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@7:7dabd934ebe4, 2014-07-24 (annotated)

Committer:
jason701802
Date:
Thu Jul 24 21:48:32 2014 +0000
Revision:
7:7dabd934ebe4
Parent:
6:d4afd3284a04
Child:
8:36e2cd31ccf3
renamed bridge to motor

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
jason701802 1:c8e328389a98 9 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 10 _i2c(i2c),
jason701802 0:b1e3fa917367 11 _enAddr(enAddr),
jason701802 0:b1e3fa917367 12 _ledAddr(ledAddr),
jason701802 1:c8e328389a98 13 _pwmCh(0x00),
jason701802 0:b1e3fa917367 14 _oldLedState(0x00)
jason701802 0:b1e3fa917367 15 {
jason701802 0:b1e3fa917367 16
jason701802 0:b1e3fa917367 17
jason701802 0:b1e3fa917367 18 _pwm[0] = enPwmA;
jason701802 0:b1e3fa917367 19 _pwm[1] = enPwmB;
jason701802 0:b1e3fa917367 20 _pwm[2] = enPwmC;
jason701802 0:b1e3fa917367 21 _pwm[3] = enPwmD;
jason701802 0:b1e3fa917367 22
jason701802 0:b1e3fa917367 23 for(int i = 0; i<4; i++){
jason701802 0:b1e3fa917367 24 _dir[i] = 0;
jason701802 0:b1e3fa917367 25 _braking[i] = 0;
jason701802 0:b1e3fa917367 26 }
jason701802 0:b1e3fa917367 27
jason701802 0:b1e3fa917367 28
jason701802 0:b1e3fa917367 29 _EnCtl = new MCP23017(*_i2c, _enAddr); //MCP23008 -Only use PORT_A
jason701802 0:b1e3fa917367 30 _IO = new MCP23017(*_i2c, _ledAddr);
jason701802 0:b1e3fa917367 31
jason701802 0:b1e3fa917367 32 _IO->direction(PORT_B, 0x00); //LEDs are outputs
jason701802 0:b1e3fa917367 33 _IO->write(PORT_B, ~0x00); //bitwise not (~) b/c leds are active low
jason701802 0:b1e3fa917367 34 _EnCtl->configureBanked(BNK);
jason701802 0:b1e3fa917367 35 _EnCtl->direction(PORT_A, 0x00); //all outputs
jason701802 0:b1e3fa917367 36 _EnCtl->write(PORT_A, 0x00); //leave all channels disabled
jason701802 0:b1e3fa917367 37
jason701802 0:b1e3fa917367 38
jason701802 0:b1e3fa917367 39
jason701802 0:b1e3fa917367 40 _d[0] = new DigitalOut(PIN_CH1);
jason701802 0:b1e3fa917367 41 _d[1] = new DigitalOut(PIN_CH2);
jason701802 0:b1e3fa917367 42 _d[2] = new DigitalOut(PIN_CH3);
jason701802 0:b1e3fa917367 43 _d[3] = new DigitalOut(PIN_CH4);
jason701802 0:b1e3fa917367 44 _d[4] = new DigitalOut(PIN_CH5);
jason701802 0:b1e3fa917367 45 _d[5] = new DigitalOut(PIN_CH6);
jason701802 0:b1e3fa917367 46 _d[6] = new DigitalOut(PIN_CH7);
jason701802 0:b1e3fa917367 47 _d[7] = new DigitalOut(PIN_CH8);
jason701802 0:b1e3fa917367 48
jason701802 0:b1e3fa917367 49
jason701802 0:b1e3fa917367 50
jason701802 0:b1e3fa917367 51 }
jason701802 6:d4afd3284a04 52
jason701802 0:b1e3fa917367 53 BridgeDriver::~BridgeDriver(){
jason701802 0:b1e3fa917367 54 for(int i=0; i<4; i++){
jason701802 0:b1e3fa917367 55 if(_pwm[i]){
jason701802 0:b1e3fa917367 56 switch(_dir[i]){
jason701802 0:b1e3fa917367 57 case 1:
jason701802 0:b1e3fa917367 58 delete _p[2*i];
jason701802 0:b1e3fa917367 59 delete _d[2*i + 1];
jason701802 0:b1e3fa917367 60 break;
jason701802 0:b1e3fa917367 61 case -1:
jason701802 0:b1e3fa917367 62 delete _d[2*i];
jason701802 0:b1e3fa917367 63 delete _p[2*i + 1];
