NXP
Contains code to drive a small brushed DC motor with a Freescale FRDM-17510 MPC17510 H-bridge driver evaluation board, and a Freedom FRDM-KL25Z. Configures the KL25Z as USB HID device and requres a GUI on the PC.
Fork of
LVHB DC Motor Drive
by 
Freescale
This program uses a Freescale FRDM-KL25 and FRDM-17510 Motor control board. It configures the KL25 as a USB HID device and is intended to work with a GUI which is downloaded from Freescale. (where is the link to this GUI?)
There is a list of Analog Tools that mention mbed software support here: http://www.freescale.com/webapp/sps/site/overview.jsp?code=ANALOGTOOLBOX&tid=vanAnalogTools
Diff: main.cpp
- Revision:
- 0:41c74fead7a9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 12 19:25:24 2014 +0000
@@ -0,0 +1,335 @@
+#include "mbed.h"
+#include "USBHID.h"
+
+// We declare a USBHID device.
+// HID In/Out Reports are 64 Bytes long
+// Vendor ID (VID): 0x15A2
+// Product ID (PID): 0x0138
+// Serial Number: 0x0001
+USBHID hid(64, 64, 0x15A2, 0x0138, 0x0001, true);
+
+//Setup Digital Outputs for the LEDs on the FRDM
+DigitalOut red_led(LED1);
+DigitalOut green_led(LED2);
+DigitalOut blue_led(LED3);
+
+//Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
+PwmOut IN1(PTD4); // Pin IN1 input to MPC17510 (FRDM PIN Name)
+PwmOut IN2(PTA12); // Pin IN2 input to MPC17510 (FRDM PIN Name)
+DigitalOut EN(PTC7); // Pin EN input to MPC17510 (FRDM PIN Name)
+DigitalOut GINB(PTC0); // Pin GIN_B input to MPC17510 (FRDM PIN Name)
+DigitalOut READY(PTC5); // Pin READY input to Motor Control Board (FRDM PIN Name)
+
+//Variables
+int pwm_freq_lo;
+int pwm_freq_hi;
+int frequencyHz;
+int storedFreq;
+int storedDuty;
+int runstop = 0;
+int runStopChange;
+int direction = 1;
+int directionChange;
+int braking;
+int brakingChange;
+int dutycycle;
+int motorState = 0;
+int ramptime = 0;
+
+//storage for send and receive data
+HID_REPORT send_report;
+HID_REPORT recv_report;
+
+bool initflag = true;
+
+// USB COMMANDS
+// These are sent from the PC
+#define WRITE_LED 0x20
+#define WRITE_GEN_EN 0x40
+#define WRITE_DUTY_CYCLE 0x50
+#define WRITE_PWM_FREQ 0x60
+#define WRITE_RUN_STOP 0x70
+#define WRITE_DIRECTION 0x71
+#define WRITE_BRAKING 0x90
+#define WRITE_RESET 0xA0
+
+
+// MOTOR STATES
+#define STOP 0x00
+#define RUN 0x02
+#define RESET 0x05
+
+// LED CONSTANTS
+#define LEDS_OFF 0x00
+#define RED 0x01
+#define GREEN 0x02
+#define BLUE 0x03
+#define READY_LED 0x04
+
+// LOGICAL CONSTANTS
+#define OFF 0x00
+#define ON 0x01
+
+//Functions
+void set_PWM_Freq(int freq);
+void set_Duty_Cycle(int dutycycle);
+
+
+int main()
+{
+ send_report.length = 64;
+ recv_report.length = 64;
+
+ red_led = 1; // Red LED = OFF
+ green_led = 1; // Green LED = OFF
+ blue_led = 0; // Blue LED = ON
+
+ motorState = RESET;
+ initflag = true;
+
+ IN1.period(1); //initially set period to 1 second
+ IN2.period(1);
+
+ IN1.write(0); //set PWM percentage to 0
+ IN2.write(0);
+
+
+ while(1)
+ {
+ //try to read a msg
+ if(hid.readNB(&recv_report))
+ {
+ if(initflag == true)
+ {
+ initflag = false;
+ blue_led = 1; //turn off blue LED
+ }
+ switch(recv_report.data[0]) //byte 0 of recv_report.data is command
+ {
+//-----------------------------------------------------------------------------------------------------------------
+// COMMAND PARSER
+//-----------------------------------------------------------------------------------------------------------------
+////////
+ case WRITE_LED:
+ switch(recv_report.data[1])
+ {
+ case LEDS_OFF:
+ red_led = 1;
+ green_led = 1;
+ blue_led = 1;
+ break;
+ case RED:
+ if(recv_report.data[2] == 1){red_led = 0;} else {red_led = 1;}
+ break;
+ case GREEN:
+ if(recv_report.data[2] == 1){green_led = 0;} else {green_led = 1;}
+ break;
+ case BLUE:
+ if(recv_report.data[2] == 1){blue_led = 0;} else {blue_led = 1;}
