Diff: ThreePhaseBridge.cpp

Revision:

0:a129854eb4b6

Child:

1:ba7889accd61

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThreePhaseBridge.cpp	Tue Mar 11 15:42:38 2014 +0000
@@ -0,0 +1,109 @@
+#include "ThreePhaseBridge.h"
+
+int8_t ThreePhaseBridge::stateOrder[6] =  {3, 1, 5, 4, 6, 2};
+
+ThreePhaseBridge::ThreePhaseBridge(
+    PinName sw1PinName, PinName sw2PinName, PinName sw3PinName,
+    PinName sw4PinName, PinName sw5PinName, PinName sw6PinName,
+    ThreePhaseBridge::ActiveState activeState
+) : sw1(sw1PinName), sw3(sw3PinName), sw5(sw5PinName),
+    sw2(sw2PinName), sw4(sw4PinName), sw6(sw6PinName),
+    activeState(activeState)
+{
+    highSide[0] = &sw1;
+    highSide[1] = &sw3;
+    highSide[2] = &sw5;
+    lowSide[0] = &sw2;
+    lowSide[1] = &sw4;
+    lowSide[2] = &sw6;
+    switchesState = 63;
+    setSwitchesState(0);
+    state = 0; stateIndex = 5;
+}
+
+void ThreePhaseBridge::setPwmPeriod_us(int32_t period_us)
+{
+    pwmPeriod_us = period_us;
+    sw1.period_us(period_us);
+    sw3.period_us(period_us);
+    sw5.period_us(period_us);
+}
+
+void ThreePhaseBridge::setPwmPulseWidth_us(int32_t pulseWidth_us)
+{
+    pwmPulseWidth_us = pulseWidth_us;
+    sw1.pulsewidth_us(pulseWidth_us);
+    sw3.pulsewidth_us(pulseWidth_us);
+    sw5.pulsewidth_us(pulseWidth_us);
+}
+void ThreePhaseBridge::setHighSideSwitchState(int8_t sw, ThreePhaseBridge::SwitchState state)
+{
+    state == on ? highSide[sw]->pulsewidth_us(activeState == activeLow ? pwmPeriod_us - pwmPulseWidth_us : pwmPeriod_us)
+                : highSide[sw]->pulsewidth_us(activeState == activeLow ? 2 * pwmPeriod_us : 0);
+}
+
+void ThreePhaseBridge::setLowSideSwitchState(int8_t sw, ThreePhaseBridge::SwitchState state)
+{
+    state == on ? *lowSide[sw] = (activeState == activeLow ? 0 : 1)
+                : *lowSide[sw] = (activeState == activeLow ? 1 : 0);
+}
+
+void ThreePhaseBridge::setSwitchesState(uint8_t newState)
+{
+    uint8_t turnOff = ~(newState & switchesState) & switchesState;
+    uint8_t turnOffLow = turnOff & 7;
+    uint8_t turnOffHigh = turnOff >> 3;
+    uint8_t turnOn = newState & ~switchesState;
+    uint8_t turnOnLow = turnOn & 7;
+    uint8_t turnOnHigh = turnOn >> 3;
+    for (uint8_t i = 0; i < 3; i++) {
+        if (turnOffLow & (1 << i))
+            setLowSideSwitchState(i, off);
+        if (turnOffHigh & (1 << i))
+            setHighSideSwitchState(i, off);
+    }
+    for (uint8_t i = 0; i < 3; i++) {
+        if (turnOnLow & (1 << i))
+        {
+            setLowSideSwitchState(i, on);
+        }
+        if (turnOnHigh & (1 << i))
+            setHighSideSwitchState(i, on);        
+    }
+    switchesState = newState;
+}
+    
+void ThreePhaseBridge::setState(int8_t newState)
+{
+    switch (newState) {
+        case 1:
+            setSwitchesState(SW1 | SW6);
+        break;
+        case 2:
+            setSwitchesState(SW3 | SW2);
+        break;
+        case 3:
+            setSwitchesState(SW3 | SW6);
+        break;
+        case 4:
+            setSwitchesState(SW5 | SW4);
+        break;
+        case 5:
+            setSwitchesState(SW1 | SW4);
+        break;
+        case 6:
+            setSwitchesState(SW5 | SW2);
+        break;
+        default:
+            setSwitchesState(0);
+        break;
+    }
+    state = newState;
+}
+
+void ThreePhaseBridge::spin(ThreePhaseBridge::SpinDirection dir)
+{
+    stateIndex = (6 + stateIndex + dir) % 6;
+    setState(stateOrder[stateIndex]);        
+}
+    
\ No newline at end of file