Taylor Street / AP1017

AP1017 library for the Rev.E hardware with expanded capabilities.

Fork of AP1017 by AKM Development Platform

AP1017.h@0:a0435a630c5d, 2017-04-14 (annotated)

Committer:
tkstreet
Date:
Fri Apr 14 19:35:08 2017 +0000
Revision:
0:a0435a630c5d
Child:
1:4d4c77589134
Initial commit: basic driver functions for AP1017

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 0:a0435a630c5d 1 #ifndef __AP1017_H
tkstreet 0:a0435a630c5d 2 #define __AP1017_H
tkstreet 0:a0435a630c5d 3
tkstreet 0:a0435a630c5d 4 #include "mbed.h"
tkstreet 0:a0435a630c5d 5
tkstreet 0:a0435a630c5d 6 #define MAX_FREQUENCY 5000
tkstreet 0:a0435a630c5d 7 #define ENABLE_PIN P0_10
tkstreet 0:a0435a630c5d 8 #define INPUTA_PIN P0_11
tkstreet 0:a0435a630c5d 9 #define INPUTB_PIN P0_9
tkstreet 0:a0435a630c5d 10
tkstreet 0:a0435a630c5d 11 /**
tkstreet 0:a0435a630c5d 12 * This is a device driver for the AP1017 with pulse width modulation.
tkstreet 0:a0435a630c5d 13 *
tkstreet 0:a0435a630c5d 14 * @note AP1017 is a 12V Single Channel H-Bridge Motor Driver IC manufactured by AKM.
tkstreet 0:a0435a630c5d 15 *
tkstreet 0:a0435a630c5d 16 * Example:
tkstreet 0:a0435a630c5d 17 * @code
tkstreet 0:a0435a630c5d 18 * #include "mbed.h"
tkstreet 0:a0435a630c5d 19 * #include "AP1017.h"
tkstreet 0:a0435a630c5d 20 *
tkstreet 0:a0435a630c5d 21 * int main() {
tkstreet 0:a0435a630c5d 22 * AP1017 motorA;
tkstreet 0:a0435a630c5d 23 *
tkstreet 0:a0435a630c5d 24 * }
tkstreet 0:a0435a630c5d 25 * @endcode
tkstreet 0:a0435a630c5d 26 */
tkstreet 0:a0435a630c5d 27 class AP1017
tkstreet 0:a0435a630c5d 28 {
tkstreet 0:a0435a630c5d 29 public:
tkstreet 0:a0435a630c5d 30
tkstreet 0:a0435a630c5d 31 /** Default constructor creates motors with PWM initial duty cycle of 0%.
tkstreet 0:a0435a630c5d 32 * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
tkstreet 0:a0435a630c5d 33 */
tkstreet 0:a0435a630c5d 34 AP1017(void);
tkstreet 0:a0435a630c5d 35
tkstreet 0:a0435a630c5d 36 /** Disables PWM for the motors.
tkstreet 0:a0435a630c5d 37 */
tkstreet 0:a0435a630c5d 38 ~AP1017(void);
tkstreet 0:a0435a630c5d 39
tkstreet 0:a0435a630c5d 40 /** Return status enumeration for debugging.
tkstreet 0:a0435a630c5d 41 */
tkstreet 0:a0435a630c5d 42 typedef enum {
tkstreet 0:a0435a630c5d 43 SUCCESS = 0x00, /**< Successful termination */
tkstreet 0:a0435a630c5d 44 ERROR_FREQUENCY = 0x01, /**< Frequency out of bounds */
tkstreet 0:a0435a630c5d 45 ERROR_DUTY_CYCLE = 0x02, /**< Invalid duty cycle */
tkstreet 0:a0435a630c5d 46 ERROR_DIRECTION = 0x03, /**< Invalid direction */
tkstreet 0:a0435a630c5d 47 ERROR_PERIOD = 0x04, /**< Invalid period */
tkstreet 0:a0435a630c5d 48 ERROR_PULSEWIDTH = 0x05, /**< Invalid pulse width */
tkstreet 0:a0435a630c5d 49 ERROR_MOTORON = 0x06 /**< Direction switched while motor on */
tkstreet 0:a0435a630c5d 50 } Status;
tkstreet 0:a0435a630c5d 51
tkstreet 0:a0435a630c5d 52 /** Motor directions.
tkstreet 0:a0435a630c5d 53 */
tkstreet 0:a0435a630c5d 54 typedef enum {
tkstreet 0:a0435a630c5d 55 DIRECTION_CW = 0x00, /**< Clockwise motor rotation */
tkstreet 0:a0435a630c5d 56 DIRECTION_CCW = 0x01, /**< Counterclockwise motor rotation */
tkstreet 0:a0435a630c5d 57 DIRECTION_COAST = 0x03, /**< Release motor to coast */
tkstreet 0:a0435a630c5d 58 DIRECTION_BRAKE = 0x04 /**< Brake motor */
tkstreet 0:a0435a630c5d 59 } Rotation;
tkstreet 0:a0435a630c5d 60
tkstreet 0:a0435a630c5d 61 float getFrequency(void);
tkstreet 0:a0435a630c5d 62 float getDutyCycle(void);
tkstreet 0:a0435a630c5d 63 Rotation getDirection(void);
tkstreet 0:a0435a630c5d 64
tkstreet 0:a0435a630c5d 65 /** Sets the direction to clockwise, counterclockwise, brake or coast.
tkstreet 0:a0435a630c5d 66 * Changing between clockwise and counterclockwise may only be performed
tkstreet 0:a0435a630c5d 67 * when motor is off.
tkstreet 0:a0435a630c5d 68 *
tkstreet 0:a0435a630c5d 69 * @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
tkstreet 0:a0435a630c5d 70 * or DIRECTION_BRAKE
tkstreet 0:a0435a630c5d 71 * @return Returns successful termination, ERROR_MOTORON for invalid
