Diff: mc33926.h

Revision:

0:217bc3688cff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mc33926.h	Tue Oct 08 21:09:37 2013 +0000
@@ -0,0 +1,101 @@
+#ifndef __MC33926_H__
+#define __MC33926_H__
+
+#include "mbed.h"
+
+#define MAX_SPEED   5
+
+enum mc33926_mode {
+    LOCK_ANTIPHASE,
+    SIGN_MAGNITUDE_BRAKING,
+    SIGN_MAGNITUDE_COASTING,
+};
+
+
+/** driver for the MC33926 H-Bridge
+ *  
+ *  This driver allow to drive the MC33926 with 3 differents technics:
+ *    - Lock antiphase: alternate 1 direction with another
+ *    - Sign-manigtude braking: alternate 1 direction with braking
+ *    - Sign-magnitude coasting: alternate 1 direction with freewheeling
+ 
+ *  Speed can be set from -MAX_SPEED to +MAX_SPEED
+ */
+class mc33926
+{
+public:
+
+    /** Create a MC33926 instance
+     *  @param inv pin connected to inv
+     *  @param in1 pin connected to in1
+     *  @param in2 pin connected to in2
+     *  @param d1 pin connected to d1
+     *  @param d2 pin connected to d2
+     *  @param en pin connected to enable (can be unset)
+     *  @param sf pin connected to sf (can be unset)
+     */
+    mc33926(PinName inv, PinName in1, PinName in2, PinName d1, PinName d2, PinName en = NC, PinName sf = NC);
+    
+    /** Set driving mode
+     *  @param _mode mode to set (LOCK_ANTIPHASE, SIGN_MAGNITUDE_BRAKING or SIGN_MAGNITUDE_COASTING)
+     */
+    void set_mode(int _mode);
+    
+    /** Set speed
+     *  @param _speed (from -MAX_SPPED to +MAX_SPEED)
+     */
+    float set_speed(int _speed);
+    
+    /** Set PWM period
+     *  @param _period pwm period in us. Warning: a low period implies SF set, see MC339276 datasheet
+     */
+    void set_period(int _period);
+    
+    /** Return driving mode
+     */
+    int get_mode();
+    
+    /** Return speed
+     */
+    int get_speed();
+    
+    /** Return PWM period in us
+     */
+    int get_period();
+    
+    /** Enable H-Bridge. Work only if enable pin is set
+    */
+    void enable();
+    
+    /* Disable H-Bridge. Work only if enable pin is set
+    */
+    void disable();
+
+private:
+    PinName pin_inv;
+    PinName pin_in1;
+    PinName pin_in2;
+    PinName pin_d1;
+    PinName pin_d2;
+    PinName pin_en;
+    PinName pin_sf;
+    
+    PwmOut *pwm;
+
+    int mode;
+    int speed;
+    int period;
+    
+    void setup();
+    void setup_lock_antiphase();
+    void setup_sign_magnitude_braking();
+    void setup_sign_magnitude_coasting();
+    
+    float speed_lock_antiphase();
+    float speed_sign_magnitude();
+    
+    void period_lock_antiphase();
+    void period_sign_magnitude();
+};
+
+#endif
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