Vincent Donnefort / mc33926

MC33926 is a H-Bridge from freescale. This driver allow to use it to drive a DC-Motor using 3 different driving methods: - Lock Antiphase - Sign-Magnitude braking - Sign-Magnitude coasting I used this board https://www.sparkfun.com/products/11080 for my tests and find a lot of informations here: http://modularcircuits.tantosonline.com/blog/articles/h-bridge-secrets/h-bridge-control/

mc33926.cpp@0:217bc3688cff, 2013-10-08 (annotated)

Committer:
garfunkheul
Date:
Tue Oct 08 21:09:37 2013 +0000
Revision:
0:217bc3688cff
This is the first commit for MC33926 driver. It brings 3 driving methods: lock-antiphase, sign-magnitude braking and sign-magnitude coasting

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garfunkheul 0:217bc3688cff 1 #include "mc33926.h"
garfunkheul 0:217bc3688cff 2
garfunkheul 0:217bc3688cff 3 mc33926::mc33926(PinName inv, PinName in1, PinName in2, PinName d1, PinName d2, PinName en, PinName sf)
garfunkheul 0:217bc3688cff 4 {
garfunkheul 0:217bc3688cff 5 pin_inv = inv;
garfunkheul 0:217bc3688cff 6 pin_in1 = in1;
garfunkheul 0:217bc3688cff 7 pin_in2 = in2;
garfunkheul 0:217bc3688cff 8 pin_d1 = d1;
garfunkheul 0:217bc3688cff 9 pin_d2 = d2;
garfunkheul 0:217bc3688cff 10 pin_en = en;
garfunkheul 0:217bc3688cff 11 pin_sf = sf;
garfunkheul 0:217bc3688cff 12
garfunkheul 0:217bc3688cff 13 period = 50;
garfunkheul 0:217bc3688cff 14 speed = 0;
garfunkheul 0:217bc3688cff 15 pwm = NULL;
garfunkheul 0:217bc3688cff 16
garfunkheul 0:217bc3688cff 17 disable();
garfunkheul 0:217bc3688cff 18 set_mode(SIGN_MAGNITUDE_COASTING);
garfunkheul 0:217bc3688cff 19 }
garfunkheul 0:217bc3688cff 20
garfunkheul 0:217bc3688cff 21 void mc33926::setup_lock_antiphase()
garfunkheul 0:217bc3688cff 22 {
garfunkheul 0:217bc3688cff 23 DigitalOut in1(pin_in1);
garfunkheul 0:217bc3688cff 24 DigitalOut in2(pin_in2);
garfunkheul 0:217bc3688cff 25 DigitalOut d1(pin_d1);
garfunkheul 0:217bc3688cff 26 DigitalOut d2(pin_d2);
garfunkheul 0:217bc3688cff 27
garfunkheul 0:217bc3688cff 28 in1 = d2 = 1;
garfunkheul 0:217bc3688cff 29 in2 = d1 = 0;
garfunkheul 0:217bc3688cff 30
garfunkheul 0:217bc3688cff 31 /* Force Pin reconfiguration */
garfunkheul 0:217bc3688cff 32 if (pwm)
garfunkheul 0:217bc3688cff 33 delete pwm;
garfunkheul 0:217bc3688cff 34 pwm = new PwmOut(pin_inv);
garfunkheul 0:217bc3688cff 35
garfunkheul 0:217bc3688cff 36 period_lock_antiphase();
garfunkheul 0:217bc3688cff 37 }
garfunkheul 0:217bc3688cff 38
garfunkheul 0:217bc3688cff 39 float mc33926::speed_lock_antiphase()
garfunkheul 0:217bc3688cff 40 {
garfunkheul 0:217bc3688cff 41 float duty;
garfunkheul 0:217bc3688cff 42 /* Use same sens as sign_magnitude */
garfunkheul 0:217bc3688cff 43 int _speed = (-1) * speed;
garfunkheul 0:217bc3688cff 44
garfunkheul 0:217bc3688cff 45 if (_speed > 0)
garfunkheul 0:217bc3688cff 46 duty = (((_speed * 50 / MAX_SPEED) + 50) / 100.0f);
garfunkheul 0:217bc3688cff 47 else if (_speed < 0)
garfunkheul 0:217bc3688cff 48 duty = ((50 - ((_speed * -50 / MAX_SPEED))) / 100.0f);
garfunkheul 0:217bc3688cff 49 else
garfunkheul 0:217bc3688cff 50 duty = 0.5;
garfunkheul 0:217bc3688cff 51
garfunkheul 0:217bc3688cff 52 pwm->write(duty);
garfunkheul 0:217bc3688cff 53
garfunkheul 0:217bc3688cff 54 return duty;
