Travis Alexander / Mbed 2 deprecated Brushed_DC_Motor_Control_MC33926

Firmware for MC33926 evaluation on KL25Z-based EVMB

Dependencies:   USBDevice mbed

Fork of Brushed_DC_Motor_Control_MC34931_MC33931 by NXP

main_copy.cpp@2:d98eb31a4b69, 2018-07-09 (annotated)

Committer:
nxf42866
Date:
Mon Jul 09 17:53:48 2018 +0000
Revision:
2:d98eb31a4b69
New firmware for evaluation of MC33926  on KL25Z-based EVB

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nxf42866 2:d98eb31a4b69 1 #include "mbed.h"
nxf42866 2:d98eb31a4b69 2 #include "USBHID.h"
nxf42866 2:d98eb31a4b69 3
nxf42866 2:d98eb31a4b69 4 // We declare a USBHID device.
nxf42866 2:d98eb31a4b69 5 // HID In/Out Reports are 64 Bytes long
nxf42866 2:d98eb31a4b69 6 // Vendor ID (VID): 0x15A2
nxf42866 2:d98eb31a4b69 7 // Product ID (PID): 0x0138
nxf42866 2:d98eb31a4b69 8 // Serial Number: 0x0001
nxf42866 2:d98eb31a4b69 9 USBHID hid(64, 64, 0x15A2, 0x0138, 0x0001, true);
nxf42866 2:d98eb31a4b69 10
nxf42866 2:d98eb31a4b69 11 //Setup Digital Outputs for the LEDs on the FRDM
nxf42866 2:d98eb31a4b69 12 //PwmOut red_led(LED1);
nxf42866 2:d98eb31a4b69 13 //DigitalOut green_led(LED2);
nxf42866 2:d98eb31a4b69 14 //DigitalOut blue_led(LED3);
nxf42866 2:d98eb31a4b69 15
nxf42866 2:d98eb31a4b69 16 //Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
nxf42866 2:d98eb31a4b69 17 PwmOut IN1(PTA5); // Pin IN1 input to MC33926 (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 18 PwmOut IN2(PTC8); // Pin IN2 input to MC33926 (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 19 DigitalOut EN(PTE0); // Pin EN input to MC33926 (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 20 DigitalOut DIS1(PTA2); // Pin D1 input to MC33926 (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 21 DigitalOut D2B(PTD5); // Pin D2B input to MC33926 (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 22 DigitalOut SLEW(PTA13); // Pin Slew input to MC33926 (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 23 DigitalOut INV(PTD0); // Pin INV input to MC33926 (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 24 DigitalIn SFB(PTB3); // Pin SF_B output from MC33926 to FRDM-KL25Z
nxf42866 2:d98eb31a4b69 25 AnalogIn CFB(PTB0); // Pin FB output from MC33926 to FRDM-KL25Z
nxf42866 2:d98eb31a4b69 26 //DigitalOut READY(PTC7); // Pin READY input to Motor Control Board (FRDM PIN Name)
nxf42866 2:d98eb31a4b69 27
nxf42866 2:d98eb31a4b69 28 //Variables
nxf42866 2:d98eb31a4b69 29 int pwm_freq_lo;
nxf42866 2:d98eb31a4b69 30 int pwm_freq_hi;
nxf42866 2:d98eb31a4b69 31 int frequencyHz = 500;
nxf42866 2:d98eb31a4b69 32 int runstop = 0;
nxf42866 2:d98eb31a4b69 33 int direction = 1;
nxf42866 2:d98eb31a4b69 34 int braking; // needs to be initialized?
