Mitchell Hatfield / BridgeDriver

- Don't think anything was changed or updated.... simply viewed the class

Dependents:   Component_Test_Interface

Fork of BridgeDriver by Jason T

BridgeDriver.cpp@2:4253000aacf2, 2014-07-03 (annotated)

Committer:
jason701802
Date:
Thu Jul 03 21:11:50 2014 +0000
Revision:
2:4253000aacf2
Parent:
1:c8e328389a98
Child:
3:247939286d2c
Fixed issue with constructor where it was impossible to enable PWM on any of the bridges

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jason701802 0:b1e3fa917367 1
jason701802 0:b1e3fa917367 2 #include "BridgeDriver.h"
jason701802 0:b1e3fa917367 3 #include "mbed.h"
jason701802 1:c8e328389a98 4 #include "TextLCD.h" // if using diagnostic
jason701802 0:b1e3fa917367 5
jason701802 0:b1e3fa917367 6 #include "MCP23017.h"
jason701802 0:b1e3fa917367 7
jason701802 0:b1e3fa917367 8 //TO-DO: check order of setting output and enabling/disabling channel
jason701802 0:b1e3fa917367 9
jason701802 1:c8e328389a98 10 BridgeDriver::BridgeDriver( I2C *i2c, uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD, uint8_t enAddr, uint8_t ledAddr) :
jason701802 0:b1e3fa917367 11 _i2c(i2c),
jason701802 0:b1e3fa917367 12 _enAddr(enAddr),
jason701802 0:b1e3fa917367 13 _ledAddr(ledAddr),
jason701802 1:c8e328389a98 14 _pwmCh(0x00),
jason701802 0:b1e3fa917367 15 _oldLedState(0x00)
jason701802 0:b1e3fa917367 16 {
jason701802 0:b1e3fa917367 17
jason701802 0:b1e3fa917367 18
jason701802 0:b1e3fa917367 19 _pwm[0] = enPwmA;
jason701802 0:b1e3fa917367 20 _pwm[1] = enPwmB;
jason701802 0:b1e3fa917367 21 _pwm[2] = enPwmC;
jason701802 0:b1e3fa917367 22 _pwm[3] = enPwmD;
jason701802 0:b1e3fa917367 23
jason701802 0:b1e3fa917367 24 for(int i = 0; i<4; i++){
jason701802 0:b1e3fa917367 25 _dir[i] = 0;
jason701802 0:b1e3fa917367 26 _braking[i] = 0;
jason701802 0:b1e3fa917367 27 }
jason701802 0:b1e3fa917367 28
jason701802 0:b1e3fa917367 29
jason701802 0:b1e3fa917367 30 _EnCtl = new MCP23017(*_i2c, _enAddr); //MCP23008 -Only use PORT_A
jason701802 0:b1e3fa917367 31 _IO = new MCP23017(*_i2c, _ledAddr);
jason701802 0:b1e3fa917367 32
jason701802 0:b1e3fa917367 33 _IO->direction(PORT_B, 0x00); //LEDs are outputs
jason701802 0:b1e3fa917367 34 _IO->write(PORT_B, ~0x00); //bitwise not (~) b/c leds are active low
jason701802 0:b1e3fa917367 35 _EnCtl->configureBanked(BNK);
jason701802 0:b1e3fa917367 36 _EnCtl->direction(PORT_A, 0x00); //all outputs
jason701802 0:b1e3fa917367 37 _EnCtl->write(PORT_A, 0x00); //leave all channels disabled
jason701802 0:b1e3fa917367 38
jason701802 0:b1e3fa917367 39
jason701802 0:b1e3fa917367 40
jason701802 0:b1e3fa917367 41 _d[0] = new DigitalOut(PIN_CH1);
jason701802 0:b1e3fa917367 42 _d[1] = new DigitalOut(PIN_CH2);
jason701802 0:b1e3fa917367 43 _d[2] = new DigitalOut(PIN_CH3);
jason701802 0:b1e3fa917367 44 _d[3] = new DigitalOut(PIN_CH4);
jason701802 0:b1e3fa917367 45 _d[4] = new DigitalOut(PIN_CH5);
jason701802 0:b1e3fa917367 46 _d[5] = new DigitalOut(PIN_CH6);
jason701802 0:b1e3fa917367 47 _d[6] = new DigitalOut(PIN_CH7);
jason701802 0:b1e3fa917367 48 _d[7] = new DigitalOut(PIN_CH8);
jason701802 0:b1e3fa917367 49
