Mitchell Hatfield / BridgeDriver2

frequency change?

Fork of BridgeDriver by Jason T

BridgeDriver.cpp@4:87768972db3f, 2014-07-21 (annotated)

Committer:
jason701802
Date:
Mon Jul 21 19:03:42 2014 +0000
Revision:
4:87768972db3f
Parent:
3:247939286d2c
Child:
6:d4afd3284a04
Cleaned up ordering of enabling/disabling and setting output for each channel

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