nxf42866 2:d98eb31a4b69 35 int dutycycle = 75;
nxf42866 2:d98eb31a4b69 36 int newDataFlag = 0;
nxf42866 2:d98eb31a4b69 37 int status = 0;
nxf42866 2:d98eb31a4b69 38 uint16_t CurrFB;
nxf42866 2:d98eb31a4b69 39 uint16_t CFBArray[101];
nxf42866 2:d98eb31a4b69 40 uint32_t CFBTotal;
nxf42866 2:d98eb31a4b69 41 uint16_t CFBAvg;
nxf42866 2:d98eb31a4b69 42 uint16_t CFBtemp;
nxf42866 2:d98eb31a4b69 43
nxf42866 2:d98eb31a4b69 44 //storage for send and receive data
nxf42866 2:d98eb31a4b69 45 HID_REPORT send_report;
nxf42866 2:d98eb31a4b69 46 HID_REPORT recv_report;
nxf42866 2:d98eb31a4b69 47
nxf42866 2:d98eb31a4b69 48 bool initflag = true;
nxf42866 2:d98eb31a4b69 49
nxf42866 2:d98eb31a4b69 50 // USB COMMANDS
nxf42866 2:d98eb31a4b69 51 // These are sent from the PC
nxf42866 2:d98eb31a4b69 52 #define WRITE_LED 0x20
nxf42866 2:d98eb31a4b69 53 #define WRITE_GEN_EN 0x40 // what is this? What should the GUI kickoff here?
nxf42866 2:d98eb31a4b69 54 #define WRITE_DUTY_CYCLE 0x50
nxf42866 2:d98eb31a4b69 55 #define WRITE_PWM_FREQ 0x60
nxf42866 2:d98eb31a4b69 56 #define WRITE_RUN_STOP 0x70
nxf42866 2:d98eb31a4b69 57 #define WRITE_DIRECTION 0x71
nxf42866 2:d98eb31a4b69 58 #define WRITE_BRAKING 0x90
nxf42866 2:d98eb31a4b69 59 #define WRITE_RESET 0xA0 // what is this? What should the GUI kickoff here?
nxf42866 2:d98eb31a4b69 60 #define WRITE_D1 0xB1
nxf42866 2:d98eb31a4b69 61 #define WRITE_EN 0xC1
nxf42866 2:d98eb31a4b69 62 #define WRITE_D2B 0xD5
nxf42866 2:d98eb31a4b69 63 #define WRITE_SLEW 0xE5
nxf42866 2:d98eb31a4b69 64 #define WRITE_INV 0xF5
nxf42866 2:d98eb31a4b69 65
nxf42866 2:d98eb31a4b69 66 #define scaleFactor 0.11868
nxf42866 2:d98eb31a4b69 67
nxf42866 2:d98eb31a4b69 68 // LOGICAL CONSTANTS
nxf42866 2:d98eb31a4b69 69 #define OFF 0x00
nxf42866 2:d98eb31a4b69 70 #define ON 0x01
nxf42866 2:d98eb31a4b69 71
nxf42866 2:d98eb31a4b69 72
nxf42866 2:d98eb31a4b69 73 int main()
nxf42866 2:d98eb31a4b69 74 {
nxf42866 2:d98eb31a4b69 75 send_report.length = 64;
nxf42866 2:d98eb31a4b69 76 recv_report.length = 64;
nxf42866 2:d98eb31a4b69 77
nxf42866 2:d98eb31a4b69 78
nxf42866 2:d98eb31a4b69 79 while(1)
nxf42866 2:d98eb31a4b69 80 {
nxf42866 2:d98eb31a4b69 81 //try to read a msg
nxf42866 2:d98eb31a4b69 82 if(hid.readNB(&recv_report))
nxf42866 2:d98eb31a4b69 83 {
nxf42866 2:d98eb31a4b69 84 switch(recv_report.data[0]) //byte 0 of recv_report.data is command
nxf42866 2:d98eb31a4b69 85 {
nxf42866 2:d98eb31a4b69 86 //-----------------------------------------------------------------------------------------------------------------
nxf42866 2:d98eb31a4b69 87 // COMMAND PARSER