jason701802 0:b1e3fa917367 50
jason701802 0:b1e3fa917367 51
jason701802 0:b1e3fa917367 52 }
jason701802 0:b1e3fa917367 53
jason701802 0:b1e3fa917367 54
jason701802 0:b1e3fa917367 55 BridgeDriver::~BridgeDriver(){
jason701802 0:b1e3fa917367 56 for(int i=0; i<4; i++){
jason701802 0:b1e3fa917367 57 if(_pwm[i]){
jason701802 0:b1e3fa917367 58 switch(_dir[i]){
jason701802 0:b1e3fa917367 59 case 1:
jason701802 0:b1e3fa917367 60 delete _p[2*i];
jason701802 0:b1e3fa917367 61 delete _d[2*i + 1];
jason701802 0:b1e3fa917367 62 break;
jason701802 0:b1e3fa917367 63 case -1:
jason701802 0:b1e3fa917367 64 delete _d[2*i];
jason701802 0:b1e3fa917367 65 delete _p[2*i + 1];
jason701802 0:b1e3fa917367 66 break;
jason701802 0:b1e3fa917367 67 case 0:
jason701802 0:b1e3fa917367 68 delete _d[2*i];
jason701802 0:b1e3fa917367 69 delete _d[2*i + 1];
jason701802 0:b1e3fa917367 70 break;
jason701802 0:b1e3fa917367 71 }
jason701802 0:b1e3fa917367 72 }else{
jason701802 0:b1e3fa917367 73 delete _d[2*i];
jason701802 0:b1e3fa917367 74 delete _d[2*i + 1];
jason701802 0:b1e3fa917367 75 }
jason701802 0:b1e3fa917367 76 }
jason701802 0:b1e3fa917367 77 }
jason701802 0:b1e3fa917367 78
jason701802 0:b1e3fa917367 79
jason701802 0:b1e3fa917367 80 void BridgeDriver::enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD){
jason701802 0:b1e3fa917367 81 enablePwm(BRIDGE_A, enPwmA);
jason701802 0:b1e3fa917367 82 enablePwm(BRIDGE_B, enPwmB);
jason701802 0:b1e3fa917367 83 enablePwm(BRIDGE_C, enPwmC);
jason701802 0:b1e3fa917367 84 enablePwm(BRIDGE_D, enPwmD);
jason701802 0:b1e3fa917367 85 }
jason701802 0:b1e3fa917367 86 void BridgeDriver::enablePwm(Bridges bridge, uint8_t enPwm){
jason701802 0:b1e3fa917367 87 int bNum = static_cast<int>(bridge); //numeric bridge
jason701802 0:b1e3fa917367 88 if(enPwm == _pwm[bNum]){
jason701802 0:b1e3fa917367 89 return;
jason701802 0:b1e3fa917367 90 }else if(enPwm == 0){ //disable pwm
jason701802 0:b1e3fa917367 91 setPwm(2*bNum, 0); //channels are disabled in setPwm()
jason701802 0:b1e3fa917367 92 setPwm(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 93 _pwm[bNum] = 0;
jason701802 0:b1e3fa917367 94 }else{ //enable pwm
jason701802 0:b1e3fa917367 95 enableCh(2*bNum, 0); //disable channels
jason701802 0:b1e3fa917367 96 enableCh(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 97 _pwm[bNum] = 1; //pwm for individual channels is turned on as necessary when running motor
jason701802 0:b1e3fa917367 98 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 99 }
jason701802 0:b1e3fa917367 100 }
jason701802 0:b1e3fa917367 101
jason701802 0:b1e3fa917367 102 void BridgeDriver::enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD){ //1 - drives output to GND when off; 0 - floats output when off
jason701802 0:b1e3fa917367 103 enableBraking(BRIDGE_A, enBrakeA);
jason701802 0:b1e3fa917367 104 enableBraking(BRIDGE_B, enBrakeB);
jason701802 0:b1e3fa917367 105 enableBraking(BRIDGE_C, enBrakeC);
jason701802 0:b1e3fa917367 106 enableBraking(BRIDGE_D, enBrakeD);
jason701802 0:b1e3fa917367 107 }
jason701802 0:b1e3fa917367 108 void BridgeDriver::enableBraking(Bridges bridge, uint8_t enBrake) {
