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motorcontrol.cpp
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motorcontrol.cpp
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/**
* \file motorcontrol.cpp
* \brief This file defines functions and predefined instances from motorcontrol.h
*
* \author Enrico Miglino <balearicdynamics@gmail.com> \n
* Balearic Dynamics sl <www.balearicdynamics.com> SPAIN
* \date July 2017
* \version 1.0 Release Candidate
* Licensed under GNU LGPL 3.0
*/
#include "motorcontrol.h"
// ===============================================================
// Initialization and reset methods
// ===============================================================
void MotorControl::begin(void) {
// enable tle94112
tle94112.begin();
reset();
}
void MotorControl::end(void) {
tle94112.end();
}
void MotorControl::reset() {
int j;
for(j = 0; j < MAX_MOTORS; j++) {
internalStatus[j].channelPWM = tle94112.TLE_NOPWM; // PWM disabled on start
internalStatus[j].isEnabled = false; // Motors initially disabled
internalStatus[j].isRunning = false; // Not running (should be enabled)
internalStatus[j].freeWheeling = true; // Free wheeling active
internalStatus[j].motorDirection = MOTOR_DIRECTION_CW;
} // loop on the motors array
for(j = 0; j < AVAIL_PWM_CHANNELS; j++) {
dutyCyclePWM[j].minDC = DUTYCYCLE_MIN; // Min duty cycle
dutyCyclePWM[j].maxDC = DUTYCYCLE_MAX; // Max duty cycle
dutyCyclePWM[j].manDC = false; // Duty cycle in auto mode
dutyCyclePWM[j].useRamp = false; // No acceleration
} // loop on the PWM channels array
resetHB();
resetPWM();
currentPWM = 0; // No PWM channels selected
currentMotor = 0; // No motors selected
}
void MotorControl::resetHB(void) {
// Set all the half bridges floating without pwm
tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
}
void MotorControl::resetPWM(void) {
// Initialize the PWM channels to the corresponding frequency and duty cycle 0
tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, (uint8_t)0);
tle94112.configPWM(tle94112.TLE_PWM2, tle94112.TLE_FREQ100HZ, (uint8_t)0);
tle94112.configPWM(tle94112.TLE_PWM3, tle94112.TLE_FREQ200HZ, (uint8_t)0);
}
// ===============================================================
// Setting motors configuration
// ===============================================================
void MotorControl::setPWM(uint8_t pwmCh) {
if(currentMotor != 0) {
internalStatus[currentMotor - 1].channelPWM = pwmCh;
}
else {
int j;
for (j = 0; j < MAX_MOTORS; j++) {
internalStatus[j].channelPWM = pwmCh;
}
}
}
void MotorControl::setMotorDirection(int dir) {
if(currentMotor != 0) {
internalStatus[currentMotor - 1].motorDirection = dir;
}
else {
int j;
for (j = 0; j < MAX_MOTORS; j++) {
internalStatus[j].motorDirection = dir;
}
}
}
void MotorControl::setMotorFreeWheeling(boolean fw) {
if(currentMotor != 0) {
internalStatus[currentMotor - 1].freeWheeling = fw;
}
else {
int j;
for (j = 0; j < MAX_MOTORS; j++) {
internalStatus[j].freeWheeling = fw;
}
}
}
// ===============================================================
// Setting PWM methods
// ===============================================================
void MotorControl::setPWMManualDC(boolean dc) {
if(currentPWM != 0) {
dutyCyclePWM[currentPWM - 1].manDC = dc;
}
else {
int j;
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
dutyCyclePWM[j].manDC = dc;
}
}
}
void MotorControl::setPWMMinDC(uint8_t dc) {
if(currentPWM != 0) {
// We are setting a specific PWM channel
dutyCyclePWM[currentPWM - 1].minDC = dc;
}
else {
int j;
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
dutyCyclePWM[j].minDC = dc;
}
}
}
void MotorControl::setPWMMaxDC(uint8_t dc) {
if(currentPWM != 0) {
// We are setting a specific PWM channel
dutyCyclePWM[currentPWM - 1].maxDC = dc;
}
else {
int j;
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
dutyCyclePWM[j].maxDC = dc;
}
}
}
void MotorControl::setPWMRamp(boolean acc) {
if(currentPWM != 0) {
dutyCyclePWM[currentPWM - 1].useRamp = acc;
}
else {
int j;
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
dutyCyclePWM[j].useRamp = acc;
}
}
}
// ===============================================================
