data[0] = status; // Echo Command
pnandy 0:f2f48fcea638 174 send_report.data[1] = recv_report.data[1]; // Echo Subcommand 1
pnandy 0:f2f48fcea638 175 send_report.data[2] = recv_report.data[2]; // Echo Subcommand 2
pnandy 0:f2f48fcea638 176 send_report.data[3] = 0x00;
pnandy 0:f2f48fcea638 177 send_report.data[4] = 0x00;
pnandy 0:f2f48fcea638 178 send_report.data[5] = 0x00;
pnandy 0:f2f48fcea638 179 send_report.data[6] = (CFBAvg << 8) >> 8;
pnandy 0:f2f48fcea638 180 send_report.data[7] = CFBAvg >> 8;
pnandy 0:f2f48fcea638 181
pnandy 0:f2f48fcea638 182 //Send the report
pnandy 0:f2f48fcea638 183 hid.send(&send_report);
pnandy 0:f2f48fcea638 184 }// End If(hid.readNB(&recv_report))
pnandy 0:f2f48fcea638 185 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pnandy 0:f2f48fcea638 186 //End of USB message handling
pnandy 0:f2f48fcea638 187 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pnandy 0:f2f48fcea638 188
pnandy 0:f2f48fcea638 189 CurrFB = CFB.read_u16();
pnandy 0:f2f48fcea638 190 CFBArray[0] = CurrFB;
pnandy 0:f2f48fcea638 191 CFBTotal = 0;
pnandy 0:f2f48fcea638 192 int i = 0;
pnandy 0:f2f48fcea638 193 for(i=0; i<100; i++)
pnandy 0:f2f48fcea638 194 {
pnandy 0:f2f48fcea638 195 CFBTotal = CFBTotal + CFBArray[i];
pnandy 0:f2f48fcea638 196 }
pnandy 0:f2f48fcea638 197 CFBAvg = CFBTotal / 100;
pnandy 0:f2f48fcea638 198
pnandy 0:f2f48fcea638 199 for(i=100; i>=0; i--)
pnandy 0:f2f48fcea638 200 {
pnandy 0:f2f48fcea638 201
pnandy 0:f2f48fcea638 202 CFBArray[i+1] = CFBArray[i];
pnandy 0:f2f48fcea638 203 }
pnandy 0:f2f48fcea638 204
pnandy 0:f2f48fcea638 205 if(newDataFlag != 0) //GUI setting changed
pnandy 0:f2f48fcea638 206 {
pnandy 0:f2f48fcea638 207 newDataFlag = 0;
pnandy 0:f2f48fcea638 208 if(runstop != 0) //Running
pnandy 0:f2f48fcea638 209 {
pnandy 0:f2f48fcea638 210 if(direction == 0) //reverse
pnandy 0:f2f48fcea638 211 {
pnandy 0:f2f48fcea638 212 if(braking == 1) //dynamic
pnandy 0:f2f48fcea638 213 {
pnandy 0:f2f48fcea638 214 IN1.period(1/(float)frequencyHz);
pnandy 0:f2f48fcea638 215 IN1 = (float)dutycycle/100.0;
pnandy 0:f2f48fcea638 216 IN2 = 1;
pnandy 0:f2f48fcea638 217 }
pnandy 0:f2f48fcea638 218 else //coast
pnandy 0:f2f48fcea638 219 {
pnandy 0:f2f48fcea638 220 IN1 = 0;
pnandy 0:f2f48fcea638 221 IN2.period(1/(float)frequencyHz);
pnandy 0:f2f48fcea638 222 IN2 = (float)dutycycle/100.0;
pnandy 0:f2f48fcea638 223 }
pnandy 0:f2f48fcea638 224 }
pnandy 0:f2f48fcea638 225 else //forward
pnandy 0:f2f48fcea638 226 {
pnandy 0:f2f48fcea638 227 if(braking == 1) //dynamic
pnandy 0:f2f48fcea638 228 {
pnandy 0:f2f48fcea638 229 IN1 = 1;
pnandy 0:f2f48fcea638 230 IN2.period(1/(float)frequencyHz);
pnandy 0:f2f48fcea638 231 IN2 = (float)dutycycle/100.0;
pnandy 0:f2f48fcea638 232 }
pnandy 0:f2f48fcea638 233 else //coast
pnandy 0:f2f48fcea638 234 {
pnandy 0:f2f48fcea638 235 IN1.period(1/(float)frequencyHz);
pnandy 0:f2f48fcea638 236 IN1 = (float)dutycycle/100.0;
pnandy 0:f2f48fcea638 237 IN2 = 0;
pnandy 0:f2f48fcea638 238 }
pnandy 0:f2f48fcea638 239 }
pnandy 0:f2f48fcea638 240 }
pnandy 0:f2f48fcea638 241 else //Stopped
pnandy 0:f2f48fcea638 242 {
pnandy 0:f2f48fcea638 243 if(braking == 1) //braking
pnandy 0:f2f48fcea638 244 {
pnandy 0:f2f48fcea638 245 IN1.period(1);
pnandy 0:f2f48fcea638 246 IN2.period(1);
pnandy 0:f2f48fcea638 247 IN1.write(1);
pnandy 0:f2f48fcea638 248 IN2.write(1);
pnandy 0:f2f48fcea638 249 }
pnandy 0:f2f48fcea638 250 else //coasting
pnandy 0:f2f48fcea638 251 {
pnandy 0:f2f48fcea638 252 IN1.period(1);
pnandy 0:f2f48fcea638 253 IN2.period(1);
pnandy 0:f2f48fcea638 254 IN1.write(0);
pnandy 0:f2f48fcea638 255 IN2.write(0);
pnandy 0:f2f48fcea638 256
pnandy 0:f2f48fcea638 257 }
pnandy 0:f2f48fcea638 258 }
pnandy 0:f2f48fcea638 259 }
pnandy 0:f2f48fcea638 260 }
pnandy 0:f2f48fcea638 261 }