jason701802 0:b1e3fa917367 109 _braking[static_cast<int>(bridge)] = enBrake;
jason701802 0:b1e3fa917367 110 }
jason701802 0:b1e3fa917367 111
jason701802 0:b1e3fa917367 112 int BridgeDriver::forceBrake(uint8_t ch){ //force a specific channel to GND without changing braking default
jason701802 0:b1e3fa917367 113 if( _pwm[(ch-1)/2]){
jason701802 0:b1e3fa917367 114 return -1;
jason701802 0:b1e3fa917367 115 }else{
jason701802 0:b1e3fa917367 116 *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 117 enableCh(ch-1, 1);
jason701802 0:b1e3fa917367 118 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 119 return 0;
jason701802 0:b1e3fa917367 120 }
jason701802 0:b1e3fa917367 121 }
jason701802 0:b1e3fa917367 122 int BridgeDriver::forceBrake(Bridges bridge){ //force a specific motor to GND without changing braking default
jason701802 0:b1e3fa917367 123 return static_cast<int>(drive(bridge, 0, 0));
jason701802 0:b1e3fa917367 124 }
jason701802 0:b1e3fa917367 125 int BridgeDriver::forceFloat(uint8_t ch){ //force a specific channel to float without changing braking default
jason701802 0:b1e3fa917367 126 if( _pwm[(ch-1)/2]){
jason701802 0:b1e3fa917367 127 return -1;
jason701802 0:b1e3fa917367 128 }else{
jason701802 0:b1e3fa917367 129 enableCh(ch-1, 0);
jason701802 0:b1e3fa917367 130 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 131 return *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 132 }
jason701802 0:b1e3fa917367 133 }
jason701802 0:b1e3fa917367 134 int BridgeDriver::forceFloat(Bridges bridge){ //force a specific motor to float without changing braking default
jason701802 0:b1e3fa917367 135 int bNum = static_cast<int>(bridge); //numeric bridge
jason701802 0:b1e3fa917367 136
jason701802 0:b1e3fa917367 137 if(_pwm[bNum] == 0){
jason701802 0:b1e3fa917367 138 return -1;
jason701802 0:b1e3fa917367 139 }else{
jason701802 0:b1e3fa917367 140 if(_dir[bNum] != 0){
jason701802 0:b1e3fa917367 141 setPwm(2*bNum, 0);
jason701802 0:b1e3fa917367 142 setPwm(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 143 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 144 }
jason701802 0:b1e3fa917367 145 setLed(2*bNum, 0);
jason701802 0:b1e3fa917367 146 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 147 enableCh(2*bNum, 0); //enable/disable channels as necessary for braking/coasting
jason701802 0:b1e3fa917367 148 enableCh(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 149 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 150 return *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 151 }
jason701802 0:b1e3fa917367 152 }
jason701802 0:b1e3fa917367 153
jason701802 0:b1e3fa917367 154 int BridgeDriver::drive(uint8_t state){
jason701802 0:b1e3fa917367 155 if(_pwm[0] || _pwm[1] || _pwm[2] || _pwm[3]){
jason701802 0:b1e3fa917367 156 return -1;
jason701802 0:b1e3fa917367 157 }else{
jason701802 0:b1e3fa917367 158 setLed(state);
jason701802 0:b1e3fa917367 159 for(int i=0; i<8; i++){
jason701802 0:b1e3fa917367 160 if(state & (1 << i)){ //channel i should be on
jason701802 0:b1e3fa917367 161 *_d[i] = 1;
