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/* mbed Microcontroller Library
* Copyright (c) 2006-2016 ARM Limited
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/

/**
  ******************************************************************************
  * @file    SPN7Driver.cpp 
  * @author  STMicroelectronics
  * @brief   Implementation of SPN7Driver class
  ******************************************************************************
  * @copy
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
  */ 

#include "mbed.h"
#include "SPN7Driver.h"

// FIXME: add doxygen

SPN7Driver::SPN7Driver(PinName pIN1, PinName pIN2, PinName pIN3,
                       PinName pEN1, PinName pEN2, PinName pEN3,
                       PinName pH1,  PinName pH2,  PinName pH3,
                       PinName pFault) :
                        BLDCmotorDriver(pIN1, pIN2, pIN3,
                                        pEN1, pEN2, pEN3,
                                        pH1,  pH2,  pH3,
                                        pFault)
{
    // The BLDCmotorDriver class was implemented for half-bridge drivers
    // so the pin names may be misleading when referring to the L6230 chip.
    // Get a reference of each input pin and call them INx (logic input)
    // to be consistent with the terminology used in the L6230 documentation.
    PwmOut& IN1 = GH_A;
    PwmOut& IN2 = GH_B;
    PwmOut& IN3 = GH_C;
    
    // Set the switching period of the INx logic input pins (PWM driven)
    IN1.period(switchingPeriod);
    IN2.period(switchingPeriod);
    IN3.period(switchingPeriod);
    
    // Set the step commutation function (triggered by the Hall sensors)
    H1.rise(this, &SPN7Driver::commutation);
    H2.rise(this, &SPN7Driver::commutation);
    H3.rise(this, &SPN7Driver::commutation);
    H1.fall(this, &SPN7Driver::commutation);
    H2.fall(this, &SPN7Driver::commutation);
    H3.fall(this, &SPN7Driver::commutation);    
}

// 6-step phase commutation
//
// Positive dutycycle:
//      1--X--0--0--X--1
//      X--1--1--X--0--0
//      0--0--X--1--1--X
//        
// Negative dutycycle:
//      1--1--X--0--0--X
//      0--X--1--1--X--0
//      X--0--0--X--1--1
void SPN7Driver::commutation()
{
    // The BLDCmotorDriver class was implemented for half-bridge drivers
    // so the pin names may be misleading when referring to the L6230 chip.
    
    // Get a reference of each input pin and call them INx (logic input)
    // to be consistent with the terminology used in the L6230 documentation.
    PwmOut& IN1 = GH_A;
    PwmOut& IN2 = GH_B;
    PwmOut& IN3 = GH_C;
    // Get a reference of each enable pin and call them ENx (enable channel)
    // to be consistent with the terminology used in the L6230 documentation.
    DigitalOut& EN1 = GL_A;
    DigitalOut& EN2 = GL_B;
    DigitalOut& EN3 = GL_C;

    dutyCycle = rl.out(tempDutyCycle);
    currentSector = getSector();

    if (dutyCycle > 0 ) {
         // Positive dutycycle
         currentSector++;
         
         if(currentSector > 5) currentSector = 0;
         
         switch(currentSector) {  
             case 0:                   
                 EN1 = 1; IN1 = dutyCycle;
                 EN2 = 0; IN2 = 0;
                 EN3 = 1; IN3 = 0;                               
                 break;
             case 1:            
                 EN1 = 0; IN1= 0;
                 EN2 = 1; IN2 = dutyCycle;
                 EN3 = 1; IN3 = 0;                
                 break;
             case 2:             
                 EN1 = 1; IN1 = 0;
                 EN2 = 1; IN2 = dutyCycle;
                 EN3 = 0; IN3 = 0;                
                 break;
            case 3:             
                 EN1 = 1; IN1 = 0;
                 EN2 = 0; IN2 = 0;
                 EN3 = 1; IN3 = dutyCycle;              
                 break;
            case 4:              
                 EN1 = 0; IN1 = 0;
                 EN2 = 1; IN2 = 0;
                 EN3 = 1; IN3 = dutyCycle;               
                 break;
            case 5:           
                 EN1 = 1; IN1 = dutyCycle;
                 EN2 = 1; IN2 = 0;
                 EN3 = 0; IN3 = 0;
                 break;
        }
    } else if (dutyCycle < 0) { 
        // Negative dutycycle
        currentSector--;
        
        if(currentSector < 0) currentSector = 5;
        
        switch(currentSector) {  
           case 0:
                EN1 = 1; IN1 = 0;
                EN2 = 0; IN2=0;
                EN3 = 1; IN3 = -dutyCycle;
                break;
            case 1:
                EN1 = 0; IN1=0;
                EN2 = 1; IN2 = 0;
                EN3 = 1; IN3 = -dutyCycle;
                break;
           case 2:
                EN1 = 1; IN1 = -dutyCycle;
                EN2 = 1; IN2 = 0;
                EN3 = 0; IN3= 0;                
                break;
           case 3:
                EN1 = 1; IN1 = -dutyCycle;
                EN2 = 0; IN2 = 0;
                EN3 = 1; IN3 = 0;
                break;
           case 4:
                EN1 = 0; IN1= 0;
                EN2 = 1; IN2 = -dutyCycle;
                EN3 = 1; IN3 = 0;
                break;
           case 5:
                EN1 = 1; IN1 = 0;
                EN2 = 1; IN2 = -dutyCycle;
                EN3 = 0; IN3=0;
                break;
       }
         
    } else {
        coast();
    }
    
}