BridgeDriver.h

00001 #include "mbed.h"
00002 #include "MCP23017.h"
00003 #include "TextLCD.h"    //if using diagnostic
00004 
00005 #ifndef BRIDGEDRIVER_H
00006 #define BRIDGEDRIVER_H
00007 
00008 
00009 #define DEFAULT_PWM_PERIOD 0.02
00010 
00011 //pin definitions
00012 #define PIN_CH1 P1_18 //hardware PWM1[1]
00013 #define PIN_CH2 P2_0  //hardware PWM1[1]
00014 #define PIN_CH3 P1_20 //hardware PWM1[2]
00015 #define PIN_CH4 P2_1  //hardware PWM1[2]
00016 #define PIN_CH5 P1_21 //hardware PWM1[3]
00017 #define PIN_CH6 P1_23 //hardware PWM1[4]
00018 #define PIN_CH7 P1_24 //hardware PWM1[5]
00019 #define PIN_CH8 P1_26 //hardware PWM1[6]
00020 
00021 
00022 #define EN_ADDR  0x4C //i2c address of enable pin port expander. 0x40 for rev 1.0, 0x4C for rev 2.0
00023 #define LED_ADDR 0x4E //i2c address of button and LED port expander
00024 
00025 /** BridgeDriver class
00026  * For controlling the Test Controller bridges.
00027  */
00028 class BridgeDriver{
00029      
00030     
00031     public:
00032         /** Channel pair labels
00033          *
00034          * MOTOR_A - Channel 1 and 2.
00035          * MOTOR_B - Channel 3 and 4.
00036          * MOTOR_C - Channel 5 and 6.
00037          * MOTOR_D - Channel 7 and 8.
00038          */
00039         enum  Motors{ MOTOR_A, 
00040                   MOTOR_B, 
00041                   MOTOR_C, 
00042                   MOTOR_D 
00043                 };
00044         
00045         /** Create BridgeDriver object
00046          *
00047          * Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels.
00048          * Disabling PWM for a channel pair allows individual on/off control for each channel.
00049          *
00050          * MOTOR_A - Channel 1 and 2.
00051          * MOTOR_B - Channel 3 and 4.
00052          * MOTOR_C - Channel 5 and 6.
00053          * MOTOR_D - Channel 7 and 8.
00054          * @param *i2c A pointer to the I2C bus that the Enable control and LED port expanders are on.
00055          * @param enPwmA (Optional) 1 enables PWM on channels 1 and 2 for motor control, 0 disables PWM on channels 1 and 2 for solenoid control. Defaults to 0.
00056          * @param enPwmB (Optional) 1 enables PWM on channels 3 and 4 for motor control, 0 disables PWM on channels 3 and 4 for solenoid control. Defaults to 0.
00057          * @param enPwmC (Optional) 1 enables PWM on channels 5 and 6 for motor control, 0 disables PWM on channels 5 and 6 for solenoid control. Defaults to 0.
00058          * @param enPwmD (Optional) 1 enables PWM on channels 7 and 8 for motor control, 0 disables PWM on channels 7 and 8 for solenoid control. Defaults to 0.
00059          * @param enAddr (Optional) Address of the Enable control port expander. May be necessary if not using a rev 1.0 board. TODO: update for rev 2.0.
00060          * @param ledAddr (Optional) Address of the LED control port expander. May be necessary if not using rev 1.0 or 2.0 board.
00061          */
00062         BridgeDriver( I2C *i2c, uint8_t enPwmA = 0, uint8_t enPwmB = 0, uint8_t enPwmC = 0, uint8_t enPwmD = 0, uint8_t enAddr = EN_ADDR, uint8_t ledAddr = LED_ADDR);
00063         
00064         /** Destroy BridgeDriver object
00065          */
00066         ~BridgeDriver();
00067         
00068         /** Enables/disables PWM for channel pairs
00069          *
00070          * Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels.
00071          * Disabling PWM for a channel pair allows individual on/off control for each channel.
00072          *
00073          * MOTOR_A - Channel 1 and 2.
00074          * MOTOR_B - Channel 3 and 4.
00075          * MOTOR_C - Channel 5 and 6.
00076          * MOTOR_D - Channel 7 and 8.
00077          * @param enPwmA 1 enables PWM on channels 1 and 2 for motor control, 0 disables PWM on channels 1 and 2 for solenoid control.
00078          * @param enPwmB 1 enables PWM on channels 3 and 4 for motor control, 0 disables PWM on channels 3 and 4 for solenoid control.
00079          * @param enPwmC 1 enables PWM on channels 5 and 6 for motor control, 0 disables PWM on channels 5 and 6 for solenoid control.
00080          * @param enPwmD 1 enables PWM on channels 7 and 8 for motor control, 0 disables PWM on channels 7 and 8 for solenoid control.
00081          */
00082         void enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD);
00083         
00084         /** Enables/disables PWM for a given channel pair
00085          * 
00086          * Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels.
00087          * Disabling PWM for a channel pair allows individual on/off control for each channel.
00088          *
00089          * MOTOR_A - Channel 1 and 2.
00090          * MOTOR_B - Channel 3 and 4.
00091          * MOTOR_C - Channel 5 and 6.
00092          * MOTOR_D - Channel 7 and 8.
00093          * @param motor Motor (channel pair) to enale/disable PWM.
00094          * @param enPwm 1 enables PWM on channel pair for motor control, 0 disables PWM on channel pair for solenoid control.