jason701802 0:b1e3fa917367 162 enableCh(i, 1);
jason701802 0:b1e3fa917367 163 }else{ //channel i should be off
jason701802 0:b1e3fa917367 164 if(_braking[1/2]){
jason701802 0:b1e3fa917367 165 *_d[i] = 0; //brake output
jason701802 0:b1e3fa917367 166 enableCh(i, 1);
jason701802 0:b1e3fa917367 167 }else{
jason701802 0:b1e3fa917367 168 enableCh(i, 0);
jason701802 0:b1e3fa917367 169 *_d[i] = 0; //brake output
jason701802 0:b1e3fa917367 170 }
jason701802 0:b1e3fa917367 171 }
jason701802 0:b1e3fa917367 172 }
jason701802 0:b1e3fa917367 173 return !!state;
jason701802 0:b1e3fa917367 174 }
jason701802 0:b1e3fa917367 175 }
jason701802 0:b1e3fa917367 176 int BridgeDriver::drive(uint8_t ch, uint8_t on){
jason701802 0:b1e3fa917367 177 if( _pwm[(ch-1)/2]){
jason701802 0:b1e3fa917367 178 return -1;
jason701802 0:b1e3fa917367 179 }else if(on){ //on
jason701802 0:b1e3fa917367 180 enableCh(ch-1, 1);
jason701802 0:b1e3fa917367 181 setLed(ch-1, 1);
jason701802 0:b1e3fa917367 182 return *_d[ch-1] = 1; //off, brake
jason701802 0:b1e3fa917367 183 }else if(_braking[(ch-1)/2]){
jason701802 0:b1e3fa917367 184 *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 185 enableCh(ch-1, 1);
jason701802 0:b1e3fa917367 186 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 187 return 0;
jason701802 0:b1e3fa917367 188 }else{ //off, float
jason701802 0:b1e3fa917367 189 enableCh(ch-1, 0);
jason701802 0:b1e3fa917367 190 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 191 return *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 192 }
jason701802 0:b1e3fa917367 193 }
jason701802 0:b1e3fa917367 194 float BridgeDriver::drive(Bridges bridge, float speed){ //speed from -1 to 1, speed of 0 will coast or brake depending on setting of _braking
jason701802 0:b1e3fa917367 195 int bNum = static_cast<int>(bridge); //numeric bridge
jason701802 0:b1e3fa917367 196
jason701802 0:b1e3fa917367 197 if(_pwm[bNum] == 0){
jason701802 1:c8e328389a98 198 return -20 - bNum;
jason701802 0:b1e3fa917367 199 }
jason701802 0:b1e3fa917367 200
jason701802 0:b1e3fa917367 201 if(speed == 0){
jason701802 0:b1e3fa917367 202 return drive(bridge, 1, 0);
jason701802 0:b1e3fa917367 203 }else if(speed > 0){
jason701802 0:b1e3fa917367 204 return drive(bridge, 1, speed);
jason701802 0:b1e3fa917367 205 }else{
jason701802 0:b1e3fa917367 206 return drive(bridge, -1, -1*speed);
jason701802 0:b1e3fa917367 207 }
jason701802 0:b1e3fa917367 208 }
jason701802 0:b1e3fa917367 209 float BridgeDriver::drive(Bridges bridge, int8_t dir, float speed){
jason701802 0:b1e3fa917367 210 //dir: 1=fwd, -1=rev, 0=brake (regardless of setting of _braking
jason701802 0:b1e3fa917367 211 //speed from 0 to 1, speed of 0 will coast or brake depending on setting of _braking
jason701802 0:b1e3fa917367 212
jason701802 0:b1e3fa917367 213 int bNum = static_cast<uint8_t>(bridge); //numeric bridge
jason701802 0:b1e3fa917367 214
jason701802 0:b1e3fa917367 215 if(_pwm[bNum] == 0){
jason701802 1:c8e328389a98 216 return -10 - bNum;
jason701802 0:b1e3fa917367 217 }
jason701802 0:b1e3fa917367 218 if(speed < -1 || speed > 1){ //maybe this should be bounding instead?