garfunkheul 0:217bc3688cff 55 }
garfunkheul 0:217bc3688cff 56
garfunkheul 0:217bc3688cff 57 void mc33926::period_lock_antiphase()
garfunkheul 0:217bc3688cff 58 {
garfunkheul 0:217bc3688cff 59 pwm->period_us(period);
garfunkheul 0:217bc3688cff 60 speed_lock_antiphase();
garfunkheul 0:217bc3688cff 61 }
garfunkheul 0:217bc3688cff 62
garfunkheul 0:217bc3688cff 63 void mc33926::setup_sign_magnitude_braking()
garfunkheul 0:217bc3688cff 64 {
garfunkheul 0:217bc3688cff 65 DigitalOut in2(pin_in2);
garfunkheul 0:217bc3688cff 66 DigitalOut d1(pin_d1);
garfunkheul 0:217bc3688cff 67 DigitalOut d2(pin_d2);
garfunkheul 0:217bc3688cff 68
garfunkheul 0:217bc3688cff 69 in2 = d1 = 0;
garfunkheul 0:217bc3688cff 70 d2 = 1;
garfunkheul 0:217bc3688cff 71
garfunkheul 0:217bc3688cff 72 /* Force Pin reconfiguration */
garfunkheul 0:217bc3688cff 73 if (pwm)
garfunkheul 0:217bc3688cff 74 delete pwm;
garfunkheul 0:217bc3688cff 75 pwm = new PwmOut(pin_in1);
garfunkheul 0:217bc3688cff 76
garfunkheul 0:217bc3688cff 77 period_sign_magnitude();
garfunkheul 0:217bc3688cff 78 }
garfunkheul 0:217bc3688cff 79
garfunkheul 0:217bc3688cff 80 float mc33926::speed_sign_magnitude()
garfunkheul 0:217bc3688cff 81 {
garfunkheul 0:217bc3688cff 82 float duty;
garfunkheul 0:217bc3688cff 83 DigitalOut inv(pin_inv);
garfunkheul 0:217bc3688cff 84
garfunkheul 0:217bc3688cff 85 if (speed > 0) {
garfunkheul 0:217bc3688cff 86 inv = 0;
garfunkheul 0:217bc3688cff 87 duty = (speed * 100 / MAX_SPEED) / 100.0f;
garfunkheul 0:217bc3688cff 88 } else if (speed < 0) {
garfunkheul 0:217bc3688cff 89 inv = 1;
garfunkheul 0:217bc3688cff 90 duty = (speed * -100 / MAX_SPEED) / 100.0f;
garfunkheul 0:217bc3688cff 91 } else {
garfunkheul 0:217bc3688cff 92 duty = 0;
garfunkheul 0:217bc3688cff 93 }
garfunkheul 0:217bc3688cff 94
garfunkheul 0:217bc3688cff 95 pwm->write(duty);
garfunkheul 0:217bc3688cff 96 return duty;
garfunkheul 0:217bc3688cff 97 }
garfunkheul 0:217bc3688cff 98
garfunkheul 0:217bc3688cff 99 void mc33926::period_sign_magnitude()
garfunkheul 0:217bc3688cff 100 {
garfunkheul 0:217bc3688cff 101 pwm->period_us(period);
garfunkheul 0:217bc3688cff 102 speed_sign_magnitude();
garfunkheul 0:217bc3688cff 103 }
garfunkheul 0:217bc3688cff 104
garfunkheul 0:217bc3688cff 105 void mc33926::setup_sign_magnitude_coasting()
garfunkheul 0:217bc3688cff 106 {
garfunkheul 0:217bc3688cff 107 DigitalOut in1(pin_in1);
garfunkheul 0:217bc3688cff 108 DigitalOut in2(pin_in2);
garfunkheul 0:217bc3688cff 109 DigitalOut d1(pin_d1);
garfunkheul 0:217bc3688cff 110
garfunkheul 0:217bc3688cff 111 in2 = d1 = 0;
garfunkheul 0:217bc3688cff 112 in1 = 1;
garfunkheul 0:217bc3688cff 113
garfunkheul 0:217bc3688cff 114 /* Force Pin reconfiguration */
garfunkheul 0:217bc3688cff 115 if (pwm)
garfunkheul 0:217bc3688cff 116 delete pwm;
garfunkheul 0:217bc3688cff 117 pwm = new PwmOut(pin_d2);
garfunkheul 0:217bc3688cff 118
garfunkheul 0:217bc3688cff 119 period_sign_magnitude();
garfunkheul 0:217bc3688cff 120 }
garfunkheul 0:217bc3688cff 121
garfunkheul 0:217bc3688cff 122 void mc33926::set_period(int _period)
garfunkheul 0:217bc3688cff 123 {
garfunkheul 0:217bc3688cff 124 period = _period;
garfunkheul 0:217bc3688cff 125
garfunkheul 0:217bc3688cff 126 switch(mode) {
garfunkheul 0:217bc3688cff 127 case LOCK_ANTIPHASE:
garfunkheul 0:217bc3688cff 128 period_lock_antiphase();
garfunkheul 0:217bc3688cff 129 break;
garfunkheul 0:217bc3688cff 130 case SIGN_MAGNITUDE_BRAKING:
garfunkheul 0:217bc3688cff 131 case SIGN_MAGNITUDE_COASTING:
garfunkheul 0:217bc3688cff 132 period_sign_magnitude();
garfunkheul 0:217bc3688cff 133 break;
garfunkheul 0:217bc3688cff 134 }
garfunkheul 0:217bc3688cff 135 }
garfunkheul 0:217bc3688cff 136
garfunkheul 0:217bc3688cff 137 float mc33926::set_speed(int _speed)
garfunkheul 0:217bc3688cff 138 {
garfunkheul 0:217bc3688cff 139 if (_speed > MAX_SPEED)
garfunkheul 0:217bc3688cff 140 speed = MAX_SPEED;
garfunkheul 0:217bc3688cff 141 else if (_speed < -MAX_SPEED)
garfunkheul 0:217bc3688cff 142 speed = -MAX_SPEED;
garfunkheul 0:217bc3688cff 143 else
garfunkheul 0:217bc3688cff 144 speed = _speed;
garfunkheul 0:217bc3688cff 145
garfunkheul 0:217bc3688cff 146 switch(mode) {
garfunkheul 0:217bc3688cff 147 case LOCK_ANTIPHASE:
garfunkheul 0:217bc3688cff 148 return speed_lock_antiphase();
garfunkheul 0:217bc3688cff 149 case SIGN_MAGNITUDE_BRAKING:
garfunkheul 0:217bc3688cff 150 case SIGN_MAGNITUDE_COASTING:
garfunkheul 0:217bc3688cff 151 return speed_sign_magnitude();
garfunkheul 0:217bc3688cff 152 }
garfunkheul 0:217bc3688cff 153 }
garfunkheul 0:217bc3688cff 154
garfunkheul 0:217bc3688cff 155 void mc33926::set_mode(int _mode)
garfunkheul 0:217bc3688cff 156 {
garfunkheul 0:217bc3688cff 157 mode = _mode;
garfunkheul 0:217bc3688cff 158
garfunkheul 0:217bc3688cff 159 switch(mode) {
garfunkheul 0:217bc3688cff 160 case LOCK_ANTIPHASE:
garfunkheul 0:217bc3688cff 161 setup_lock_antiphase();
garfunkheul 0:217bc3688cff 162 break;
garfunkheul 0:217bc3688cff 163 case SIGN_MAGNITUDE_BRAKING:
garfunkheul 0:217bc3688cff 164 setup_sign_magnitude_braking();
garfunkheul 0:217bc3688cff 165 case SIGN_MAGNITUDE_COASTING:
garfunkheul 0:217bc3688cff 166 setup_sign_magnitude_coasting();
garfunkheul 0:217bc3688cff 167 break;
garfunkheul 0:217bc3688cff 168 }
garfunkheul 0:217bc3688cff 169 }
garfunkheul 0:217bc3688cff 170
garfunkheul 0:217bc3688cff 171 void mc33926::enable()
garfunkheul 0:217bc3688cff 172 {
garfunkheul 0:217bc3688cff 173 DigitalOut en(pin_en);
garfunkheul 0:217bc3688cff 174
garfunkheul 0:217bc3688cff 175 if (pin_en != NC)
garfunkheul 0:217bc3688cff 176 en = 1;
garfunkheul 0:217bc3688cff 177 }
garfunkheul 0:217bc3688cff 178
garfunkheul 0:217bc3688cff 179 void mc33926::disable()
garfunkheul 0:217bc3688cff 180 {
garfunkheul 0:217bc3688cff 181 DigitalOut en(pin_en);
garfunkheul 0:217bc3688cff 182
garfunkheul 0:217bc3688cff 183 if (pin_en != NC)
garfunkheul 0:217bc3688cff 184 en = 0;
garfunkheul 0:217bc3688cff 185 }
garfunkheul 0:217bc3688cff 186
garfunkheul 0:217bc3688cff 187 int mc33926::get_speed()
garfunkheul 0:217bc3688cff 188 {
garfunkheul 0:217bc3688cff 189 return speed;
garfunkheul 0:217bc3688cff 190 }
garfunkheul 0:217bc3688cff 191
garfunkheul 0:217bc3688cff 192 int mc33926::get_mode()
garfunkheul 0:217bc3688cff 193 {
garfunkheul 0:217bc3688cff 194 return mode;
garfunkheul 0:217bc3688cff 195 }
garfunkheul 0:217bc3688cff 196
garfunkheul 0:217bc3688cff 197
garfunkheul 0:217bc3688cff 198 int mc33926::get_period()
garfunkheul 0:217bc3688cff 199 {
garfunkheul 0:217bc3688cff 200 return period;
garfunkheul 0:217bc3688cff 201 }