00095          */
00096         void enablePwm(Motors motor, uint8_t enPwm);
00097 
00098         /** Enables/disables braking for channel pairs
00099          * @param enBrakeA 1 drives output to GND when off, 0 floats output when off.
00100          * @param enBrakeB 1 drives output to GND when off, 0 floats output when off.       
00101          * @param enBrakeC 1 drives output to GND when off, 0 floats output when off.
00102          * @param enBrakeD 1 drives output to GND when off, 0 floats output when off.
00103          */
00104         void enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD);
00105         
00106         /** Enables/disables braking for given channel pair
00107          * @param enBrakeA 1 drives output to GND when off, 0 floats output when off.
00108          */
00109         void enableBraking(Motors motor, uint8_t enBrake);
00110         
00111         /** Force a specific channel to GND without changing braking default
00112          * Will fail if PWM is enabled on given channel. Use forceBrake(Motors motor) to force braking on channels with PWM enabled.
00113          * @param ch Channel to drive to GND
00114          * @return
00115          *      0 on success,
00116          *      non 0 on failure.
00117          */
00118         int forceBrake(uint8_t ch);
00119         
00120         /** Force a specific motor (channel pair) to GND without changing braking default
00121          * Will fail if PWM is disabled on given channel. Use forceBrake(uint8_t ch) to force braking on channels with PWM disabled.
00122          * @param motor Motor (channel pair) to drive to GND
00123          * @return
00124          *      0 on success,
00125          *      non 0 on failure.
00126          */
00127         int forceBrake(Motors motor);
00128         
00129         /** Force a specific channel to float without changing braking default
00130          * Will float both channels of a motor (channel pair) if PWM is enabled for the channel.
00131          * @param ch Channel to float.
00132          * @return
00133          *      0 on success,
00134          *      non 0 on failure.
00135          */
00136         int forceFloat(uint8_t ch);
00137         
00138         /** Force a specific motor to float without changing braking default
00139          * Will fail if PWM is disabled on given channel. Use forceFloat(uint8_t ch) to force floating on channels with PWM disabled.
00140          * @param motor Motor (channel pair) to float.
00141          * @return
00142          *      0 on success,
00143          *      non 0 on failure.
00144          */
00145         int forceFloat(Motors motor);
00146         
00147         /** Set all outputs with a single byte (bitwise control).
00148          * Will fail if PWM is enabled for any motor (channel pair).
00149          * @param state Sets all the outputs. Each bit controls one channel.
00150          *      1 drives high,
00151          *      0 brakes (drives to GND) or floats depending on setting of enBrake.
00152          * @return
00153          *      -1 on failure,
00154          *      0 if all outputs are set to 0,
00155          *      1 if any output is set to 1.
00156          */
00157         int drive(uint8_t state);
00158         
00159         /** Set the output of one channel
00160          * @param ch Channel to set.
00161          * @param on State to set.
00162          *      1 drives high,
00163          *      0 brakes (drives to GND) or floats depending on setting of enBrake.
00164          * @return
00165          *      -1 on fauilure,
00166          *      0 if set to 0,
00167          *      1 if set to 1.
00168          */
00169         int drive(uint8_t ch, uint8_t on);
00170         
00171         /** Control the speed of a motor
00172          * @param motor Motor (channel pair) to control.
00173          * @param speed Speed to set motor to. Acceptable range: -1.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake.
00174          * @return 
00175          *      -1 on failure,
00176          *      speed of set output on success.
00177          */
00178         float drive(Motors motor, float speed);
00179         
00180         /** Control the speed of a motor
00181          * @param motor Motor (channel pair) to control.
00182          * @param speed Speed to set motor to. Acceptable range: 0.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake.
00183          * @param dir Set direction to drive motor.
00184          *      1: forward,
00185          *      -1: reverse,
00186          *      0: brake, irregardless of setting of enBrake or speed.
00187          * @return 
00188          *      -1 on failure,
00189          *      speed of set output on success.
00190          */
00191         float drive(Motors motor, int8_t dir, float speed);
00192         
00193         
00194         /** Display diagnostic information on the LCD
00195          * @param *lcd Pointer to TextLCD object to display info on.
00196          */
00197         void diagnostic(TextLCD_I2C *lcd);
00198         
00199         /** Change the PWM period
00200          * @param newPWMperiod The new PWM period. In seconds. System default is 0.0002 (5kHz).
00201          */
00202         void setPWMperiod(float newPWMperiod);
00203         
00204         
00205         
00206     private:
00207         DigitalOut *_d[8];
00208         PwmOut *_p[8];
00209         MCP23017 *_EnCtl;
00210         MCP23017 *_IO;
00211         I2C *_i2c;
00212         uint8_t _enAddr;
00213         uint8_t _ledAddr;
00214         uint8_t _pwm[4];        //enabled full bridges
00215         uint8_t _pwmCh;         //currently actie PWM pins
00216         int8_t  _dir[4];        //dir of 1 means lower # ch is driving, dir of -1 means higher number ch is driving
00217         uint8_t _braking[4]; 
00218         uint8_t _oldLedState;   //for setLed functions. Kept external to overload function
00219         float _PWMperiod;
00220         
00221         void enableCh(uint8_t ch, uint8_t en);
00222         void setLed(uint8_t ch, uint8_t en);
00223         void setLed(uint8_t state);
00224         void setPwm(uint8_t ch, uint8_t en);
00225         
00226         
00227         
00228 };
00229     
00230 
00231 
00232 #endif