jason701802 0:b1e3fa917367 219 return -1;
jason701802 0:b1e3fa917367 220 }
jason701802 0:b1e3fa917367 221
jason701802 0:b1e3fa917367 222 if(dir == 0 || (speed == 0 && _braking[bNum])){ //brake
jason701802 0:b1e3fa917367 223 if(_dir[bNum] != 0){
jason701802 0:b1e3fa917367 224 setPwm(2*bNum, 0);
jason701802 0:b1e3fa917367 225 setPwm(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 226 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 227 }
jason701802 0:b1e3fa917367 228 setLed(2*bNum, 0);
jason701802 0:b1e3fa917367 229 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 230 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 231 *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 232 enableCh(2*bNum, 1); //enable channels for braking
jason701802 0:b1e3fa917367 233 enableCh(2*bNum + 1, 1);
jason701802 0:b1e3fa917367 234
jason701802 0:b1e3fa917367 235 return 0;
jason701802 0:b1e3fa917367 236
jason701802 0:b1e3fa917367 237 }else if(speed == 0){ //coast
jason701802 0:b1e3fa917367 238 if(_dir[bNum] != 0){
jason701802 0:b1e3fa917367 239 setPwm(2*bNum, 0);
jason701802 0:b1e3fa917367 240 setPwm(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 241 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 242 }
jason701802 0:b1e3fa917367 243 setLed(2*bNum, 0);
jason701802 0:b1e3fa917367 244 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 245 enableCh(2*bNum, 0); //coast channels
jason701802 0:b1e3fa917367 246 enableCh(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 247 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 248 return *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 249 }else if(dir == 1){
jason701802 0:b1e3fa917367 250 if(_dir[bNum] != 1){
jason701802 0:b1e3fa917367 251 setPwm(2*bNum, 1);
jason701802 0:b1e3fa917367 252 setPwm(2*bNum + 1, 0);
jason701802 1:c8e328389a98 253 _dir[bNum] = 1;
jason701802 0:b1e3fa917367 254 }
jason701802 0:b1e3fa917367 255 setLed(2*bNum, 1);
jason701802 0:b1e3fa917367 256 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 257 *_p[2*bNum] = speed;
jason701802 0:b1e3fa917367 258 *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 259 enableCh(2*bNum, 1); //enable channels
jason701802 0:b1e3fa917367 260 enableCh(2*bNum + 1, 1);
jason701802 0:b1e3fa917367 261 return speed;
jason701802 0:b1e3fa917367 262 }else if(dir == -1){
jason701802 1:c8e328389a98 263 if(_dir[bNum] != -1){
jason701802 0:b1e3fa917367 264 setPwm(2*bNum, 0);
jason701802 0:b1e3fa917367 265 setPwm(2*bNum + 1, 1);
jason701802 1:c8e328389a98 266 _dir[bNum] = -1;
jason701802 0:b1e3fa917367 267 }
jason701802 0:b1e3fa917367 268 setLed(2*bNum, 0);
jason701802 0:b1e3fa917367 269 setLed(2*bNum + 1, 1);
jason701802 0:b1e3fa917367 270 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 271 *_p[2*bNum + 1] = speed;
jason701802 0:b1e3fa917367 272 enableCh(2*bNum, 1); //enable channels
jason701802 0:b1e3fa917367 273 enableCh(2*bNum + 1, 1);
jason701802 0:b1e3fa917367 274 return speed;
jason701802 0:b1e3fa917367 275 }
jason701802 1:c8e328389a98 276 return -2;
jason701802 0:b1e3fa917367 277 }
jason701802 0:b1e3fa917367 278