jason701802 0:b1e3fa917367 64 break;
jason701802 0:b1e3fa917367 65 case 0:
jason701802 0:b1e3fa917367 66 delete _d[2*i];
jason701802 0:b1e3fa917367 67 delete _d[2*i + 1];
jason701802 0:b1e3fa917367 68 break;
jason701802 0:b1e3fa917367 69 }
jason701802 0:b1e3fa917367 70 }else{
jason701802 0:b1e3fa917367 71 delete _d[2*i];
jason701802 0:b1e3fa917367 72 delete _d[2*i + 1];
jason701802 0:b1e3fa917367 73 }
jason701802 0:b1e3fa917367 74 }
jason701802 0:b1e3fa917367 75 }
jason701802 0:b1e3fa917367 76
jason701802 0:b1e3fa917367 77 void BridgeDriver::enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD){
jason701802 7:7dabd934ebe4 78 enablePwm(MOTOR_A, enPwmA);
jason701802 7:7dabd934ebe4 79 enablePwm(MOTOR_B, enPwmB);
jason701802 7:7dabd934ebe4 80 enablePwm(MOTOR_C, enPwmC);
jason701802 7:7dabd934ebe4 81 enablePwm(MOTOR_D, enPwmD);
jason701802 0:b1e3fa917367 82 }
jason701802 6:d4afd3284a04 83
jason701802 7:7dabd934ebe4 84 void BridgeDriver::enablePwm(Motors motor, uint8_t enPwm){
jason701802 7:7dabd934ebe4 85 int bNum = static_cast<int>(motor); //numeric motor
jason701802 0:b1e3fa917367 86 if(enPwm == _pwm[bNum]){
jason701802 0:b1e3fa917367 87 return;
jason701802 0:b1e3fa917367 88 }else if(enPwm == 0){ //disable pwm
jason701802 0:b1e3fa917367 89 setPwm(2*bNum, 0); //channels are disabled in setPwm()
jason701802 0:b1e3fa917367 90 setPwm(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 91 _pwm[bNum] = 0;
jason701802 0:b1e3fa917367 92 }else{ //enable pwm
jason701802 0:b1e3fa917367 93 enableCh(2*bNum, 0); //disable channels
jason701802 0:b1e3fa917367 94 enableCh(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 95 _pwm[bNum] = 1; //pwm for individual channels is turned on as necessary when running motor
jason701802 0:b1e3fa917367 96 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 97 }
jason701802 0:b1e3fa917367 98 }
jason701802 0:b1e3fa917367 99
jason701802 0:b1e3fa917367 100 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 7:7dabd934ebe4 101 enableBraking(MOTOR_A, enBrakeA);
jason701802 7:7dabd934ebe4 102 enableBraking(MOTOR_B, enBrakeB);
jason701802 7:7dabd934ebe4 103 enableBraking(MOTOR_C, enBrakeC);
jason701802 7:7dabd934ebe4 104 enableBraking(MOTOR_D, enBrakeD);
jason701802 0:b1e3fa917367 105 }
jason701802 6:d4afd3284a04 106
jason701802 7:7dabd934ebe4 107 void BridgeDriver::enableBraking(Motors motor, uint8_t enBrake) {
jason701802 7:7dabd934ebe4 108 _braking[static_cast<int>(motor)] = enBrake;
jason701802 0:b1e3fa917367 109 }
jason701802 0:b1e3fa917367 110
jason701802 0:b1e3fa917367 111 int BridgeDriver::forceBrake(uint8_t ch){ //force a specific channel to GND without changing braking default
jason701802 0:b1e3fa917367 112 if( _pwm[(ch-1)/2]){
jason701802 0:b1e3fa917367 113 return -1;
jason701802 0:b1e3fa917367 114 }else{
jason701802 0:b1e3fa917367 115 *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 116 enableCh(ch-1, 1);
jason701802 0:b1e3fa917367 117 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 118 return 0;
