manabu kosaka / Mbed 2 deprecated DCmotor2

DC motor control program using TA7291P type H bridge driver and rotary encoder with A, B phase.

Dependencies:   QEI mbed-rtos mbed

Fork of DCmotor by manabu kosaka

Hbridge.cpp@12:459af534d1ee, 2013-01-04 (annotated)

Committer:
kosaka
Date:
Fri Jan 04 12:00:48 2013 +0000
Revision:
12:459af534d1ee
Child:
13:ba71733c11d7
DC motor control program using TA7291P type H bridge driver and rotary encoder with A, B phase.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kosaka 12:459af534d1ee 1 #include "mbed.h"
kosaka 12:459af534d1ee 2 #include "controller.h"
kosaka 12:459af534d1ee 3 #include "Hbridge.h"
kosaka 12:459af534d1ee 4
kosaka 12:459af534d1ee 5 #define DEADTIME_US (unsigned long)(DEADTIME*1000000) // [us], deadtime to be set between plus volt. to/from minus
kosaka 12:459af534d1ee 6
kosaka 12:459af534d1ee 7 Timeout pwm;
kosaka 12:459af534d1ee 8
kosaka 12:459af534d1ee 9 DigitalOut pwm_upper = UPPER_PORT;
kosaka 12:459af534d1ee 10 DigitalOut pwm_lower = LOWER_PORT;
kosaka 12:459af534d1ee 11
kosaka 12:459af534d1ee 12 pwm_parameters IN; // UVW pwm の定数、変数
kosaka 12:459af534d1ee 13
kosaka 12:459af534d1ee 14 DigitalOut debug_p24(p24); // p17 for debug
kosaka 12:459af534d1ee 15 //DigitalOut Led3(LED3);
kosaka 12:459af534d1ee 16
kosaka 12:459af534d1ee 17 #if PWM_WAVEFORM==0 // 0: saw tooth wave comparison
kosaka 12:459af534d1ee 18 #if 1
kosaka 12:459af534d1ee 19 void pwm_out() { // pwm out using timer
kosaka 12:459af534d1ee 20 //debug_p24=1;
kosaka 12:459af534d1ee 21 IN.mode += 1;
kosaka 12:459af534d1ee 22 //IN.duty=0.9;IN.fReverse[0]=1;
kosaka 12:459af534d1ee 23 if( IN.fDeadtime==1 && IN.mode==1){
kosaka 12:459af534d1ee 24 pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 25 pwm_upper = 0; pwm_lower = 0;
kosaka 12:459af534d1ee 26 IN.fDeadtime = 0;
kosaka 12:459af534d1ee 27 IN.fReverse[1] = IN.fReverse[0];
kosaka 12:459af534d1ee 28 IN.mode = 0;
kosaka 12:459af534d1ee 29 }else if( IN.mode==1 ){
kosaka 12:459af534d1ee 30 if( IN.fReverse[1]==0 ){
kosaka 12:459af534d1ee 31 pwm_upper = 1; pwm_lower = 0;
kosaka 12:459af534d1ee 32 }else{
kosaka 12:459af534d1ee 33 pwm_upper = 0; pwm_lower = 1;
kosaka 12:459af534d1ee 34 }
kosaka 12:459af534d1ee 35 IN.upper_us = IN.duty*1000000/PWM_FREQ; // ON time of pwm
kosaka 12:459af534d1ee 36 if( IN.upper_us < TMIN ){ IN.upper_us=TMIN;}
kosaka 12:459af534d1ee 37 pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 38 IN.lower_us = 1000000/PWM_FREQ -IN.upper_us; // OFF time of pwm
kosaka 12:459af534d1ee 39 if( IN.lower_us < TMIN ){ IN.lower_us=TMIN;}
kosaka 12:459af534d1ee 40 }else{// if( IN.mode==2 ){
kosaka 12:459af534d1ee 41 pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 42 pwm_upper = 0; pwm_lower = 0;
kosaka 12:459af534d1ee 43 IN.mode = 0;
kosaka 12:459af534d1ee 44 }
kosaka 12:459af534d1ee 45 //debug_p24=0;
kosaka 12:459af534d1ee 46 }
kosaka 12:459af534d1ee 47 #else
kosaka 12:459af534d1ee 48 void pwm_out() { // pwm out using timer
kosaka 12:459af534d1ee 49 IN.mode += 1;
kosaka 12:459af534d1ee 50 if( IN.mode==1 ){
kosaka 12:459af534d1ee 51 pwm_upper = 1;
kosaka 12:459af534d1ee 52 pwm_lower = 0;
kosaka 12:459af534d1ee 53 IN.upper_us = IN.duty*1000000/PWM_FREQ - DEADTIME_US; // ON time of Uupper
kosaka 12:459af534d1ee 54 if( IN.upper_us < TMIN ){ IN.upper_us=TMIN;}
