Diff: AP1017.h

Revision:

0:a0435a630c5d

Child:

1:4d4c77589134

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AP1017.h	Fri Apr 14 19:35:08 2017 +0000
@@ -0,0 +1,146 @@
+#ifndef __AP1017_H
+#define __AP1017_H
+
+#include "mbed.h"
+
+#define     MAX_FREQUENCY   5000
+#define     ENABLE_PIN      P0_10
+#define     INPUTA_PIN      P0_11
+#define     INPUTB_PIN      P0_9
+
+/**
+ * This is a device driver for the AP1017 with pulse width modulation.
+ *
+ * @note AP1017 is a 12V Single Channel H-Bridge Motor Driver IC manufactured by AKM.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AP1017.h"
+ *
+ * int main() {
+ *      AP1017 motorA;
+ *
+ * }
+ * @endcode
+ */
+class AP1017
+{
+public:
+
+    /** Default constructor creates motors with PWM initial duty cycle of 0%.
+      * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
+      */
+    AP1017(void);
+
+    /** Disables PWM for the motors.
+     */
+     ~AP1017(void);
+
+    /** Return status enumeration for debugging.
+     */
+    typedef enum {
+        SUCCESS = 0x00,             /**< Successful termination */
+        ERROR_FREQUENCY = 0x01,     /**< Frequency out of bounds */
+        ERROR_DUTY_CYCLE = 0x02,    /**< Invalid duty cycle */
+        ERROR_DIRECTION = 0x03,     /**< Invalid direction */
+        ERROR_PERIOD = 0x04,        /**< Invalid period */
+        ERROR_PULSEWIDTH = 0x05,    /**< Invalid pulse width */
+        ERROR_MOTORON = 0x06        /**< Direction switched while motor on */
+    } Status;
+
+    /** Motor directions.
+     */
+    typedef enum {
+        DIRECTION_CW = 0x00,        /**< Clockwise motor rotation */
+        DIRECTION_CCW = 0x01,       /**< Counterclockwise motor rotation */
+        DIRECTION_COAST = 0x03,     /**< Release motor to coast */
+        DIRECTION_BRAKE = 0x04      /**< Brake motor */
+    } Rotation;
+
+    float       getFrequency(void);
+    float       getDutyCycle(void);
+    Rotation    getDirection(void);
+
+    /** Sets the direction to clockwise, counterclockwise, brake or coast.
+     *  Changing between clockwise and counterclockwise may only be performed
+     *  when motor is off.
+     *
+     *  @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
+     *             or DIRECTION_BRAKE
+     *  @return Returns successful termination, ERROR_MOTORON for invalid
+     *          direction switching, or ERROR_DIRECTION for invalid direction.
+     */
+    Status  setDirection(char dir);
+
+    /** Sets the duty cycle in percentage. Also sets the pulse width in
+     *  microseconds by calculation using current value of the period.
+     *
+     *  @param dc Duty cycle as a proportion (0.0 to 1.0).
+     *  @return Returns successful termination or dutyc cyle error.
+     */
+    Status  setDutyCycle(float dc);
+
+    /** Sets the frequency of the motor in Hertz.
+     *  @param f Frequency (Hertz).
+     *  @return Returns successful termination or frequency error.
+     */
+    Status  setFrequency(float freq);
+
+    /** Sets the period in microseconds.  Also sets the pulse width by
+     *  calculation with the current value of the duty cycle.  Period will be
+     *  changed even if motor is currently running.
+     *
+     *  @param per PWM Period in microseconds.
+     *  @return Returns successful termination or period error.
+     */
+    Status  setPeriod_us(float per);
+
+    /** Sets the pulse with in microseconds.  Also sets the duty cycle by
+     *  calculation with the current value of the period.  Pulse width will be
+     *  changed even if motor is currently running.
+     *
+     *  @param pw Pulse width in microseconds.
+     *  @return Returns successful termination or pulse width error.
+     */
+    Status  setPulseWidth_us(float pw);
+
+    /** Engages the motor.
+     */
+    Status  startMotor(void);
+
+    /** Stops forced rotation of the motor.
+     */
+    Status  stopMotor(void);
+
+    /** Applies forced braking of motor.
+     */
+    Status  brakeMotor(void);
+
+    /**
+     */
+    Status  coastMotor(void);
+
+private:
+
+    bool    motorOn;            // Status flag for the motor
+    float   dutyCycle;          // Given as proportion: 0.00 to 1.00
+    float   freq_hz;            // PWM frequency
+    float   pulseWidth_us;      // Pulse width in microseconds
+    float   pwmPeriod_us;       // PWM period in microseconds
+
+    PwmOut      motor;          // Motor object
+    
+    DigitalOut  inA;            // Directions setting pin A
+    DigitalOut  inB;            // Direction setting pin B
+    /* inA=L, inB=L -> Standby (Coast)
+     * inA=H, inB=L -> Forward (CW)
+     * inA=L, inB=H -> Reverse (CCW)
+     * inA=H, inB=H -> Brake
+     */
+
+    //Status  initMotors(void);
+
+};
+
+#endif
\ No newline at end of file