// Motor control action
// ===============================================================
void MotorControl::startMotors(void) {
motorConfigHB();
motorPWMStart();
}
void MotorControl::stopMotors(void) {
motorPWMStop();
motorStopHB();
}
void MotorControl::motorPWMAnalogDC(void) {
int j;
// Loop on the PWM channels
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
// See if the channel is set for manual dutycycle
if(dutyCyclePWM[j].manDC) {
// If new value is bigger than previous, arrange
// the DC value for acceleration else do the opposite
if(lastAnalogDC > prevAnalogDC) {
dutyCyclePWM[j].minDC = prevAnalogDC;
dutyCyclePWM[j].maxDC = lastAnalogDC;
motorPWMAccelerate(j);
}
else {
dutyCyclePWM[j].maxDC = prevAnalogDC;
dutyCyclePWM[j].minDC = lastAnalogDC;
motorPWMDecelerate(j);
}
}
}
}
void MotorControl::motorPWMStart(void) {
int j;
hasManualDC = false;
// Loop on the PWM channels
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
// See if the channel is set for manual dutycycle
if(dutyCyclePWM[j].manDC)
hasManualDC = true; // Save the global flag for the program logic
// Start PWM channel of acceleration cycle
if(dutyCyclePWM[j].useRamp) {
// Should manage acceleration
motorPWMAccelerate(j);
}
else
motorPWMRun(j);
}
}
void MotorControl::motorPWMStop(void) {
int j;
// Loop on the PWM channels
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
if(dutyCyclePWM[j].useRamp) {
// Should manage acceleration
motorPWMDecelerate(j);
motorPWMHalt(j);
}
else
motorPWMHalt(j);
}
}
void MotorControl::motorPWMAccelerate(int channel) {
int j;
for(j = dutyCyclePWM[channel].minDC; j < dutyCyclePWM[channel].maxDC; j++) {
switch(channel + 1){
case PWM80_CHID:
tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, (uint8_t)j);
break;
case PWM100_CHID:
tle94112.configPWM(tle94112.TLE_PWM2, tle94112.TLE_FREQ100HZ, (uint8_t)j);
break;
case PWM200_CHID:
tle94112.configPWM(tle94112.TLE_PWM3, tle94112.TLE_FREQ200HZ, (uint8_t)j);
break;
}
//Check for error
if(tleCheckDiagnostic()) {
tleDiagnostic();
}
delay(RAMP_STEP_DELAY);
}
}
void MotorControl::motorPWMRun(int channel) {
switch(channel + 1){
case PWM80_CHID:
tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, dutyCyclePWM[channel].maxDC);
break;
case PWM100_CHID:
tle94112.configPWM(tle94112.TLE_PWM2, tle94112.TLE_FREQ100HZ, dutyCyclePWM[channel].maxDC);
break;
case PWM200_CHID:
tle94112.configPWM(tle94112.TLE_PWM3, tle94112.TLE_FREQ200HZ, dutyCyclePWM[channel].maxDC);
break;
}
}
void MotorControl::motorPWMHalt(int channel) {
switch(channel + 1){
case PWM80_CHID:
tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, (uint8_t)0);
break;
case PWM100_CHID:
tle94112.configPWM(tle94112.TLE_PWM2, tle94112.TLE_FREQ100HZ, (uint8_t)0);
break;
case PWM200_CHID:
tle94112.configPWM(tle94112.TLE_PWM3, tle94112.TLE_FREQ200HZ, (uint8_t)0);
break;
}
}
void MotorControl::motorPWMDecelerate(int channel) {
int j;
for(j = dutyCyclePWM[channel].maxDC; j > dutyCyclePWM[channel].minDC; j--) {
// Update the speed
switch(channel + 1){
case PWM80_CHID:
tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, (uint8_t)j);
break;
case PWM100_CHID:
tle94112.configPWM(tle94112.TLE_PWM2, tle94112.TLE_FREQ100HZ, (uint8_t)j);
break;
case PWM200_CHID:
tle94112.configPWM(tle94112.TLE_PWM3, tle94112.TLE_FREQ200HZ, (uint8_t)j);
break;
}
//Check for error
if(tleCheckDiagnostic()) {
tleDiagnostic();
}
delay(RAMP_STEP_DELAY);
}
}
// ===============================================================
// Half bridges configuraton
// ===============================================================
void MotorControl::motorConfigHB(void) {
int j;
for(j = 0; j < MAX_MOTORS; j++) {
motorConfigHB(j);
}
}
void MotorControl::motorConfigHB(int motor) {
if(internalStatus[motor].isEnabled) {
if(internalStatus[motor].motorDirection == MOTOR_DIRECTION_CW)
motorConfigHBCW(motor);
else
motorConfigHBCCW(motor);
if(tleCheckDiagnostic())
tleDiagnostic(motor, TLE_MOTOR_STARTING);
}
}
void MotorControl::motorStopHB(void) {
int j;
for(j = 0; j < MAX_MOTORS; j++) {
if(internalStatus[j].isRunning) {
motorStopHB(j);
if(tleCheckDiagnostic())
tleDiagnostic(j, TLE_MOTOR_STOPPING);
}
}
}
