114 lines
3.8 KiB
C
114 lines
3.8 KiB
C
#include "motor.h"
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#include "pwm.h"
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#include "inc/msp432p401r.h"
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#undef BIT0
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#undef BIT1
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#undef BIT2
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#undef BIT3
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#undef BIT4
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#undef BIT5
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#undef BIT6
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#undef BIT7
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#define BIT0 (uint8_t)(0x01)
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#define BIT1 (uint8_t)(0x02)
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#define BIT2 (uint8_t)(0x04)
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#define BIT3 (uint8_t)(0x08)
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#define BIT4 (uint8_t)(0x10)
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#define BIT5 (uint8_t)(0x20)
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#define BIT6 (uint8_t)(0x40)
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#define BIT7 (uint8_t)(0x80)
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// duty := H/(H+L) = H/10000
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// H+L is always 10 000 microsecond
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// Left motor (PH) direction connected to P5.4 (J3.29)
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#define LEFT_DIR_PIN BIT4 // P5.4
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// Right motor (PH) direction connected to P5.5 (J3.30)
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#define RIGHT_DIR_PIN BIT5 // P5.5
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// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
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#define LEFT_PWM_PIN BIT7 // P2.7
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// Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
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#define RIGHT_PWM_PIN BIT6 // P2.6
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// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
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#define LEFT_SLEEP_PIN BIT7 // P3.7
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// Right motor (nSLEEP) enable connected to P3.6 (J2.11)
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#define RIGHT_SLEEP_PIN BIT6 // P3.6
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// Initializes the 6 GPIO output lines and puts driver to sleep
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void MotorInit(void) {
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// 1. Configure all motor control pins as outputs
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// P5.4 (Left DIR), P5.5 (Right DIR)
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P5->SEL0 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN); // GPIO function
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P5->SEL1 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
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P5->DIR |= (LEFT_DIR_PIN | RIGHT_DIR_PIN); // Output direction
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// P3.6 (Right SLEEP), P3.7 (Left SLEEP)
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P3->SEL0 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // GPIO function
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P3->SEL1 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
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P3->DIR |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // Output direction
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// 2. Initial state: disable motors
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P3->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // SLEEP pins low - DRV8838 disabled
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}
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// Stop the motors, power down the drivers, and
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// set the PWM speed control to 0% duty cycle.
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void MotorStop(void) {
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P3->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // SLEEP pins low
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P2->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // EN pins low
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SetPWMDutyLeftMotor(0);
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SetPWMDutyRightMotor(0);
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}
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// Left and right wheels forward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorForward(uint16_t left_duty, uint16_t right_duty) {
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P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN); // set direction - PH low
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P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
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// P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
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SetPWMDutyRightMotor(right_duty);
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SetPWMDutyLeftMotor(left_duty);
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}
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// Left and right wheels backward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorBackward(uint16_t left_duty, uint16_t right_duty) {
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P5->OUT |= (LEFT_DIR_PIN | RIGHT_DIR_PIN); // set direction - PH high
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P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
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// P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
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SetPWMDutyRightMotor(right_duty);
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SetPWMDutyLeftMotor(left_duty);
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}
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// Left wheel backward, right wheel forward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorLeft(uint16_t left_duty, uint16_t right_duty) {
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P5->OUT &= ~(RIGHT_DIR_PIN); // set direction forward
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P5->OUT |= LEFT_DIR_PIN; // set direction backward
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P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
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SetPWMDutyRightMotor(right_duty);
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SetPWMDutyLeftMotor(left_duty);
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}
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// Left wheel forward, right wheel backward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorRight(uint16_t left_duty, uint16_t right_duty) {
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P5->OUT &= ~(LEFT_DIR_PIN); // set direction forward
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P5->OUT |= RIGHT_DIR_PIN; // set direction backward
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P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
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SetPWMDutyRightMotor(right_duty);
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SetPWMDutyLeftMotor(left_duty);
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}
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