nxf42866 2:d98eb31a4b69 88 //-----------------------------------------------------------------------------------------------------------------
nxf42866 2:d98eb31a4b69 89 ////////
nxf42866 2:d98eb31a4b69 90 case WRITE_LED:
nxf42866 2:d98eb31a4b69 91 break;
nxf42866 2:d98eb31a4b69 92 ////////
nxf42866 2:d98eb31a4b69 93
nxf42866 2:d98eb31a4b69 94 ////////
nxf42866 2:d98eb31a4b69 95 case WRITE_DUTY_CYCLE:
nxf42866 2:d98eb31a4b69 96 dutycycle = recv_report.data[1];
nxf42866 2:d98eb31a4b69 97 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 98 break;
nxf42866 2:d98eb31a4b69 99 ////////
nxf42866 2:d98eb31a4b69 100 case WRITE_PWM_FREQ: //PWM frequency can be larger than 1 byte
nxf42866 2:d98eb31a4b69 101 pwm_freq_lo = recv_report.data[1]; //so we have to re-assemble the number
nxf42866 2:d98eb31a4b69 102 pwm_freq_hi = recv_report.data[2] * 100;
nxf42866 2:d98eb31a4b69 103 frequencyHz = pwm_freq_lo + pwm_freq_hi;
nxf42866 2:d98eb31a4b69 104 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 105 break;
nxf42866 2:d98eb31a4b69 106 ////////
nxf42866 2:d98eb31a4b69 107 case WRITE_RUN_STOP:
nxf42866 2:d98eb31a4b69 108 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 109 if(recv_report.data[1] != 0)
nxf42866 2:d98eb31a4b69 110 {
nxf42866 2:d98eb31a4b69 111 runstop = 1;
nxf42866 2:d98eb31a4b69 112 }
nxf42866 2:d98eb31a4b69 113 else
nxf42866 2:d98eb31a4b69 114 {
nxf42866 2:d98eb31a4b69 115 runstop = 0;
nxf42866 2:d98eb31a4b69 116 }
nxf42866 2:d98eb31a4b69 117 break;
nxf42866 2:d98eb31a4b69 118
nxf42866 2:d98eb31a4b69 119 ////////
nxf42866 2:d98eb31a4b69 120 case WRITE_DIRECTION:
nxf42866 2:d98eb31a4b69 121 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 122 if(recv_report.data[1] == 1) // used to be != 0
nxf42866 2:d98eb31a4b69 123 {
nxf42866 2:d98eb31a4b69 124 direction = 1; // corrected allocation for FWD
nxf42866 2:d98eb31a4b69 125 //direction = 0; // corrected allocation for REV
nxf42866 2:d98eb31a4b69 126 }
nxf42866 2:d98eb31a4b69 127 else
nxf42866 2:d98eb31a4b69 128 {
nxf42866 2:d98eb31a4b69 129 direction = 0; // corrected allocation for REV
nxf42866 2:d98eb31a4b69 130 //direction = 1; // corrected allocation for FWD
nxf42866 2:d98eb31a4b69 131 }
nxf42866 2:d98eb31a4b69 132 break;
nxf42866 2:d98eb31a4b69 133 ////////
nxf42866 2:d98eb31a4b69 134 case WRITE_BRAKING:
nxf42866 2:d98eb31a4b69 135 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 136 if(recv_report.data[1] != 0) // used to be == 1
nxf42866 2:d98eb31a4b69 137 {
nxf42866 2:d98eb31a4b69 138 braking = 1; // this is HS recirc
nxf42866 2:d98eb31a4b69 139 }
nxf42866 2:d98eb31a4b69 140 else
