Diff: Hbridge.cpp

Revision:

12:459af534d1ee

Child:

13:ba71733c11d7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hbridge.cpp	Fri Jan 04 12:00:48 2013 +0000
@@ -0,0 +1,122 @@
+#include "mbed.h"
+#include "controller.h"
+#include "Hbridge.h"
+
+#define DEADTIME_US (unsigned long)(DEADTIME*1000000)  // [us], deadtime to be set between plus volt. to/from minus
+
+Timeout pwm;
+
+DigitalOut pwm_upper = UPPER_PORT;
+DigitalOut pwm_lower = LOWER_PORT;
+
+pwm_parameters     IN; // UVW pwm の定数、変数
+
+DigitalOut  debug_p24(p24); // p17 for debug
+//DigitalOut  Led3(LED3);
+
+#if PWM_WAVEFORM==0   // 0: saw tooth wave comparison
+ #if 1
+void pwm_out() {    // pwm out using timer
+//debug_p24=1;
+    IN.mode += 1;
+//IN.duty=0.9;IN.fReverse[0]=1;
+    if( IN.fDeadtime==1 && IN.mode==1){
+        pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
+        pwm_upper = 0;    pwm_lower = 0;
+        IN.fDeadtime = 0;
+        IN.fReverse[1] = IN.fReverse[0];
+        IN.mode = 0;
+    }else if( IN.mode==1 ){
+        if( IN.fReverse[1]==0 ){
+            pwm_upper = 1;    pwm_lower = 0;
+        }else{
+            pwm_upper = 0;    pwm_lower = 1;
+        }
+        IN.upper_us = IN.duty*1000000/PWM_FREQ;   // ON time of pwm
+        if( IN.upper_us < TMIN ){  IN.upper_us=TMIN;}
+        pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us]
+        IN.lower_us = 1000000/PWM_FREQ -IN.upper_us; // OFF time of pwm
+        if( IN.lower_us < TMIN ){  IN.lower_us=TMIN;}
+    }else{// if( IN.mode==2 ){
+        pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
+        pwm_upper = 0;    pwm_lower = 0;
+        IN.mode = 0;
+    }
+//debug_p24=0;
+}
+ #else
+void pwm_out() {    // pwm out using timer
+    IN.mode += 1;
+    if( IN.mode==1 ){
+        pwm_upper = 1;
+        pwm_lower = 0;
+        IN.upper_us = IN.duty*1000000/PWM_FREQ - DEADTIME_US;   // ON time of Uupper
+        if( IN.upper_us < TMIN ){  IN.upper_us=TMIN;}
+        pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us]
+        IN.lower_us = 1000000/PWM_FREQ -IN.upper_us - 2*DEADTIME_US; // ON time of Ulower
+        if( IN.lower_us < TMIN ){  IN.lower_us=TMIN;}
+    }else if( IN.mode==2 ){
+        pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
+        pwm_upper = 0;
+        pwm_lower = 0;
+    }else if( IN.mode==3 ){
+        pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
+        pwm_upper = 0;
+        pwm_lower = 1;
+    }else{// if( u.mode==4 ){
+        pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
+        pwm_upper = 0;
+        pwm_lower = 0;
+        IN.mode = 0;
+    }
+}
+ #endif
+#elif PWM_WAVEFORM==1   // 1: triangler wave comparison
+void pwm_out() {    // pwm out using timer
+    IN.mode += 1;
+    if( IN.fDeadtime==1 && IN.mode==1){
+        pwm.attach_us(&pwm_out, DEADTIME_US); // setup pwmU to call pwm_out after t [us]
+        pwm_upper = 0;    pwm_lower = 0;
+        IN.fDeadtime = 0;
+        IN.fReverse[1] = IN.fReverse[0];
+        IN.mode = 0;
+    }else if( IN.mode==1 ){
+        IN.upper_us = IN.duty*1000000/PWM_FREQ;   // ON time of Uupper
+        IN.lower_us = 1000000/PWM_FREQ -IN.upper_us; // ON time of Ulower
+        IN.lower_us /= 2;
+        if( IN.lower_us < TMIN ){  IN.lower_us=TMIN;}
+        pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
+        if( IN.upper_us < TMIN ){  IN.upper_us=TMIN;}
+        pwm_upper = 0;    pwm_lower = 0;
+    }else if( IN.mode==2 ){
+        pwm.attach_us(&pwm_out, IN.upper_us); // setup pwmU to call pwm_out after t [us]
+        if( IN.fReverse[1]==0 ){
+            pwm_upper = 1;    pwm_lower = 0;
+        }else{
+            pwm_upper = 0;    pwm_lower = 1;
+        }
+    }else{// if( IN.mode==3 ){
+        pwm.attach_us(&pwm_out, IN.lower_us); // setup pwmU to call pwm_out after t [us]
+        pwm_upper = 0;    pwm_lower = 0;
+        IN.mode = 0;
+    }
+}
+#endif
+
+
+void start_pwm(){
+    IN.duty = 0.0;
+    pwm_upper = pwm_lower = 0;
+    IN.mode = 0;
+    IN.fDeadtime = 1;
+    IN.fReverse[0] = 0;
+
+    pwm_out();
+}
+
+void stop_pwm(){
+    IN.duty = 0.0;
+    pwm_upper = pwm_lower = 0;
+    IN.mode = 0;
+    pwm.detach();
+}