void MotorControl::motorStopHB(int motor) {
int hb1;
// Calculate the first half bridge depending on the motor ID
// Note that HB are numbered base 1 while motor is index array base 0
// and HB usage is different if high current mode is selected in the
// preprocessor directive
hb1 = calcHB1(motor + 1);
// Set motor stopped
internalStatus[motor].isRunning = false;
// Select the half bridges to configure the motor.
// Depending on the mode (normal = 1 + 1 HB per motor, high current = 2+2)
// not all the half bridges can be the first (=hb1)
switch(hb1) {
// -------------------------------------------------
// Motor 1 (in both modes)
// -------------------------------------------------
case 1:
tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
#endif
break;
// -------------------------------------------------
// Motor 2 (no high current mode)
// -------------------------------------------------
case 3:
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
break;
// -------------------------------------------------
// Motor 3 (Motor 2 in high current mode)
// -------------------------------------------------
case 5:
tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
#endif
break;
// -------------------------------------------------
// Motor 4 (no high current mode)
// -------------------------------------------------
case 7:
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
break;
// -------------------------------------------------
// Motor 5 ((Motor 3 in high current mode)
// -------------------------------------------------
case 9:
tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
#endif
break;
// -------------------------------------------------
// Motor 6 (no high current mode)
// -------------------------------------------------
case 11:
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
break;
}
}
void MotorControl::motorConfigHBCW(int motor) {
int hb1;
// Calculate the first half bridge depending on the motor ID
// Note that HB are numbered base 1 while motor is index array base 0
// and HB usage is different if high current mode is selected in the
// preprocessor directive
hb1 = calcHB1(motor + 1);
// Set motor running
internalStatus[motor].isRunning = true;
// Select the half bridges to configure the motor.
// Depending on the mode (normal = 1 + 1 HB per motor, high current = 2+2)
// not all the half bridges can be the first (=hb1)
switch(hb1) {
// -------------------------------------------------
// Motor 1 (in both modes)
// -------------------------------------------------
case 1:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
}
break;
// -------------------------------------------------
// Motor 2 (no high current mode)
// -------------------------------------------------
case 3:
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
break;
}
break;
// -------------------------------------------------
// Motor 3 (Motor 2 in high current mode)
// -------------------------------------------------
case 5:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
}
break;
// -------------------------------------------------
// Motor 4 (no high current mode)
// -------------------------------------------------
case 7:
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
break;
}
break;
// -------------------------------------------------
// Motor 5 ((Motor 3 in high current mode)
// -------------------------------------------------
case 9:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
}
break;
// -------------------------------------------------
// Motor 6 (no high current mode)
// -------------------------------------------------
case 11:
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
break;
}
break;
}
}
void MotorControl::motorConfigHBCCW(int motor) {
int hb1;
// Calculate the first half bridge depending on the motor ID
// Note that HB are numbered base 1 while motor is index array base 0
// and HB usage is different if high current mode is selected in the
// preprocessor directive
hb1 = calcHB1(motor + 1);
// Set motor stopped
internalStatus[motor].isRunning = true;
// Select the half bridges to configure the motor.