jason701802 0:b1e3fa917367 119 }
jason701802 0:b1e3fa917367 120 }
jason701802 6:d4afd3284a04 121
jason701802 7:7dabd934ebe4 122 int BridgeDriver::forceBrake(Motors motor){ //force a specific motor to GND without changing braking default
jason701802 7:7dabd934ebe4 123 return static_cast<int>(drive(motor, 0, 0));
jason701802 0:b1e3fa917367 124 }
jason701802 6:d4afd3284a04 125
jason701802 0:b1e3fa917367 126 int BridgeDriver::forceFloat(uint8_t ch){ //force a specific channel to float without changing braking default
jason701802 7:7dabd934ebe4 127 int bNum = (ch-1)/2;
jason701802 7:7dabd934ebe4 128 if( _pwm[bNum] ){
jason701802 7:7dabd934ebe4 129 setPwm(2*bNum, 0); //channel is disabled in setPwm()
jason701802 7:7dabd934ebe4 130 setPwm(2*bNum + 1, 0); //channel is disabled in setPwm()
jason701802 7:7dabd934ebe4 131 _dir[bNum] = 0;
jason701802 7:7dabd934ebe4 132 setLed(2*bNum, 0);
jason701802 7:7dabd934ebe4 133 setLed(2*bNum + 1, 0);
jason701802 7:7dabd934ebe4 134 *_d[2*bNum] = 0;
jason701802 7:7dabd934ebe4 135 return *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 136 }else{
jason701802 0:b1e3fa917367 137 enableCh(ch-1, 0);
jason701802 0:b1e3fa917367 138 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 139 return *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 140 }
jason701802 0:b1e3fa917367 141 }
jason701802 6:d4afd3284a04 142
jason701802 7:7dabd934ebe4 143 int BridgeDriver::forceFloat(Motors motor){ //force a specific motor to float without changing braking default
jason701802 7:7dabd934ebe4 144 int bNum = static_cast<int>(motor); //numeric motor
jason701802 0:b1e3fa917367 145
jason701802 0:b1e3fa917367 146 if(_pwm[bNum] == 0){
jason701802 0:b1e3fa917367 147 return -1;
jason701802 0:b1e3fa917367 148 }else{
jason701802 4:87768972db3f 149 setPwm(2*bNum, 0); //channel is disabled in setPwm()
jason701802 4:87768972db3f 150 setPwm(2*bNum + 1, 0); //channel is disabled in setPwm()
jason701802 4:87768972db3f 151 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 152 setLed(2*bNum, 0);
jason701802 0:b1e3fa917367 153 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 154 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 155 return *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 156 }
jason701802 0:b1e3fa917367 157 }
jason701802 0:b1e3fa917367 158
jason701802 0:b1e3fa917367 159 int BridgeDriver::drive(uint8_t state){
jason701802 0:b1e3fa917367 160 if(_pwm[0] || _pwm[1] || _pwm[2] || _pwm[3]){
jason701802 0:b1e3fa917367 161 return -1;
jason701802 0:b1e3fa917367 162 }else{
jason701802 0:b1e3fa917367 163 setLed(state);
jason701802 0:b1e3fa917367 164 for(int i=0; i<8; i++){
jason701802 0:b1e3fa917367 165 if(state & (1 << i)){ //channel i should be on
jason701802 0:b1e3fa917367 166 *_d[i] = 1;
jason701802 0:b1e3fa917367 167 enableCh(i, 1);
jason701802 0:b1e3fa917367 168 }else{ //channel i should be off
jason701802 3:247939286d2c 169 if(_braking[i/2]){
jason701802 0:b1e3fa917367 170 *_d[i] = 0; //brake output