jason701802 0:b1e3fa917367 279 void BridgeDriver::enableCh(uint8_t ch, uint8_t en){
jason701802 0:b1e3fa917367 280 static uint8_t state = 0x00;
jason701802 0:b1e3fa917367 281 static uint8_t oldState = 0x00;
jason701802 0:b1e3fa917367 282
jason701802 0:b1e3fa917367 283 if(en){
jason701802 0:b1e3fa917367 284 state = state | (1 << ch);
jason701802 0:b1e3fa917367 285 }else{
jason701802 0:b1e3fa917367 286 state = state & ~(1 << ch);
jason701802 0:b1e3fa917367 287 }
jason701802 0:b1e3fa917367 288
jason701802 0:b1e3fa917367 289 if(state != oldState){
jason701802 0:b1e3fa917367 290 _EnCtl->write(PORT_A, state);
jason701802 0:b1e3fa917367 291 oldState = state;
jason701802 0:b1e3fa917367 292 }
jason701802 0:b1e3fa917367 293 }
jason701802 0:b1e3fa917367 294
jason701802 0:b1e3fa917367 295 void BridgeDriver::setLed(uint8_t ch, uint8_t en){
jason701802 0:b1e3fa917367 296 uint8_t state;
jason701802 0:b1e3fa917367 297 if(en){
jason701802 0:b1e3fa917367 298 state = _oldLedState | (1 << ch);
jason701802 0:b1e3fa917367 299 }else{
jason701802 0:b1e3fa917367 300 state = _oldLedState & ~(1 << ch);
jason701802 0:b1e3fa917367 301 }
jason701802 0:b1e3fa917367 302
jason701802 0:b1e3fa917367 303 if(state != _oldLedState){
jason701802 0:b1e3fa917367 304 _IO->write(PORT_B, ~state); //bitwise not (~) b/c leds are active low
jason701802 0:b1e3fa917367 305 _oldLedState = state;
jason701802 0:b1e3fa917367 306 }
jason701802 0:b1e3fa917367 307 }
jason701802 0:b1e3fa917367 308
jason701802 0:b1e3fa917367 309 void BridgeDriver::setLed(uint8_t state){
jason701802 0:b1e3fa917367 310 if(state != _oldLedState){
jason701802 0:b1e3fa917367 311 _IO->write(PORT_B, ~state); //bitwise not (~) b/c leds are active low
jason701802 0:b1e3fa917367 312 _oldLedState = state;
jason701802 0:b1e3fa917367 313 }
jason701802 0:b1e3fa917367 314 }
jason701802 0:b1e3fa917367 315
jason701802 0:b1e3fa917367 316 void BridgeDriver::setPwm(uint8_t ch, uint8_t en){
jason701802 0:b1e3fa917367 317 enableCh(ch, 0);
jason701802 0:b1e3fa917367 318
jason701802 1:c8e328389a98 319
jason701802 1:c8e328389a98 320 if(_pwmCh & (1 << ch)){ //pwm is currently enabled on this channel
jason701802 0:b1e3fa917367 321 if(en == 0){
jason701802 0:b1e3fa917367 322 delete _p[ch];
jason701802 0:b1e3fa917367 323 switch(ch){
jason701802 1:c8e328389a98 324 case 0:
jason701802 1:c8e328389a98 325 _d[ch] = new DigitalOut(PIN_CH1);
jason701802 1:c8e328389a98 326 break;
jason701802 1:c8e328389a98 327 case 1:
jason701802 1:c8e328389a98 328 _d[ch] = new DigitalOut(PIN_CH2);
jason701802 1:c8e328389a98 329 break;
jason701802 1:c8e328389a98 330 case 2:
jason701802 1:c8e328389a98 331 _d[ch] = new DigitalOut(PIN_CH3);
jason701802 1:c8e328389a98 332 break;
jason701802 1:c8e328389a98 333 case 3:
jason701802 1:c8e328389a98 334 _d[ch] = new DigitalOut(PIN_CH4);
jason701802 1:c8e328389a98 335 break;
jason701802 1:c8e328389a98 336 case 4:
jason701802 1:c8e328389a98 337 _d[ch] = new DigitalOut(PIN_CH5);
jason701802 1:c8e328389a98 338 break;
jason701802 1:c8e328389a98 339 case 5:
jason701802 1:c8e328389a98 340 _d[ch] = new DigitalOut(PIN_CH6);