// Depending on the mode (normal = 1 + 1 HB per motor, high current = 2+2)
// not all the half bridges can be the first (=hb1)
switch(hb1) {
// -------------------------------------------------
// Motor 1 (in both modes)
// -------------------------------------------------
case 1:
tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM1:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM2:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM3:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
}
break;
// -------------------------------------------------
// Motor 2 (no high current mode)
// -------------------------------------------------
case 3:
tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
break;
}
break;
// -------------------------------------------------
// Motor 3 (Motor 2 in high current mode)
// -------------------------------------------------
case 5:
tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM1:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM2:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
case tle94112.TLE_PWM3:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#else
tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
#endif
break;
}
break;
// -------------------------------------------------
// Motor 4 (no high current mode)
// -------------------------------------------------
case 7:
tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
break;
}
break;
// -------------------------------------------------
// // Motor 5 ((Motor 3 in high current mode)
// -------------------------------------------------
case 9:
tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
#endif
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling );
#else
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
case tle94112.TLE_PWM1:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling );
#else
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
case tle94112.TLE_PWM2:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling );
#else
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
case tle94112.TLE_PWM3:
#ifdef _HIGHCURRENT
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling );
#else
tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling );
#endif
break;
}
break;
// -------------------------------------------------
// Motor 6 (no high current mode)
// -------------------------------------------------
case 11:
tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_LOW, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
switch(internalStatus[motor].channelPWM){
case tle94112.TLE_NOPWM:
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_NOPWM, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM1:
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_PWM1, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM2:
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_PWM2, (uint8_t)internalStatus[motor].freeWheeling);
break;
case tle94112.TLE_PWM3:
tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_HIGH, tle94112.TLE_PWM3, (uint8_t)internalStatus[motor].freeWheeling);
break;
}
break;
}
}
// ===============================================================
// Diagnostic methods
// ===============================================================
boolean MotorControl:: tleCheckDiagnostic(void) {
if(tle94112.getSysDiagnosis() == tle94112.TLE_STATUS_OK)
return false;
else
return true;
}
void MotorControl::tleDiagnostic(int motor, String message) {
diagnosticHeader = message;
tleDiagnostic(motor);
diagnosticHeader = "";
}
void MotorControl::tleDiagnostic(int motor) {
int diagnosis = tle94112.getSysDiagnosis();
if(diagnosis == tle94112.TLE_STATUS_OK) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_NOERROR << endl;
} // No errors
else {
#ifndef _IGNORE_OPENLOAD
if(tle94112.getSysDiagnosis(tle94112.TLE_LOAD_ERROR) != 0) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_ERROR_MSG << endl;
Serial << TLE_LOADERROR << endl;
} // Open load error
#endif
if(tle94112.getSysDiagnosis(tle94112.TLE_SPI_ERROR) != 0) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_ERROR_MSG << endl;
Serial << TLE_SPIERROR << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_UNDER_VOLTAGE) != 0) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_ERROR_MSG << endl;
