NXP
Firmware for MC33926 evaluation on KL25Z-based EVB. This works with a Graphical User Interface (GUI) available on NXP.com to control a brushed DC motor using FRDM-33926ESEVM or FRDM-33926PNBEVM. The code enables control of the PWM frequency, duty cycle, enable/disable controls, invert, slew rate control, real-time current monitoring, and includes status flag pin monitoring for undervoltage, short circuit and over-temperature events.
Fork of
Brushed_DC_Motor_Control_MC33926
by 
Travis Alexander
Revision 2:d98eb31a4b69, committed 2018-07-09
- Comitter:
- nxf42866
- Date:
- Mon Jul 09 17:53:48 2018 +0000
- Parent:
- 1:52d7baa4af71
- Child:
- 3:d7fd752817e1
- Commit message:
- New firmware for evaluation of MC33926 on KL25Z-based EVB
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| main_copy.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Jun 12 17:52:57 2015 +0000
+++ b/main.cpp Mon Jul 09 17:53:48 2018 +0000
@@ -14,12 +14,15 @@
//DigitalOut blue_led(LED3);
//Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
-PwmOut IN1(PTC8); // Pin IN1 input to MC34931 (FRDM PIN Name)
-PwmOut IN2 (PTA5); // Pin IN2 input to MC34931 (FRDM PIN Name)
-DigitalOut EN(PTE0); // Pin EN input to MC34931 (FRDM PIN Name)
-DigitalOut DIS(PTA2); // Pin D1 input to MC34931 (FRDM PIN Name)
-DigitalIn STATUS(PTB3);
-AnalogIn CFB(PTB0);
+PwmOut IN1(PTA5); // Pin IN1 input to MC33926 (FRDM PIN Name)
+PwmOut IN2(PTC8); // Pin IN2 input to MC33926 (FRDM PIN Name)
+DigitalOut EN(PTE0); // Pin EN input to MC33926 (FRDM PIN Name)
+DigitalOut DIS1(PTA2); // Pin D1 input to MC33926 (FRDM PIN Name)
+DigitalOut D2B(PTD5); // Pin D2B input to MC33926 (FRDM PIN Name)
+DigitalOut SLEW(PTA13); // Pin Slew input to MC33926 (FRDM PIN Name)
+DigitalOut INV(PTD0); // Pin INV input to MC33926 (FRDM PIN Name)
+DigitalIn SFB(PTB3); // Pin SF_B output from MC33926 to FRDM-KL25Z
+AnalogIn CFB(PTB0); // Pin FB output from MC33926 to FRDM-KL25Z
//DigitalOut READY(PTC7); // Pin READY input to Motor Control Board (FRDM PIN Name)
//Variables
@@ -28,7 +31,7 @@
int frequencyHz = 500;
int runstop = 0;
int direction = 1;
-int braking;
+int braking; // needs to be initialized?
int dutycycle = 75;
int newDataFlag = 0;
int status = 0;
@@ -46,16 +49,19 @@
// USB COMMANDS
// These are sent from the PC
-#define WRITE_LED 0x20
-#define WRITE_GEN_EN 0x40
+#define WRITE_LED 0x20
+#define WRITE_GEN_EN 0x40 // what is this? What should the GUI kickoff here?
#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
+#define WRITE_RESET 0xA0 // what is this? What should the GUI kickoff here?
#define WRITE_D1 0xB1
-#define WRITE_D2_B 0xC1
+#define WRITE_EN 0xC1
+#define WRITE_D2B 0xD5
+#define WRITE_SLEW 0xE5
+#define WRITE_INV 0xF5
#define scaleFactor 0.11868
@@ -113,26 +119,27 @@
////////
case WRITE_DIRECTION:
newDataFlag = 1;
-
- if(recv_report.data[1] != 0)
+ if(recv_report.data[1] == 1) // used to be != 0
{
- direction = 1;
+ direction = 1; // corrected allocation for FWD
+ //direction = 0; // corrected allocation for REV
}
else
{
- direction = 0;
+ direction = 0; // corrected allocation for REV
+ //direction = 1; // corrected allocation for FWD
}
break;
////////
case WRITE_BRAKING:
newDataFlag = 1;
- if(recv_report.data[1] == 1)
+ if(recv_report.data[1] != 0) // used to be == 1
{
- braking = 1;
+ braking = 1; // this is HS recirc
}
else
{
- braking = 0;
+ braking = 0; // this is LS recirc
}
break;
////////
@@ -140,25 +147,68 @@
newDataFlag = 1;
if(recv_report.data[1] == 1)
{
- DIS = 1;
+ DIS1 = 1; // logic hi will disable the part