jason701802 0:b1e3fa917367 171 enableCh(i, 1);
jason701802 0:b1e3fa917367 172 }else{
jason701802 0:b1e3fa917367 173 enableCh(i, 0);
jason701802 4:87768972db3f 174 *_d[i] = 0; //float/coast output
jason701802 0:b1e3fa917367 175 }
jason701802 0:b1e3fa917367 176 }
jason701802 0:b1e3fa917367 177 }
jason701802 0:b1e3fa917367 178 return !!state;
jason701802 0:b1e3fa917367 179 }
jason701802 0:b1e3fa917367 180 }
jason701802 6:d4afd3284a04 181
jason701802 0:b1e3fa917367 182 int BridgeDriver::drive(uint8_t ch, uint8_t on){
jason701802 0:b1e3fa917367 183 if( _pwm[(ch-1)/2]){
jason701802 0:b1e3fa917367 184 return -1;
jason701802 0:b1e3fa917367 185 }else if(on){ //on
jason701802 4:87768972db3f 186 *_d[ch-1] = 1;
jason701802 0:b1e3fa917367 187 enableCh(ch-1, 1);
jason701802 0:b1e3fa917367 188 setLed(ch-1, 1);
jason701802 4:87768972db3f 189 return 1;
jason701802 4:87768972db3f 190 }else if(_braking[(ch-1)/2]){ //off, brake
jason701802 0:b1e3fa917367 191 *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 192 enableCh(ch-1, 1);
jason701802 0:b1e3fa917367 193 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 194 return 0;
jason701802 0:b1e3fa917367 195 }else{ //off, float
jason701802 0:b1e3fa917367 196 enableCh(ch-1, 0);
jason701802 0:b1e3fa917367 197 setLed(ch-1, 0);
jason701802 0:b1e3fa917367 198 return *_d[ch-1] = 0;
jason701802 0:b1e3fa917367 199 }
jason701802 0:b1e3fa917367 200 }
jason701802 6:d4afd3284a04 201
jason701802 7:7dabd934ebe4 202 float BridgeDriver::drive(Motors motor, float speed){ //speed from -1 to 1, speed of 0 will coast or brake depending on setting of _braking
jason701802 7:7dabd934ebe4 203 int bNum = static_cast<int>(motor); //numeric motor
jason701802 0:b1e3fa917367 204
jason701802 0:b1e3fa917367 205 if(_pwm[bNum] == 0){
jason701802 1:c8e328389a98 206 return -20 - bNum;
jason701802 0:b1e3fa917367 207 }
jason701802 0:b1e3fa917367 208
jason701802 0:b1e3fa917367 209 if(speed == 0){
jason701802 7:7dabd934ebe4 210 return drive(motor, 1, 0);
jason701802 0:b1e3fa917367 211 }else if(speed > 0){
jason701802 7:7dabd934ebe4 212 return drive(motor, 1, speed);
jason701802 0:b1e3fa917367 213 }else{
jason701802 7:7dabd934ebe4 214 return drive(motor, -1, -1*speed);
jason701802 0:b1e3fa917367 215 }
jason701802 0:b1e3fa917367 216 }
jason701802 6:d4afd3284a04 217
jason701802 7:7dabd934ebe4 218 float BridgeDriver::drive(Motors motor, int8_t dir, float speed){
jason701802 0:b1e3fa917367 219 //dir: 1=fwd, -1=rev, 0=brake (regardless of setting of _braking
jason701802 0:b1e3fa917367 220 //speed from 0 to 1, speed of 0 will coast or brake depending on setting of _braking
jason701802 0:b1e3fa917367 221
jason701802 7:7dabd934ebe4 222 int bNum = static_cast<uint8_t>(motor); //numeric motor
jason701802 0:b1e3fa917367 223
jason701802 0:b1e3fa917367 224 if(_pwm[bNum] == 0){
jason701802 1:c8e328389a98 225 return -10 - bNum;
jason701802 0:b1e3fa917367 226 }
jason701802 0:b1e3fa917367 227 if(speed < -1 || speed > 1){ //maybe this should be bounding instead?