jason701802 1:c8e328389a98 341 break;
jason701802 1:c8e328389a98 342 case 6:
jason701802 1:c8e328389a98 343 _d[ch] = new DigitalOut(PIN_CH7);
jason701802 1:c8e328389a98 344 break;
jason701802 1:c8e328389a98 345 case 7:
jason701802 1:c8e328389a98 346 _d[ch] = new DigitalOut(PIN_CH8);
jason701802 1:c8e328389a98 347 break;
jason701802 0:b1e3fa917367 348 }
jason701802 1:c8e328389a98 349 _pwmCh = _pwmCh & ~(1 << ch);
jason701802 1:c8e328389a98 350
jason701802 0:b1e3fa917367 351 }
jason701802 0:b1e3fa917367 352 }else{ //pwm is currently disabled on this channel
jason701802 0:b1e3fa917367 353 if(en == 1){
jason701802 0:b1e3fa917367 354 delete _d[ch];
jason701802 0:b1e3fa917367 355 switch(ch){
jason701802 1:c8e328389a98 356 case 0:
jason701802 1:c8e328389a98 357 _p[ch] = new PwmOut(PIN_CH1);
jason701802 1:c8e328389a98 358 break;
jason701802 1:c8e328389a98 359 case 1:
jason701802 1:c8e328389a98 360 _p[ch] = new PwmOut(PIN_CH2);
jason701802 1:c8e328389a98 361 break;
jason701802 1:c8e328389a98 362 case 2:
jason701802 1:c8e328389a98 363 _p[ch] = new PwmOut(PIN_CH3);
jason701802 1:c8e328389a98 364 break;
jason701802 1:c8e328389a98 365 case 3:
jason701802 1:c8e328389a98 366 _p[ch] = new PwmOut(PIN_CH4);
jason701802 1:c8e328389a98 367 break;
jason701802 1:c8e328389a98 368 case 4:
jason701802 1:c8e328389a98 369 _p[ch] = new PwmOut(PIN_CH5);
jason701802 1:c8e328389a98 370 break;
jason701802 1:c8e328389a98 371 case 5:
jason701802 1:c8e328389a98 372 _p[ch] = new PwmOut(PIN_CH6);
jason701802 1:c8e328389a98 373 break;
jason701802 1:c8e328389a98 374 case 6:
jason701802 1:c8e328389a98 375 _p[ch] = new PwmOut(PIN_CH7);
jason701802 1:c8e328389a98 376 break;
jason701802 1:c8e328389a98 377 case 7:
jason701802 1:c8e328389a98 378 _p[ch] = new PwmOut(PIN_CH8);
jason701802 1:c8e328389a98 379 break;
jason701802 0:b1e3fa917367 380 }
jason701802 1:c8e328389a98 381 _p[ch]->period(0.001);
jason701802 1:c8e328389a98 382 _pwmCh = _pwmCh | (1 << ch);
jason701802 0:b1e3fa917367 383 }
jason701802 0:b1e3fa917367 384 }
jason701802 0:b1e3fa917367 385
jason701802 0:b1e3fa917367 386
jason701802 0:b1e3fa917367 387 }
jason701802 0:b1e3fa917367 388
jason701802 1:c8e328389a98 389 void BridgeDriver::diagnostic(TextLCD_I2C *lcd){
jason701802 1:c8e328389a98 390 lcd->setAddress(0,1);
jason701802 1:c8e328389a98 391 lcd->printf("PWM:%d,%d,%d,%d ", _pwm[0], _pwm[1], _pwm[2], _pwm[3]);
jason701802 1:c8e328389a98 392 lcd->setAddress(0,2);
jason701802 1:c8e328389a98 393 lcd->printf("pCH:%i%i%i%i%i%i%i%i", !!(_pwmCh & (1 << 0)),
jason701802 1:c8e328389a98 394 !!(_pwmCh & (1 << 1)),
jason701802 1:c8e328389a98 395 !!(_pwmCh & (1 << 2)),
jason701802 1:c8e328389a98 396 !!(_pwmCh & (1 << 3)),
jason701802 1:c8e328389a98 397 !!(_pwmCh & (1 << 4)),
jason701802 1:c8e328389a98 398 !!(_pwmCh & (1 << 5)),
jason701802 1:c8e328389a98 399 !!(_pwmCh & (1 << 6)),
jason701802 1:c8e328389a98 400 !!(_pwmCh & (1 << 7))
jason701802 1:c8e328389a98 401 );
jason701802 1:c8e328389a98 402 lcd->setAddress(0,3);
jason701802 1:c8e328389a98 403 lcd->printf("dir:%+d,%+d,%+d,%+d ", _dir[0], _dir[1], _dir[2], _dir[3]);
jason701802 1:c8e328389a98 404 }