}
else
{
- DIS = 0;
+ DIS1 = 0; // logic lo will enable the part
+ }
+ break;
+////////
+ case WRITE_EN:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ //EN = 0; // this is enable case
+ EN = 1; // align with the signal being sent from GUI
+ }
+ else
+ {
+ //EN = 1; // this is disable case
+ EN = 0; // align with signal being sent from GUI
}
break;
////////
- case WRITE_D2_B:
- newDataFlag = 1;
+ case WRITE_D2B:
+ newDataFlag = 1;
if(recv_report.data[1] == 1)
{
- EN = 0;
+ D2B = 1;
}
else
{
- EN = 1;
+ D2B = 0;
+ }
+ break;
+
+////////
+ case WRITE_SLEW:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ SLEW = 1;
+ }
+ else
+ {
+ SLEW = 0;
}
- break;
+ break;
+
+////////
+ case WRITE_INV:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ INV = 1;
+ //INV = 0;
+ }
+ else
+ {
+ INV = 0;
+ //INV = 1;
+ }
+ break;
+
////////
default:
@@ -169,7 +219,7 @@
// end command parser
//-----------------------------------------------------------------------------------------------------------------
- status = STATUS;
+ status = SFB;
send_report.data[0] = status; // Echo Command
send_report.data[1] = recv_report.data[1]; // Echo Subcommand 1
send_report.data[2] = recv_report.data[2]; // Echo Subcommand 2
@@ -212,12 +262,13 @@
if(braking == 1) //dynamic
{
IN1.period(1/(float)frequencyHz);
- IN1 = (float)dutycycle/100.0;
+ //IN1 = (float)dutycycle/100.0; // this is REV + HS, inverted d
+ IN1 = 1.0-((float)dutycycle/100.0); // this is REV + HS
IN2 = 1;
}
else //coast
{
- IN1 = 0;
+ IN1 = 0; // this is REV + LS
IN2.period(1/(float)frequencyHz);
IN2 = (float)dutycycle/100.0;
}
@@ -226,15 +277,16 @@
{
if(braking == 1) //dynamic
{
- IN1 = 1;
+ IN1 = 1;
IN2.period(1/(float)frequencyHz);
- IN2 = (float)dutycycle/100.0;
+ //IN2 = (float)dutycycle/100.0; // this is FWD + HS, inverted d
+ IN2 = 1.0-((float)dutycycle/100.0); // this is FWD + HS
}
else //coast
{
IN1.period(1/(float)frequencyHz);
IN1 = (float)dutycycle/100.0;
- IN2 = 0;
+ IN2 = 0; // FWD + LS
}
}
}
@@ -259,3 +311,4 @@
}
}
}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main_copy.cpp Mon Jul 09 17:53:48 2018 +0000
@@ -0,0 +1,314 @@
+#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
+//PwmOut red_led(LED1);
+//DigitalOut green_led(LED2);
+//DigitalOut blue_led(LED3);
+
+//Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
+PwmOut IN1(PTA5); // Pin IN1 input to MC33926 (FRDM PIN Name)
+PwmOut IN2(PTC8); // Pin IN2 input to MC33926 (FRDM PIN Name)
+DigitalOut EN(PTE0); // Pin EN input to MC33926 (FRDM PIN Name)
+DigitalOut DIS1(PTA2); // Pin D1 input to MC33926 (FRDM PIN Name)
+DigitalOut D2B(PTD5); // Pin D2B input to MC33926 (FRDM PIN Name)
+DigitalOut SLEW(PTA13); // Pin Slew input to MC33926 (FRDM PIN Name)
+DigitalOut INV(PTD0); // Pin INV input to MC33926 (FRDM PIN Name)
+DigitalIn SFB(PTB3); // Pin SF_B output from MC33926 to FRDM-KL25Z
+AnalogIn CFB(PTB0); // Pin FB output from MC33926 to FRDM-KL25Z
+//DigitalOut READY(PTC7); // Pin READY input to Motor Control Board (FRDM PIN Name)
+
+//Variables
+int pwm_freq_lo;
+int pwm_freq_hi;
+int frequencyHz = 500;
+int runstop = 0;
+int direction = 1;
+int braking; // needs to be initialized?
+int dutycycle = 75;
+int newDataFlag = 0;
+int status = 0;
+uint16_t CurrFB;
+uint16_t CFBArray[101];
+uint32_t CFBTotal;
+uint16_t CFBAvg;
+uint16_t CFBtemp;
+
+//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 // what is this? What should the GUI kickoff here?
+#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 // what is this? What should the GUI kickoff here?