jason701802 0:b1e3fa917367 228 return -1;
jason701802 0:b1e3fa917367 229 }
jason701802 0:b1e3fa917367 230
jason701802 0:b1e3fa917367 231 if(dir == 0 || (speed == 0 && _braking[bNum])){ //brake
jason701802 0:b1e3fa917367 232 if(_dir[bNum] != 0){
jason701802 0:b1e3fa917367 233 setPwm(2*bNum, 0);
jason701802 0:b1e3fa917367 234 setPwm(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 235 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 236 }
jason701802 0:b1e3fa917367 237 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 238 *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 239 enableCh(2*bNum, 1); //enable channels for braking
jason701802 0:b1e3fa917367 240 enableCh(2*bNum + 1, 1);
jason701802 4:87768972db3f 241 setLed(2*bNum, 0);
jason701802 4:87768972db3f 242 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 243
jason701802 0:b1e3fa917367 244 return 0;
jason701802 0:b1e3fa917367 245
jason701802 0:b1e3fa917367 246 }else if(speed == 0){ //coast
jason701802 4:87768972db3f 247 setPwm(2*bNum, 0); //channel is disabled in setPwm()
jason701802 4:87768972db3f 248 setPwm(2*bNum + 1, 0); //channel is disabled in setPwm()
jason701802 4:87768972db3f 249 _dir[bNum] = 0;
jason701802 0:b1e3fa917367 250 setLed(2*bNum, 0);
jason701802 0:b1e3fa917367 251 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 252 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 253 return *_d[2*bNum + 1] = 0;
jason701802 4:87768972db3f 254 }else if(dir == 1){ //forward
jason701802 0:b1e3fa917367 255 if(_dir[bNum] != 1){
jason701802 0:b1e3fa917367 256 setPwm(2*bNum, 1);
jason701802 0:b1e3fa917367 257 setPwm(2*bNum + 1, 0);
jason701802 1:c8e328389a98 258 _dir[bNum] = 1;
jason701802 0:b1e3fa917367 259 }
jason701802 0:b1e3fa917367 260 *_p[2*bNum] = speed;
jason701802 0:b1e3fa917367 261 *_d[2*bNum + 1] = 0;
jason701802 0:b1e3fa917367 262 enableCh(2*bNum, 1); //enable channels
jason701802 0:b1e3fa917367 263 enableCh(2*bNum + 1, 1);
jason701802 4:87768972db3f 264 setLed(2*bNum, 1);
jason701802 4:87768972db3f 265 setLed(2*bNum + 1, 0);
jason701802 0:b1e3fa917367 266 return speed;
jason701802 4:87768972db3f 267 }else if(dir == -1){ //reverse
jason701802 1:c8e328389a98 268 if(_dir[bNum] != -1){
jason701802 0:b1e3fa917367 269 setPwm(2*bNum, 0);
jason701802 0:b1e3fa917367 270 setPwm(2*bNum + 1, 1);
jason701802 1:c8e328389a98 271 _dir[bNum] = -1;
jason701802 0:b1e3fa917367 272 }
jason701802 0:b1e3fa917367 273 *_d[2*bNum] = 0;
jason701802 0:b1e3fa917367 274 *_p[2*bNum + 1] = speed;
jason701802 0:b1e3fa917367 275 enableCh(2*bNum, 1); //enable channels
jason701802 0:b1e3fa917367 276 enableCh(2*bNum + 1, 1);
jason701802 4:87768972db3f 277 setLed(2*bNum, 0);
jason701802 4:87768972db3f 278 setLed(2*bNum + 1, 1);
jason701802 0:b1e3fa917367 279 return speed;
jason701802 0:b1e3fa917367 280 }
jason701802 1:c8e328389a98 281 return -2;
jason701802 0:b1e3fa917367 282 }
jason701802 0:b1e3fa917367 283
jason701802 0:b1e3fa917367 284 void BridgeDriver::enableCh(uint8_t ch, uint8_t en){
jason701802 0:b1e3fa917367 285 static uint8_t state = 0x00;