tkstreet 0:a0435a630c5d 72 * direction switching, or ERROR_DIRECTION for invalid direction.
tkstreet 0:a0435a630c5d 73 */
tkstreet 0:a0435a630c5d 74 Status setDirection(char dir);
tkstreet 0:a0435a630c5d 75
tkstreet 0:a0435a630c5d 76 /** Sets the duty cycle in percentage. Also sets the pulse width in
tkstreet 0:a0435a630c5d 77 * microseconds by calculation using current value of the period.
tkstreet 0:a0435a630c5d 78 *
tkstreet 0:a0435a630c5d 79 * @param dc Duty cycle as a proportion (0.0 to 1.0).
tkstreet 0:a0435a630c5d 80 * @return Returns successful termination or dutyc cyle error.
tkstreet 0:a0435a630c5d 81 */
tkstreet 0:a0435a630c5d 82 Status setDutyCycle(float dc);
tkstreet 0:a0435a630c5d 83
tkstreet 0:a0435a630c5d 84 /** Sets the frequency of the motor in Hertz.
tkstreet 0:a0435a630c5d 85 * @param f Frequency (Hertz).
tkstreet 0:a0435a630c5d 86 * @return Returns successful termination or frequency error.
tkstreet 0:a0435a630c5d 87 */
tkstreet 0:a0435a630c5d 88 Status setFrequency(float freq);
tkstreet 0:a0435a630c5d 89
tkstreet 0:a0435a630c5d 90 /** Sets the period in microseconds. Also sets the pulse width by
tkstreet 0:a0435a630c5d 91 * calculation with the current value of the duty cycle. Period will be
tkstreet 0:a0435a630c5d 92 * changed even if motor is currently running.
tkstreet 0:a0435a630c5d 93 *
tkstreet 0:a0435a630c5d 94 * @param per PWM Period in microseconds.
tkstreet 0:a0435a630c5d 95 * @return Returns successful termination or period error.
tkstreet 0:a0435a630c5d 96 */
tkstreet 0:a0435a630c5d 97 Status setPeriod_us(float per);
tkstreet 0:a0435a630c5d 98
tkstreet 0:a0435a630c5d 99 /** Sets the pulse with in microseconds. Also sets the duty cycle by
tkstreet 0:a0435a630c5d 100 * calculation with the current value of the period. Pulse width will be
tkstreet 0:a0435a630c5d 101 * changed even if motor is currently running.
tkstreet 0:a0435a630c5d 102 *
tkstreet 0:a0435a630c5d 103 * @param pw Pulse width in microseconds.
tkstreet 0:a0435a630c5d 104 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 105 */
tkstreet 0:a0435a630c5d 106 Status setPulseWidth_us(float pw);
tkstreet 0:a0435a630c5d 107
tkstreet 0:a0435a630c5d 108 /** Engages the motor.
tkstreet 0:a0435a630c5d 109 */
tkstreet 0:a0435a630c5d 110 Status startMotor(void);
tkstreet 0:a0435a630c5d 111
tkstreet 0:a0435a630c5d 112 /** Stops forced rotation of the motor.
tkstreet 0:a0435a630c5d 113 */
tkstreet 0:a0435a630c5d 114 Status stopMotor(void);
tkstreet 0:a0435a630c5d 115
tkstreet 0:a0435a630c5d 116 /** Applies forced braking of motor.
tkstreet 0:a0435a630c5d 117 */
tkstreet 0:a0435a630c5d 118 Status brakeMotor(void);
tkstreet 0:a0435a630c5d 119
tkstreet 0:a0435a630c5d 120 /**
tkstreet 0:a0435a630c5d 121 */
tkstreet 0:a0435a630c5d 122 Status coastMotor(void);
tkstreet 0:a0435a630c5d 123
tkstreet 0:a0435a630c5d 124 private:
tkstreet 0:a0435a630c5d 125
tkstreet 0:a0435a630c5d 126 bool motorOn; // Status flag for the motor
tkstreet 0:a0435a630c5d 127 float dutyCycle; // Given as proportion: 0.00 to 1.00
tkstreet 0:a0435a630c5d 128 float freq_hz; // PWM frequency
tkstreet 0:a0435a630c5d 129 float pulseWidth_us; // Pulse width in microseconds
tkstreet 0:a0435a630c5d 130 float pwmPeriod_us; // PWM period in microseconds
tkstreet 0:a0435a630c5d 131
tkstreet 0:a0435a630c5d 132 PwmOut motor; // Motor object
tkstreet 0:a0435a630c5d 133
tkstreet 0:a0435a630c5d 134 DigitalOut inA; // Directions setting pin A
tkstreet 0:a0435a630c5d 135 DigitalOut inB; // Direction setting pin B
tkstreet 0:a0435a630c5d 136 /* inA=L, inB=L -> Standby (Coast)
tkstreet 0:a0435a630c5d 137 * inA=H, inB=L -> Forward (CW)
tkstreet 0:a0435a630c5d 138 * inA=L, inB=H -> Reverse (CCW)
tkstreet 0:a0435a630c5d 139 * inA=H, inB=H -> Brake
tkstreet 0:a0435a630c5d 140 */
tkstreet 0:a0435a630c5d 141
tkstreet 0:a0435a630c5d 142 //Status initMotors(void);
tkstreet 0:a0435a630c5d 143
tkstreet 0:a0435a630c5d 144 };
tkstreet 0:a0435a630c5d 145
tkstreet 0:a0435a630c5d 146 #endif