StepperDriver8PWM.cpp

#include "StepperDriver8PWM.h"

StepperDriver8PWM::StepperDriver8PWM(int ph1A, int ph1B, int ph2A, int ph2B, int ph3A, int ph3B, int ph4A, int ph4B, int en1, int en2, int en3, int en4) {
  // Pin initialization
  pwm1A = ph1A;
  pwm1B = ph1B;
  pwm2A = ph2A;
  pwm2B = ph2B;
  pwm3A = ph3A;
  pwm3B = ph3B;
  pwm4A = ph4A;
  pwm4B = ph4B;

  // Enable pins
  enable_pin1 = en1;
  enable_pin2 = en2;
  enable_pin3 = en3;
  enable_pin4 = en4;

  // Default values
  voltage_power_supply = DEF_POWER_SUPPLY;
  voltage_limit = NOT_SET;
  pwm_frequency = NOT_SET;


  pinMode(enable_pin1, OUTPUT);
  pinMode(enable_pin2, OUTPUT);
  pinMode(enable_pin3, OUTPUT);
  pinMode(enable_pin4, OUTPUT);
  disable();

    // dead zone initial - 2%
  dead_zone = 0.02f;
  
}

// init hardware pins for 8PWM control
int StepperDriver8PWM::init() {

  // PWM pins
  pinMode(pwm1A, OUTPUT);
  pinMode(pwm1B, OUTPUT);
  pinMode(pwm2A, OUTPUT);
  pinMode(pwm2B, OUTPUT);
  pinMode(pwm3A, OUTPUT);
  pinMode(pwm3B, OUTPUT);
  pinMode(pwm4A, OUTPUT);
  pinMode(pwm4B, OUTPUT);

  if( _isset(enable_pin1) ) pinMode(enable_pin1, OUTPUT);
  if( _isset(enable_pin2) ) pinMode(enable_pin2, OUTPUT);
  if( _isset(enable_pin3) ) pinMode(enable_pin3, OUTPUT);
  if( _isset(enable_pin4) ) pinMode(enable_pin4, OUTPUT);
  // sanity check for the voltage limit configuration
  if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit =  voltage_power_supply;

  // Set the pwm frequency to the pins
  // hardware specific function - depending on driver and mcu
  params = _configure8PWM(pwm_frequency, dead_zone, pwm1A, pwm1B, pwm2A, pwm2B, pwm3A, pwm3B, pwm4A, pwm4B);
  initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED);  
  return params!=SIMPLEFOC_DRIVER_INIT_FAILED;
}


// Set voltage to the pwm pin for 8PWM control
void StepperDriver8PWM::setPwm(float Ualpha, float Ubeta) {
  float duty_cycle1A_h1(0.0f),duty_cycle1A_h2(0.0f),duty_cycle1B_h1(0.0f),duty_cycle1B_h2(0.0f);
  float duty_cycle2A_h1(0.0f),duty_cycle2A_h2(0.0f),duty_cycle2B_h1(0.0f),duty_cycle2B_h2(0.0f);

  // limit the voltage in driver
  Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
  Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);

  // hardware specific writing
  if( Ualpha > 0 ) {
    duty_cycle1B_h1 = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
    duty_cycle1B_h2 = 0.0f; // set second half-bridge duty cycle to 0
  }
  else {
    duty_cycle1A_h1 = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
    duty_cycle1A_h2 = 0.0f; // set second half-bridge duty cycle to 0
  }

  if( Ubeta > 0 ) {
    duty_cycle2B_h1 = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
    duty_cycle2B_h2 = 0.0f; // set second half-bridge duty cycle to 0
  }
  else {
    duty_cycle2A_h1 = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
    duty_cycle2A_h2 = 0.0f; // set second half-bridge duty cycle to 0
  }

  // write to hardware
  _writeDutyCycle8PWM(duty_cycle1A_h1, duty_cycle1A_h2, duty_cycle1B_h1, duty_cycle1B_h2,
                      duty_cycle2A_h1, duty_cycle2A_h2, duty_cycle2B_h1, duty_cycle2B_h2, params);
}