File content as of revision 12:459af534d1ee:

#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();
}