+#define WRITE_D1 0xB1
+#define WRITE_EN 0xC1
+#define WRITE_D2B 0xD5
+#define WRITE_SLEW 0xE5
+#define WRITE_INV 0xF5
+
+#define scaleFactor 0.11868
+
+// LOGICAL CONSTANTS
+#define OFF 0x00
+#define ON 0x01
+
+
+int main()
+{
+ send_report.length = 64;
+ recv_report.length = 64;
+
+
+ while(1)
+ {
+ //try to read a msg
+ if(hid.readNB(&recv_report))
+ {
+ switch(recv_report.data[0]) //byte 0 of recv_report.data is command
+ {
+//-----------------------------------------------------------------------------------------------------------------
+// COMMAND PARSER
+//-----------------------------------------------------------------------------------------------------------------
+////////
+ case WRITE_LED:
+ break;
+////////
+
+////////
+ case WRITE_DUTY_CYCLE:
+ dutycycle = recv_report.data[1];
+ newDataFlag = 1;
+ 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;
+ newDataFlag = 1;
+ break;
+////////
+ case WRITE_RUN_STOP:
+ newDataFlag = 1;
+ if(recv_report.data[1] != 0)
+ {
+ runstop = 1;
+ }
+ else
+ {
+ runstop = 0;
+ }
+ break;
+
+////////
+ case WRITE_DIRECTION:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1) // used to be != 0
+ {
+ direction = 1; // corrected allocation for FWD
+ //direction = 0; // corrected allocation for REV
+ }
+ else
+ {
+ direction = 0; // corrected allocation for REV
+ //direction = 1; // corrected allocation for FWD
+ }
+ break;
+////////
+ case WRITE_BRAKING:
+ newDataFlag = 1;
+ if(recv_report.data[1] != 0) // used to be == 1
+ {
+ braking = 1; // this is HS recirc
+ }
+ else
+ {
+ braking = 0; // this is LS recirc
+ }
+ break;
+////////
+ case WRITE_D1:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ DIS1 = 1; // logic hi will disable the part
+ }
+ else
+ {
+ DIS1 = 0; // logic lo will enable the part
+ }
+ break;
+////////
+ case WRITE_EN:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ //EN = 0; // this is enable case
+ EN = 1; // align with the signal being sent from GUI
+ }
+ else
+ {
+ //EN = 1; // this is disable case
+ EN = 0; // align with signal being sent from GUI
+ }
+ break;
+////////
+ case WRITE_D2B:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ D2B = 1;
+ }
+ else
+ {
+ D2B = 0;
+ }
+ break;
+
+////////
+ case WRITE_SLEW:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ SLEW = 1;
+ }
+ else
+ {
+ SLEW = 0;
+ }
+ break;
+
+////////
+ case WRITE_INV:
+ newDataFlag = 1;
+ if(recv_report.data[1] == 1)
+ {
+ INV = 1;
+ //INV = 0;
+ }
+ else
+ {
+ INV = 0;
+ //INV = 1;
+ }
+ break;
+
+
+////////
+ default:
+ break;
+ }// End Switch recv report data[0]
+
+//-----------------------------------------------------------------------------------------------------------------
+// end command parser
+//-----------------------------------------------------------------------------------------------------------------
+
+ status = SFB;
+ send_report.data[0] = status; // 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] = (CFBAvg << 8) >> 8;
+ send_report.data[7] = CFBAvg >> 8;
+
+ //Send the report
+ hid.send(&send_report);
+ }// End If(hid.readNB(&recv_report))
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//End of USB message handling
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ CurrFB = CFB.read_u16();
+ CFBArray[0] = CurrFB;
+ CFBTotal = 0;
+ int i = 0;
+ for(i=0; i<100; i++)
+ {
+ CFBTotal = CFBTotal + CFBArray[i];
+ }
+ CFBAvg = CFBTotal / 100;
+
+ for(i=100; i>=0; i--)
+ {
+
+ CFBArray[i+1] = CFBArray[i];
+ }
+
+ if(newDataFlag != 0) //GUI setting changed
+ {
+ newDataFlag = 0;
+ if(runstop != 0) //Running
+ {
+ if(direction == 0) //reverse
+ {
+ if(braking == 1) //dynamic
+ {
+ IN1.period(1/(float)frequencyHz);
+ //IN1 = (float)dutycycle/100.0; // this is REV + HS, inverted d
+ IN1 = 1.0-((float)dutycycle/100.0); // this is REV + HS
+ IN2 = 1;
+ }
+ else //coast
+ {
+ IN1 = 0; // this is REV + LS
+ IN2.period(1/(float)frequencyHz);
+ IN2 = (float)dutycycle/100.0;
+ }
+ }
+ else //forward
+ {
+ if(braking == 1) //dynamic
+ {
+ IN1 = 1;
+ IN2.period(1/(float)frequencyHz);
+ //IN2 = (float)dutycycle/100.0; // this is FWD + HS, inverted d
+ IN2 = 1.0-((float)dutycycle/100.0); // this is FWD + HS
+ }
+ else //coast
+ {
+ IN1.period(1/(float)frequencyHz);
+ IN1 = (float)dutycycle/100.0;
+ IN2 = 0; // FWD + LS
+ }
+ }
+ }
+ else //Stopped
+ {
+ if(braking == 1) //braking
+ {
+ IN1.period(1);
+ IN2.period(1);
+ IN1.write(1);
+ IN2.write(1);
+ }
+ else //coasting
+ {
+ IN1.period(1);
+ IN2.period(1);
+ IN1.write(0);
+ IN2.write(0);
+
+ }
+ }
+ }
+ }
+}
+