Serial << TLE_UNDERVOLTAGE << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_OVER_VOLTAGE) != 0) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_ERROR_MSG << endl;
Serial <<TLE_OVERVOLTAGE << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_POWER_ON_RESET) != 0) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_ERROR_MSG << endl;
Serial << TLE_POWERONRESET << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_TEMP_SHUTDOWN) != 0) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_ERROR_MSG << endl;
Serial << TLE_TEMPSHUTDOWN << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_TEMP_WARNING) != 0) {
Serial << diagnosticHeader << " Motor " << motor << " - " << TLE_ERROR_MSG << endl;
Serial << TLE_TEMPWARNING;
}
// Clear all possible error conditions
tle94112.clearErrors();
diagnosticHeader = "";
} // Error condition
}
void MotorControl::tleDiagnostic() {
int diagnosis = tle94112.getSysDiagnosis();
if(diagnosis == tle94112.TLE_STATUS_OK) {
Serial << diagnosticHeader << TLE_NOERROR << endl;
} // No errors
else {
diagnosticHeader += TLE_ERROR_MSG;
#ifndef _IGNORE_OPENLOAD
if(tle94112.getSysDiagnosis(tle94112.TLE_LOAD_ERROR) != 0) {
Serial << diagnosticHeader << endl;
Serial << TLE_LOADERROR << endl;
} // Open load error
#endif
if(tle94112.getSysDiagnosis(tle94112.TLE_SPI_ERROR) != 0) {
Serial << diagnosticHeader << endl;
Serial << TLE_SPIERROR << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_UNDER_VOLTAGE) != 0) {
Serial << diagnosticHeader << endl;
Serial << TLE_UNDERVOLTAGE << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_OVER_VOLTAGE) != 0) {
Serial << diagnosticHeader << endl;
Serial <<TLE_OVERVOLTAGE << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_POWER_ON_RESET) != 0) {
Serial << diagnosticHeader << endl;
Serial << TLE_POWERONRESET << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_TEMP_SHUTDOWN) != 0) {
Serial << diagnosticHeader << endl;
Serial << TLE_TEMPSHUTDOWN << endl;
}
if(tle94112.getSysDiagnosis(tle94112.TLE_TEMP_WARNING) != 0) {
Serial << diagnosticHeader << endl;
Serial << TLE_TEMPWARNING;
}
// Clear all possible error conditions
tle94112.clearErrors();
diagnosticHeader = " ";
} // Error condition
}
// ===============================================================
// Dump system configuration to serial
// ===============================================================
void MotorControl::showInfo(void) {
int j;
// Motor table header
Serial << INFO_MAIN_HEADER1 << endl << INFO_MOTORS_TITLE << endl << INFO_MAIN_HEADER1 << endl;
Serial << INfO_TAB_HEADER2 << endl << INfO_TAB_HEADER1 << endl << INfO_TAB_HEADER2 << endl;
// Build the motors settings table data
for (j = 0; j < MAX_MOTORS; j++) {
// #1 - Motor
Serial << INFO_FIELD1A << (j + 1) << INFO_FIELD1B;
// #2 - Enabled
if(internalStatus[j].isEnabled)
Serial << INFO_FIELD2Y;
else
Serial << INFO_FIELD2N;
// #3 - Active freewheeling
if(internalStatus[j].freeWheeling)
Serial << INFO_FIELD4Y;
else
Serial << INFO_FIELD4N;
// #4 - Direction
if(internalStatus[j].motorDirection == MOTOR_DIRECTION_CW)
Serial << INFO_FIELD8A;
else
Serial << INFO_FIELD8B;
// #5 - PWM
switch(internalStatus[j].channelPWM) {
case tle94112.TLE_NOPWM:
Serial << INFO_FIELD9_NO;
break;
case tle94112.TLE_PWM1:
Serial << INFO_FIELD9_80;
break;
case tle94112.TLE_PWM2:
Serial << INFO_FIELD9_100;
break;
case tle94112.TLE_PWM3:
Serial << INFO_FIELD9_200;
break;
}
Serial << endl << INfO_TAB_HEADER2 << endl;
}
// PWM table header
Serial << endl << INFO_MAIN_HEADER2 << endl << INFO_PWM_TITLE << endl << INFO_MAIN_HEADER2 << endl;
Serial << INfO_TAB_HEADER4 << endl << INfO_TAB_HEADER3 << endl << INfO_TAB_HEADER4 << endl;
// Build the pwm settings table data
for (j = 0; j < AVAIL_PWM_CHANNELS; j++) {
// #1 - PWM
switch(j) {
case 0:
Serial << INFO_FIELD10_80;
break;
case 1:
Serial << INFO_FIELD10_100;
break;
case 2:
Serial << INFO_FIELD10_200;
break;
}
// #2 - DC Min
Serial << INFO_FIELD5_6A;
if(dutyCyclePWM[j].minDC < 10)
Serial << " ";
else
if(dutyCyclePWM[j].minDC < 100)
Serial << " ";
Serial << dutyCyclePWM[j].minDC << INFO_FIELD5_6B;
// #3 - DC Max
Serial << INFO_FIELD5_6A;
if(dutyCyclePWM[j].maxDC < 100)
Serial << " ";