nxf42866 2:d98eb31a4b69 141 {
nxf42866 2:d98eb31a4b69 142 braking = 0; // this is LS recirc
nxf42866 2:d98eb31a4b69 143 }
nxf42866 2:d98eb31a4b69 144 break;
nxf42866 2:d98eb31a4b69 145 ////////
nxf42866 2:d98eb31a4b69 146 case WRITE_D1:
nxf42866 2:d98eb31a4b69 147 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 148 if(recv_report.data[1] == 1)
nxf42866 2:d98eb31a4b69 149 {
nxf42866 2:d98eb31a4b69 150 DIS1 = 1; // logic hi will disable the part
nxf42866 2:d98eb31a4b69 151 }
nxf42866 2:d98eb31a4b69 152 else
nxf42866 2:d98eb31a4b69 153 {
nxf42866 2:d98eb31a4b69 154 DIS1 = 0; // logic lo will enable the part
nxf42866 2:d98eb31a4b69 155 }
nxf42866 2:d98eb31a4b69 156 break;
nxf42866 2:d98eb31a4b69 157 ////////
nxf42866 2:d98eb31a4b69 158 case WRITE_EN:
nxf42866 2:d98eb31a4b69 159 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 160 if(recv_report.data[1] == 1)
nxf42866 2:d98eb31a4b69 161 {
nxf42866 2:d98eb31a4b69 162 //EN = 0; // this is enable case
nxf42866 2:d98eb31a4b69 163 EN = 1; // align with the signal being sent from GUI
nxf42866 2:d98eb31a4b69 164 }
nxf42866 2:d98eb31a4b69 165 else
nxf42866 2:d98eb31a4b69 166 {
nxf42866 2:d98eb31a4b69 167 //EN = 1; // this is disable case
nxf42866 2:d98eb31a4b69 168 EN = 0; // align with signal being sent from GUI
nxf42866 2:d98eb31a4b69 169 }
nxf42866 2:d98eb31a4b69 170 break;
nxf42866 2:d98eb31a4b69 171 ////////
nxf42866 2:d98eb31a4b69 172 case WRITE_D2B:
nxf42866 2:d98eb31a4b69 173 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 174 if(recv_report.data[1] == 1)
nxf42866 2:d98eb31a4b69 175 {
nxf42866 2:d98eb31a4b69 176 D2B = 1;
nxf42866 2:d98eb31a4b69 177 }
nxf42866 2:d98eb31a4b69 178 else
nxf42866 2:d98eb31a4b69 179 {
nxf42866 2:d98eb31a4b69 180 D2B = 0;
nxf42866 2:d98eb31a4b69 181 }
nxf42866 2:d98eb31a4b69 182 break;
nxf42866 2:d98eb31a4b69 183
nxf42866 2:d98eb31a4b69 184 ////////
nxf42866 2:d98eb31a4b69 185 case WRITE_SLEW:
nxf42866 2:d98eb31a4b69 186 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 187 if(recv_report.data[1] == 1)
nxf42866 2:d98eb31a4b69 188 {
nxf42866 2:d98eb31a4b69 189 SLEW = 1;
nxf42866 2:d98eb31a4b69 190 }
nxf42866 2:d98eb31a4b69 191 else
nxf42866 2:d98eb31a4b69 192 {
nxf42866 2:d98eb31a4b69 193 SLEW = 0;
nxf42866 2:d98eb31a4b69 194 }
nxf42866 2:d98eb31a4b69 195 break;
nxf42866 2:d98eb31a4b69 196
nxf42866 2:d98eb31a4b69 197 ////////
nxf42866 2:d98eb31a4b69 198 case WRITE_INV:
nxf42866 2:d98eb31a4b69 199 newDataFlag = 1;
nxf42866 2:d98eb31a4b69 200 if(recv_report.data[1] == 1)
nxf42866 2:d98eb31a4b69 201 {
nxf42866 2:d98eb31a4b69 202 INV = 1;
nxf42866 2:d98eb31a4b69 203 //INV = 0;
