Revision 0:3163bb06484b, committed 2017-04-30

Comitter:

sk398

Date:

Sun Apr 30 16:14:35 2017 +0000

Commit message:

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

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MC33926.cpp	Sun Apr 30 16:14:35 2017 +0000
@@ -0,0 +1,110 @@
+/********************************************************************************************
+
+   Filename: MC33926.cpp
+   
+   Original Author: Steven Kay
+
+   Development Group: Steve!!
+
+   Original Creation Date: April 2017
+
+   Description: <Desc>
+
+   Revision History: Version 1.0 - Initial Release
+
+ *********************************************************************************************/
+ #include "mbed.h"
+ #include "MC33926.h"
+ 
+ 
+MC33926::MC33926(PinName pinIN1, PinName pinIN2, PinName pinFB, PinName pinSF)
+{
+//    _pinSF.disable_irq();    
+    _pinIN1 = new PwmOut(pinIN1);
+    _pinIN2 = new PwmOut(pinIN2);
+    _pinFB = new AnalogIn(pinFB);
+    _pinSF = new InterruptIn(pinSF);
+    
+    // Set period to 2ms (frequency 500Hz)
+    _pinIN1 -> period_ms(DRIVER_PWM_PERIOD);
+    _pinIN2 -> period_ms(DRIVER_PWM_PERIOD);
+
+    // Initialise to 0% Duty Cycle
+    SetPWMPulsewidth(RESET,0);
+    SetPWMPulsewidth(RESET,0);
+        
+}
+
+
+
+void MC33926::SetPWMPulsewidth(int direction, float PWM_Pulsewidth)
+{
+    // FORWARD = 1
+    if(direction == FORWARD)
+    {
+        _pinIN1 -> write(PWM_Pulsewidth); 
+        _pinIN2 -> write(0); 
+    }
+    // REVERSE = 0
+    else if(direction == REVERSE)
+    {
+        _pinIN1 -> write(0);
+        _pinIN2 -> write(PWM_Pulsewidth);
+    }
+    // DEFAUULT or RESET != 1 OR 0
+    else
+    {
+        _pinIN1 -> write(0);
+        _pinIN2 -> write(0);
+    }    
+}
+
+
+
+float MC33926::ReadCurrentFeedback()
+{
+    float temp = _pinFB -> read();
+    
+    // Insert some conversion formats
+    float currentValue = temp;
+    
+    return currentValue;
+}
+
+
+
+//void MC33926::StatusFlagWatch(bool latchPol)
+//{
+//    // if == 1, enable IRQ
+//    if(latchPol)
+//    {
+//        _pinSF -> enable_irq();
+//        _pinSF -> fall(this,&MC33926::StatusFlagISR);
+//    }
+//    // if == 0, disable IRQ
+//    else
+//    {
+//        _pinSF -> disable_irq();
+//    }
+//}
+//
+//
+//void MC33926::ResetStatus()
+//{
+//    statusFlag = 0;
+//}
+//
+//
+//
+//bool MC33926::GetStatus()
+//{
+//    return statusFlag;
+//}
+//
+//
+//
+//void MC33926::StatusFlagISR()
+//{
+//    // An Interrupt has been generated
+//    statusFlag = 1;
+//}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MC33926.h	Sun Apr 30 16:14:35 2017 +0000
@@ -0,0 +1,64 @@
+/********************************************************************************************
+
+   Filename: MC33926.h
+   
+   Original Author: Steven Kay
+
+   Development Group: Steve!!
+
+   Original Creation Date: April 2017
+
+   Description: <Desc>
+
+   Revision History: Version 1.0 - Initial Release
+
+ *********************************************************************************************/
+
+#ifndef MC33926_H
+#define MC33926_H
+
+
+#include "mbed.h"
+
+
+#define DRIVER_PWM_PERIOD       2
+
+
+#define RESET                   2
+#define FORWARD                 1
+#define REVERSE                 0
+
+
+class MC33926
+{
+    
+    public:
+    
+    MC33926(PinName pinIN1, PinName pinIN2, PinName pinFB, PinName pinSF);
+        
+    
+    void SetPWMPulsewidth(int direction, float PWM_Pulsewidth);
+    
+    float ReadCurrentFeedback();
+    
+    // Implemented on v2.0
+//    void StatusFlagWatch(bool latchPol);
+//    bool GetStatus();
+//    void ResetStatus();
+        
+    protected:
+    
+        PwmOut *_pinIN1;
+        PwmOut *_pinIN2;
+        AnalogIn *_pinFB;
+        InterruptIn *_pinSF;
+        
+        volatile bool statusFlag;
+    
+    
+    void StatusFlagISR();
+
+    
+};
+
+#endif