jason701802 0:b1e3fa917367 286 static uint8_t oldState = 0x00;
jason701802 0:b1e3fa917367 287
jason701802 0:b1e3fa917367 288 if(en){
jason701802 0:b1e3fa917367 289 state = state | (1 << ch);
jason701802 0:b1e3fa917367 290 }else{
jason701802 0:b1e3fa917367 291 state = state & ~(1 << ch);
jason701802 0:b1e3fa917367 292 }
jason701802 0:b1e3fa917367 293
jason701802 0:b1e3fa917367 294 if(state != oldState){
jason701802 0:b1e3fa917367 295 _EnCtl->write(PORT_A, state);
jason701802 0:b1e3fa917367 296 oldState = state;
jason701802 0:b1e3fa917367 297 }
jason701802 0:b1e3fa917367 298 }
jason701802 0:b1e3fa917367 299
jason701802 0:b1e3fa917367 300 void BridgeDriver::setLed(uint8_t ch, uint8_t en){
jason701802 0:b1e3fa917367 301 uint8_t state;
jason701802 0:b1e3fa917367 302 if(en){
jason701802 0:b1e3fa917367 303 state = _oldLedState | (1 << ch);
jason701802 0:b1e3fa917367 304 }else{
jason701802 0:b1e3fa917367 305 state = _oldLedState & ~(1 << ch);
jason701802 0:b1e3fa917367 306 }
jason701802 0:b1e3fa917367 307
jason701802 0:b1e3fa917367 308 if(state != _oldLedState){
jason701802 0:b1e3fa917367 309 _IO->write(PORT_B, ~state); //bitwise not (~) b/c leds are active low
jason701802 0:b1e3fa917367 310 _oldLedState = state;
jason701802 0:b1e3fa917367 311 }
jason701802 0:b1e3fa917367 312 }
jason701802 0:b1e3fa917367 313
jason701802 0:b1e3fa917367 314 void BridgeDriver::setLed(uint8_t state){
jason701802 0:b1e3fa917367 315 if(state != _oldLedState){
jason701802 0:b1e3fa917367 316 _IO->write(PORT_B, ~state); //bitwise not (~) b/c leds are active low
jason701802 0:b1e3fa917367 317 _oldLedState = state;
jason701802 0:b1e3fa917367 318 }
jason701802 0:b1e3fa917367 319 }
jason701802 0:b1e3fa917367 320
jason701802 0:b1e3fa917367 321 void BridgeDriver::setPwm(uint8_t ch, uint8_t en){
jason701802 0:b1e3fa917367 322 enableCh(ch, 0);
jason701802 0:b1e3fa917367 323
jason701802 1:c8e328389a98 324
jason701802 1:c8e328389a98 325 if(_pwmCh & (1 << ch)){ //pwm is currently enabled on this channel
jason701802 0:b1e3fa917367 326 if(en == 0){
jason701802 0:b1e3fa917367 327 delete _p[ch];
jason701802 0:b1e3fa917367 328 switch(ch){
jason701802 1:c8e328389a98 329 case 0:
jason701802 1:c8e328389a98 330 _d[ch] = new DigitalOut(PIN_CH1);
jason701802 1:c8e328389a98 331 break;
jason701802 1:c8e328389a98 332 case 1:
jason701802 1:c8e328389a98 333 _d[ch] = new DigitalOut(PIN_CH2);
jason701802 1:c8e328389a98 334 break;
jason701802 1:c8e328389a98 335 case 2:
jason701802 1:c8e328389a98 336 _d[ch] = new DigitalOut(PIN_CH3);
jason701802 1:c8e328389a98 337 break;
jason701802 1:c8e328389a98 338 case 3:
jason701802 1:c8e328389a98 339 _d[ch] = new DigitalOut(PIN_CH4);
jason701802 1:c8e328389a98 340 break;
jason701802 1:c8e328389a98 341 case 4:
jason701802 1:c8e328389a98 342 _d[ch] = new DigitalOut(PIN_CH5);
jason701802 1:c8e328389a98 343 break;
jason701802 1:c8e328389a98 344 case 5:
jason701802 1:c8e328389a98 345 _d[ch] = new DigitalOut(PIN_CH6);
jason701802 1:c8e328389a98 346 break;
jason701802 1:c8e328389a98 347 case 6:
jason701802 1:c8e328389a98 348 _d[ch] = new DigitalOut(PIN_CH7);
jason701802 1:c8e328389a98 349 break;
jason701802 1:c8e328389a98 350 case 7:
jason701802 1:c8e328389a98 351 _d[ch] = new DigitalOut(PIN_CH8);
jason701802 1:c8e328389a98 352 break;
jason701802 0:b1e3fa917367 353 }
jason701802 1:c8e328389a98 354 _pwmCh = _pwmCh & ~(1 << ch);
jason701802 1:c8e328389a98 355
jason701802 0:b1e3fa917367 356 }
jason701802 0:b1e3fa917367 357 }else{ //pwm is currently disabled on this channel
jason701802 0:b1e3fa917367 358 if(en == 1){
jason701802 0:b1e3fa917367 359 delete _d[ch];
jason701802 0:b1e3fa917367 360 switch(ch){
jason701802 1:c8e328389a98 361 case 0:
jason701802 1:c8e328389a98 362 _p[ch] = new PwmOut(PIN_CH1);
jason701802 1:c8e328389a98 363 break;
jason701802 1:c8e328389a98 364 case 1:
jason701802 1:c8e328389a98 365 _p[ch] = new PwmOut(PIN_CH2);
jason701802 1:c8e328389a98 366 break;
jason701802 1:c8e328389a98 367 case 2:
jason701802 1:c8e328389a98 368 _p[ch] = new PwmOut(PIN_CH3);
jason701802 1:c8e328389a98 369 break;
jason701802 1:c8e328389a98 370 case 3:
jason701802 1:c8e328389a98 371 _p[ch] = new PwmOut(PIN_CH4);
jason701802 1:c8e328389a98 372 break;
jason701802 1:c8e328389a98 373 case 4:
jason701802 1:c8e328389a98 374 _p[ch] = new PwmOut(PIN_CH5);
jason701802 1:c8e328389a98 375 break;
jason701802 1:c8e328389a98 376 case 5:
jason701802 1:c8e328389a98 377 _p[ch] = new PwmOut(PIN_CH6);
jason701802 1:c8e328389a98 378 break;
jason701802 1:c8e328389a98 379 case 6:
jason701802 1:c8e328389a98 380 _p[ch] = new PwmOut(PIN_CH7);
jason701802 1:c8e328389a98 381 break;
jason701802 1:c8e328389a98 382 case 7:
jason701802 1:c8e328389a98 383 _p[ch] = new PwmOut(PIN_CH8);
jason701802 1:c8e328389a98 384 break;
jason701802 0:b1e3fa917367 385 }
jason701802 4:87768972db3f 386 _p[ch]->period(PWM_PERIOD);
jason701802 1:c8e328389a98 387 _pwmCh = _pwmCh | (1 << ch);
jason701802 0:b1e3fa917367 388 }
jason701802 0:b1e3fa917367 389 }
jason701802 0:b1e3fa917367 390
jason701802 0:b1e3fa917367 391
jason701802 0:b1e3fa917367 392 }
jason701802 0:b1e3fa917367 393
jason701802 1:c8e328389a98 394 void BridgeDriver::diagnostic(TextLCD_I2C *lcd){
jason701802 1:c8e328389a98 395 lcd->setAddress(0,1);
jason701802 1:c8e328389a98 396 lcd->printf("PWM:%d,%d,%d,%d ", _pwm[0], _pwm[1], _pwm[2], _pwm[3]);
jason701802 1:c8e328389a98 397 lcd->setAddress(0,2);
jason701802 1:c8e328389a98 398 lcd->printf("pCH:%i%i%i%i%i%i%i%i", !!(_pwmCh & (1 << 0)),
jason701802 1:c8e328389a98 399 !!(_pwmCh & (1 << 1)),
jason701802 1:c8e328389a98 400 !!(_pwmCh & (1 << 2)),
jason701802 1:c8e328389a98 401 !!(_pwmCh & (1 << 3)),
jason701802 1:c8e328389a98 402 !!(_pwmCh & (1 << 4)),
jason701802 1:c8e328389a98 403 !!(_pwmCh & (1 << 5)),
jason701802 1:c8e328389a98 404 !!(_pwmCh & (1 << 6)),
jason701802 1:c8e328389a98 405 !!(_pwmCh & (1 << 7))
jason701802 1:c8e328389a98 406 );
jason701802 1:c8e328389a98 407 lcd->setAddress(0,3);
jason701802 1:c8e328389a98 408 lcd->printf("dir:%+d,%+d,%+d,%+d ", _dir[0], _dir[1], _dir[2], _dir[3]);
jason701802 1:c8e328389a98 409 }