nxf42866 2:d98eb31a4b69 204 }
nxf42866 2:d98eb31a4b69 205 else
nxf42866 2:d98eb31a4b69 206 {
nxf42866 2:d98eb31a4b69 207 INV = 0;
nxf42866 2:d98eb31a4b69 208 //INV = 1;
nxf42866 2:d98eb31a4b69 209 }
nxf42866 2:d98eb31a4b69 210 break;
nxf42866 2:d98eb31a4b69 211
nxf42866 2:d98eb31a4b69 212
nxf42866 2:d98eb31a4b69 213 ////////
nxf42866 2:d98eb31a4b69 214 default:
nxf42866 2:d98eb31a4b69 215 break;
nxf42866 2:d98eb31a4b69 216 }// End Switch recv report data[0]
nxf42866 2:d98eb31a4b69 217
nxf42866 2:d98eb31a4b69 218 //-----------------------------------------------------------------------------------------------------------------
nxf42866 2:d98eb31a4b69 219 // end command parser
nxf42866 2:d98eb31a4b69 220 //-----------------------------------------------------------------------------------------------------------------
nxf42866 2:d98eb31a4b69 221
nxf42866 2:d98eb31a4b69 222 status = SFB;
nxf42866 2:d98eb31a4b69 223 send_report.data[0] = status; // Echo Command
nxf42866 2:d98eb31a4b69 224 send_report.data[1] = recv_report.data[1]; // Echo Subcommand 1
nxf42866 2:d98eb31a4b69 225 send_report.data[2] = recv_report.data[2]; // Echo Subcommand 2
nxf42866 2:d98eb31a4b69 226 send_report.data[3] = 0x00;
nxf42866 2:d98eb31a4b69 227 send_report.data[4] = 0x00;
nxf42866 2:d98eb31a4b69 228 send_report.data[5] = 0x00;
nxf42866 2:d98eb31a4b69 229 send_report.data[6] = (CFBAvg << 8) >> 8;
nxf42866 2:d98eb31a4b69 230 send_report.data[7] = CFBAvg >> 8;
nxf42866 2:d98eb31a4b69 231
nxf42866 2:d98eb31a4b69 232 //Send the report
nxf42866 2:d98eb31a4b69 233 hid.send(&send_report);
nxf42866 2:d98eb31a4b69 234 }// End If(hid.readNB(&recv_report))
nxf42866 2:d98eb31a4b69 235 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
nxf42866 2:d98eb31a4b69 236 //End of USB message handling
nxf42866 2:d98eb31a4b69 237 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
nxf42866 2:d98eb31a4b69 238
nxf42866 2:d98eb31a4b69 239 CurrFB = CFB.read_u16();
nxf42866 2:d98eb31a4b69 240 CFBArray[0] = CurrFB;
nxf42866 2:d98eb31a4b69 241 CFBTotal = 0;
nxf42866 2:d98eb31a4b69 242 int i = 0;
nxf42866 2:d98eb31a4b69 243 for(i=0; i<100; i++)
nxf42866 2:d98eb31a4b69 244 {
nxf42866 2:d98eb31a4b69 245 CFBTotal = CFBTotal + CFBArray[i];
nxf42866 2:d98eb31a4b69 246 }
nxf42866 2:d98eb31a4b69 247 CFBAvg = CFBTotal / 100;
nxf42866 2:d98eb31a4b69 248
nxf42866 2:d98eb31a4b69 249 for(i=100; i>=0; i--)
nxf42866 2:d98eb31a4b69 250 {
nxf42866 2:d98eb31a4b69 251
nxf42866 2:d98eb31a4b69 252 CFBArray[i+1] = CFBArray[i];
nxf42866 2:d98eb31a4b69 253 }
nxf42866 2:d98eb31a4b69 254
