Steven Kay / MC33926

A simple motor driver for the MC33926 chip, commonly found on the Polulu md11a breakout https://www.pololu.com/product/1213.

MC33926.cpp@0:3163bb06484b, 2017-04-30 (annotated)

Committer:
sk398
Date:
Sun Apr 30 16:14:35 2017 +0000
Revision:
0:3163bb06484b
Library for driving the MC33926 Motor Driver chip which is commonly found on the Polulu md11a, with two MC33926 drivers https://www.pololu.com/product/1213

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sk398 0:3163bb06484b 1 /********************************************************************************************
sk398 0:3163bb06484b 2
sk398 0:3163bb06484b 3 Filename: MC33926.cpp
sk398 0:3163bb06484b 4
sk398 0:3163bb06484b 5 Original Author: Steven Kay
sk398 0:3163bb06484b 6
sk398 0:3163bb06484b 7 Development Group: Steve!!
sk398 0:3163bb06484b 8
sk398 0:3163bb06484b 9 Original Creation Date: April 2017
sk398 0:3163bb06484b 10
sk398 0:3163bb06484b 11 Description: <Desc>
sk398 0:3163bb06484b 12
sk398 0:3163bb06484b 13 Revision History: Version 1.0 - Initial Release
sk398 0:3163bb06484b 14
sk398 0:3163bb06484b 15 *********************************************************************************************/
sk398 0:3163bb06484b 16 #include "mbed.h"
sk398 0:3163bb06484b 17 #include "MC33926.h"
sk398 0:3163bb06484b 18
sk398 0:3163bb06484b 19
sk398 0:3163bb06484b 20 MC33926::MC33926(PinName pinIN1, PinName pinIN2, PinName pinFB, PinName pinSF)
sk398 0:3163bb06484b 21 {
sk398 0:3163bb06484b 22 // _pinSF.disable_irq();
sk398 0:3163bb06484b 23 _pinIN1 = new PwmOut(pinIN1);
sk398 0:3163bb06484b 24 _pinIN2 = new PwmOut(pinIN2);
sk398 0:3163bb06484b 25 _pinFB = new AnalogIn(pinFB);
sk398 0:3163bb06484b 26 _pinSF = new InterruptIn(pinSF);
sk398 0:3163bb06484b 27
sk398 0:3163bb06484b 28 // Set period to 2ms (frequency 500Hz)
sk398 0:3163bb06484b 29 _pinIN1 -> period_ms(DRIVER_PWM_PERIOD);
sk398 0:3163bb06484b 30 _pinIN2 -> period_ms(DRIVER_PWM_PERIOD);
sk398 0:3163bb06484b 31
sk398 0:3163bb06484b 32 // Initialise to 0% Duty Cycle
sk398 0:3163bb06484b 33 SetPWMPulsewidth(RESET,0);
sk398 0:3163bb06484b 34 SetPWMPulsewidth(RESET,0);
sk398 0:3163bb06484b 35
sk398 0:3163bb06484b 36 }
sk398 0:3163bb06484b 37
sk398 0:3163bb06484b 38
sk398 0:3163bb06484b 39
sk398 0:3163bb06484b 40 void MC33926::SetPWMPulsewidth(int direction, float PWM_Pulsewidth)
sk398 0:3163bb06484b 41 {
sk398 0:3163bb06484b 42 // FORWARD = 1
sk398 0:3163bb06484b 43 if(direction == FORWARD)
sk398 0:3163bb06484b 44 {
sk398 0:3163bb06484b 45 _pinIN1 -> write(PWM_Pulsewidth);
sk398 0:3163bb06484b 46 _pinIN2 -> write(0);
sk398 0:3163bb06484b 47 }
sk398 0:3163bb06484b 48 // REVERSE = 0
sk398 0:3163bb06484b 49 else if(direction == REVERSE)
sk398 0:3163bb06484b 50 {
sk398 0:3163bb06484b 51 _pinIN1 -> write(0);
sk398 0:3163bb06484b 52 _pinIN2 -> write(PWM_Pulsewidth);
sk398 0:3163bb06484b 53 }
sk398 0:3163bb06484b 54 // DEFAUULT or RESET != 1 OR 0
sk398 0:3163bb06484b 55 else
sk398 0:3163bb06484b 56 {
sk398 0:3163bb06484b 57 _pinIN1 -> write(0);
sk398 0:3163bb06484b 58 _pinIN2 -> write(0);
sk398 0:3163bb06484b 59 }
sk398 0:3163bb06484b 60 }
sk398 0:3163bb06484b 61
sk398 0:3163bb06484b 62
sk398 0:3163bb06484b 63
sk398 0:3163bb06484b 64 float MC33926::ReadCurrentFeedback()
sk398 0:3163bb06484b 65 {
sk398 0:3163bb06484b 66 float temp = _pinFB -> read();
sk398 0:3163bb06484b 67
sk398 0:3163bb06484b 68 // Insert some conversion formats
sk398 0:3163bb06484b 69 float currentValue = temp;
sk398 0:3163bb06484b 70
sk398 0:3163bb06484b 71 return currentValue;
sk398 0:3163bb06484b 72 }
sk398 0:3163bb06484b 73
sk398 0:3163bb06484b 74
sk398 0:3163bb06484b 75
sk398 0:3163bb06484b 76 //void MC33926::StatusFlagWatch(bool latchPol)
sk398 0:3163bb06484b 77 //{
sk398 0:3163bb06484b 78 // // if == 1, enable IRQ
sk398 0:3163bb06484b 79 // if(latchPol)
sk398 0:3163bb06484b 80 // {
sk398 0:3163bb06484b 81 // _pinSF -> enable_irq();
sk398 0:3163bb06484b 82 // _pinSF -> fall(this,&MC33926::StatusFlagISR);
sk398 0:3163bb06484b 83 // }
sk398 0:3163bb06484b 84 // // if == 0, disable IRQ
sk398 0:3163bb06484b 85 // else
sk398 0:3163bb06484b 86 // {
sk398 0:3163bb06484b 87 // _pinSF -> disable_irq();
sk398 0:3163bb06484b 88 // }
sk398 0:3163bb06484b 89 //}
sk398 0:3163bb06484b 90 //
sk398 0:3163bb06484b 91 //
sk398 0:3163bb06484b 92 //void MC33926::ResetStatus()
sk398 0:3163bb06484b 93 //{
sk398 0:3163bb06484b 94 // statusFlag = 0;
sk398 0:3163bb06484b 95 //}
sk398 0:3163bb06484b 96 //
sk398 0:3163bb06484b 97 //
sk398 0:3163bb06484b 98 //
sk398 0:3163bb06484b 99 //bool MC33926::GetStatus()
sk398 0:3163bb06484b 100 //{
sk398 0:3163bb06484b 101 // return statusFlag;
sk398 0:3163bb06484b 102 //}
sk398 0:3163bb06484b 103 //
sk398 0:3163bb06484b 104 //
sk398 0:3163bb06484b 105 //
sk398 0:3163bb06484b 106 //void MC33926::StatusFlagISR()
sk398 0:3163bb06484b 107 //{
sk398 0:3163bb06484b 108 // // An Interrupt has been generated
sk398 0:3163bb06484b 109 // statusFlag = 1;
sk398 0:3163bb06484b 110 //}