kosaka 12:459af534d1ee 55 pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 56 IN.lower_us = 1000000/PWM_FREQ -IN.upper_us - 2*DEADTIME_US; // ON time of Ulower
kosaka 12:459af534d1ee 57 if( IN.lower_us < TMIN ){ IN.lower_us=TMIN;}
kosaka 12:459af534d1ee 58 }else if( IN.mode==2 ){
kosaka 12:459af534d1ee 59 pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 60 pwm_upper = 0;
kosaka 12:459af534d1ee 61 pwm_lower = 0;
kosaka 12:459af534d1ee 62 }else if( IN.mode==3 ){
kosaka 12:459af534d1ee 63 pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 64 pwm_upper = 0;
kosaka 12:459af534d1ee 65 pwm_lower = 1;
kosaka 12:459af534d1ee 66 }else{// if( u.mode==4 ){
kosaka 12:459af534d1ee 67 pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 68 pwm_upper = 0;
kosaka 12:459af534d1ee 69 pwm_lower = 0;
kosaka 12:459af534d1ee 70 IN.mode = 0;
kosaka 12:459af534d1ee 71 }
kosaka 12:459af534d1ee 72 }
kosaka 12:459af534d1ee 73 #endif
kosaka 12:459af534d1ee 74 #elif PWM_WAVEFORM==1 // 1: triangler wave comparison
kosaka 12:459af534d1ee 75 void pwm_out() { // pwm out using timer
kosaka 12:459af534d1ee 76 IN.mode += 1;
kosaka 12:459af534d1ee 77 if( IN.fDeadtime==1 && IN.mode==1){
kosaka 12:459af534d1ee 78 pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 79 pwm_upper = 0; pwm_lower = 0;
kosaka 12:459af534d1ee 80 IN.fDeadtime = 0;
kosaka 12:459af534d1ee 81 IN.fReverse[1] = IN.fReverse[0];
kosaka 12:459af534d1ee 82 IN.mode = 0;
kosaka 12:459af534d1ee 83 }else if( IN.mode==1 ){
kosaka 12:459af534d1ee 84 IN.upper_us = IN.duty*1000000/PWM_FREQ; // ON time of Uupper
kosaka 12:459af534d1ee 85 IN.lower_us = 1000000/PWM_FREQ -IN.upper_us; // ON time of Ulower
kosaka 12:459af534d1ee 86 IN.lower_us /= 2;
kosaka 12:459af534d1ee 87 if( IN.lower_us < TMIN ){ IN.lower_us=TMIN;}
kosaka 12:459af534d1ee 88 pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 89 if( IN.upper_us < TMIN ){ IN.upper_us=TMIN;}
kosaka 12:459af534d1ee 90 pwm_upper = 0; pwm_lower = 0;
kosaka 12:459af534d1ee 91 }else if( IN.mode==2 ){
kosaka 12:459af534d1ee 92 pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 93 if( IN.fReverse[1]==0 ){
kosaka 12:459af534d1ee 94 pwm_upper = 1; pwm_lower = 0;
kosaka 12:459af534d1ee 95 }else{
kosaka 12:459af534d1ee 96 pwm_upper = 0; pwm_lower = 1;
kosaka 12:459af534d1ee 97 }
kosaka 12:459af534d1ee 98 }else{// if( IN.mode==3 ){
kosaka 12:459af534d1ee 99 pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
kosaka 12:459af534d1ee 100 pwm_upper = 0; pwm_lower = 0;
kosaka 12:459af534d1ee 101 IN.mode = 0;
kosaka 12:459af534d1ee 102 }
kosaka 12:459af534d1ee 103 }
kosaka 12:459af534d1ee 104 #endif
kosaka 12:459af534d1ee 105
kosaka 12:459af534d1ee 106
kosaka 12:459af534d1ee 107 void start_pwm(){
kosaka 12:459af534d1ee 108 IN.duty = 0.0;
kosaka 12:459af534d1ee 109 pwm_upper = pwm_lower = 0;
kosaka 12:459af534d1ee 110 IN.mode = 0;
kosaka 12:459af534d1ee 111 IN.fDeadtime = 1;
kosaka 12:459af534d1ee 112 IN.fReverse[0] = 0;
kosaka 12:459af534d1ee 113
kosaka 12:459af534d1ee 114 pwm_out();
kosaka 12:459af534d1ee 115 }
kosaka 12:459af534d1ee 116
kosaka 12:459af534d1ee 117 void stop_pwm(){
kosaka 12:459af534d1ee 118 IN.duty = 0.0;
kosaka 12:459af534d1ee 119 pwm_upper = pwm_lower = 0;
kosaka 12:459af534d1ee 120 IN.mode = 0;
kosaka 12:459af534d1ee 121 pwm.detach();
kosaka 12:459af534d1ee 122 }