nxf42866 2:d98eb31a4b69 255 if(newDataFlag != 0) //GUI setting changed
nxf42866 2:d98eb31a4b69 256 {
nxf42866 2:d98eb31a4b69 257 newDataFlag = 0;
nxf42866 2:d98eb31a4b69 258 if(runstop != 0) //Running
nxf42866 2:d98eb31a4b69 259 {
nxf42866 2:d98eb31a4b69 260 if(direction == 0) //reverse
nxf42866 2:d98eb31a4b69 261 {
nxf42866 2:d98eb31a4b69 262 if(braking == 1) //dynamic
nxf42866 2:d98eb31a4b69 263 {
nxf42866 2:d98eb31a4b69 264 IN1.period(1/(float)frequencyHz);
nxf42866 2:d98eb31a4b69 265 //IN1 = (float)dutycycle/100.0; // this is REV + HS, inverted d
nxf42866 2:d98eb31a4b69 266 IN1 = 1.0-((float)dutycycle/100.0); // this is REV + HS
nxf42866 2:d98eb31a4b69 267 IN2 = 1;
nxf42866 2:d98eb31a4b69 268 }
nxf42866 2:d98eb31a4b69 269 else //coast
nxf42866 2:d98eb31a4b69 270 {
nxf42866 2:d98eb31a4b69 271 IN1 = 0; // this is REV + LS
nxf42866 2:d98eb31a4b69 272 IN2.period(1/(float)frequencyHz);
nxf42866 2:d98eb31a4b69 273 IN2 = (float)dutycycle/100.0;
nxf42866 2:d98eb31a4b69 274 }
nxf42866 2:d98eb31a4b69 275 }
nxf42866 2:d98eb31a4b69 276 else //forward
nxf42866 2:d98eb31a4b69 277 {
nxf42866 2:d98eb31a4b69 278 if(braking == 1) //dynamic
nxf42866 2:d98eb31a4b69 279 {
nxf42866 2:d98eb31a4b69 280 IN1 = 1;
nxf42866 2:d98eb31a4b69 281 IN2.period(1/(float)frequencyHz);
nxf42866 2:d98eb31a4b69 282 //IN2 = (float)dutycycle/100.0; // this is FWD + HS, inverted d
nxf42866 2:d98eb31a4b69 283 IN2 = 1.0-((float)dutycycle/100.0); // this is FWD + HS
nxf42866 2:d98eb31a4b69 284 }
nxf42866 2:d98eb31a4b69 285 else //coast
nxf42866 2:d98eb31a4b69 286 {
nxf42866 2:d98eb31a4b69 287 IN1.period(1/(float)frequencyHz);
nxf42866 2:d98eb31a4b69 288 IN1 = (float)dutycycle/100.0;
nxf42866 2:d98eb31a4b69 289 IN2 = 0; // FWD + LS
nxf42866 2:d98eb31a4b69 290 }
nxf42866 2:d98eb31a4b69 291 }
nxf42866 2:d98eb31a4b69 292 }
nxf42866 2:d98eb31a4b69 293 else //Stopped
nxf42866 2:d98eb31a4b69 294 {
nxf42866 2:d98eb31a4b69 295 if(braking == 1) //braking
nxf42866 2:d98eb31a4b69 296 {
nxf42866 2:d98eb31a4b69 297 IN1.period(1);
nxf42866 2:d98eb31a4b69 298 IN2.period(1);
nxf42866 2:d98eb31a4b69 299 IN1.write(1);
nxf42866 2:d98eb31a4b69 300 IN2.write(1);
nxf42866 2:d98eb31a4b69 301 }
nxf42866 2:d98eb31a4b69 302 else //coasting
nxf42866 2:d98eb31a4b69 303 {
nxf42866 2:d98eb31a4b69 304 IN1.period(1);
nxf42866 2:d98eb31a4b69 305 IN2.period(1);
nxf42866 2:d98eb31a4b69 306 IN1.write(0);
nxf42866 2:d98eb31a4b69 307 IN2.write(0);
nxf42866 2:d98eb31a4b69 308
nxf42866 2:d98eb31a4b69 309 }
nxf42866 2:d98eb31a4b69 310 }
nxf42866 2:d98eb31a4b69 311 }
nxf42866 2:d98eb31a4b69 312 }
nxf42866 2:d98eb31a4b69 313 }
nxf42866 2:d98eb31a4b69 314