+ break;
+ default:
+ break;
+
+
+ }// End recv report data[1]
+ break;
+ ////////
+
+ ////////
+ case WRITE_DUTY_CYCLE:
+ dutycycle = recv_report.data[1];
+ set_Duty_Cycle(dutycycle);
+ break;
+////////
+ case WRITE_PWM_FREQ: //PWM frequency can be larger than 1 byte
+ pwm_freq_lo = recv_report.data[1]; //so we have to re-assemble the number
+ pwm_freq_hi = recv_report.data[2] * 100;
+ frequencyHz = pwm_freq_lo + pwm_freq_hi;
+ set_PWM_Freq(frequencyHz);
+ break;
+////////
+ case WRITE_RUN_STOP:
+ if(recv_report.data[1] == 1)
+ {
+ if(runstop != 1)
+ {
+ red_led = 1;
+ blue_led = 1;
+ green_led = 0;
+ READY = 1;
+ runstop = 1;
+ runStopChange = 1;
+ motorState = RUN;
+ frequencyHz = storedFreq;
+ set_PWM_Freq(frequencyHz);
+ dutycycle = storedDuty;
+ set_Duty_Cycle(dutycycle);
+ }
+
+ }
+ else
+ {
+ if(runstop != 0)
+ {
+ runstop = 0;
+ runStopChange = 1;
+ motorState = STOP;
+ red_led = 0;
+ green_led = 1;
+ blue_led = 1;
+ storedFreq = frequencyHz;
+ storedDuty = dutycycle;
+ READY = 0;
+ }
+ }
+ break;
+////////
+ case WRITE_DIRECTION:
+
+
+ if(recv_report.data[1] == 1)
+ {
+ if(direction != 1)
+ {
+ direction = 1;
+ directionChange = 1;
+ }
+ }
+ else
+ {
+ if(direction != 0)
+ {
+ direction = 0;
+ directionChange = 1;
+ }
+ }
+ break;
+////////
+ case WRITE_BRAKING:
+ if(recv_report.data[1] == 1)
+ {
+ braking = 1;
+ }
+ else
+ {
+ braking = 0;
+ }
+ break;
+////////
+ default:
+ break;
+ }// End Switch recv report data[0]
+
+//-----------------------------------------------------------------------------------------------------------------
+// end command parser
+//-----------------------------------------------------------------------------------------------------------------
+
+ send_report.data[0] = recv_report.data[0]; // Echo Command
+ send_report.data[1] = recv_report.data[1]; // Echo Subcommand 1
+ send_report.data[2] = recv_report.data[2]; // Echo Subcommand 2
+ send_report.data[3] = 0x00;
+ send_report.data[4] = 0x00;
+ send_report.data[5] = 0x00;
+ send_report.data[6] = 0x00;
+ send_report.data[7] = 0x00;
+
+ //Send the report
+ hid.send(&send_report);
+ }// End If(hid.readNB(&recv_report))
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//End of USB message handling
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+//************************************************************************************************************************
+// This is handling of PWM, braking, direction
+//***********************************************************************************************************************/
+
+ switch (motorState)
+ {
+ case STOP:
+ READY = 0;
+
+ if(braking == 1)
+ {
+ EN = 0;
+ IN1.period(1);
+ IN2.period(1);
+ IN1.write(0);
+ IN2.write(0);
+ }
+ else
+ {
+ EN = 0;
+ IN1.period(1);
+ IN2.period(1);
+ IN1.write(0);
+ IN2.write(0);
+ EN = 1;
+ }
+ break;
+
+ case RUN:
+ if(runStopChange != 0)
+ {
+ READY = 1;
+ EN = 1;
+ directionChange = 0;
+ runStopChange = 0;
+ set_PWM_Freq(frequencyHz);
+ set_Duty_Cycle(dutycycle);
+ }
+ break;
+
+ case RESET:
+ IN1.write(0.0);
+ IN2.write(0.0);
+ IN1.period(0.0);
+ IN2.period(0.0);
+ runStopChange = false;
+ motorState = STOP;
+ break;
+
+ }// end switch motorState
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ }// End While Loop
+ }// End Main
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void set_PWM_Freq(int freq)
+{
+ storedFreq = freq;
+ float period = 1.0/freq;
+
+ if(direction == 1)
+ {
+ IN1.period(period);
+ IN2.period(0.0);
+ }
+ else
+ {
+ IN1.period(0.0);
+ IN2.period(period);
+ }
+}
+
+void set_Duty_Cycle(int dc)
+{
+ storedDuty = dc;
+ if(direction == 1)
+ {
+ red_led = 0;
+ green_led = 1;
+ IN1.write(float(dc/100.0));
+ IN2.write(0);
+ }
+ else
+ {
+ red_led = 1;
+ green_led = 0;
+ IN2.write(float(dc/100.00));
+ IN1.write(0);
+ }
+}