h_bridge.h
No OneTemporary
Actions

Subscribers

None

File Metadata

	#ifndef __H_BRIDGE_H
	#define __H_BRIDGE_H

	#include "../main.h"

	#define PWM1_Pin 6
	#define PWM1_Port GPIOC
	#define PWM2_Pin 7
	#define PWM2_Port GPIOC
	#define ENB1_Pin 8
	#define ENB1_Port GPIOC
	#define ENB2_Pin 9
	#define ENB2_Port GPIOC
	#define nFAULT_Pin GPIO_Pin_15
	#define nFAULT_Port GPIOD
	#define nSLEEP_Pin GPIO_Pin_14
	#define nSLEEP_Port GPIOD

	#define PWM_FREQUENCY 30000 // Motor PWM freq. [Hz]

	#define PWM_RESOL_SHIFT_DWN 6 // PWM_SCALE = 0xFFFF/2^PWM_RESOL_SHIFT_DWN
	#define CURRENT_SCALE_RESOL ((uint32_t)(16-PWM_RESOL_SHIFT_DWN))
	#define PWM_TIM_PERIODE ((int16_t)(0xFFFF>>PWM_RESOL_SHIFT_DWN))
	#define PWM_TIM_PRESCALER ((int16_t)(SystemCoreClock/APB2_PRESCALER*TIM_MULTIPLIER/PWM_FREQUENCY/PWM_TIM_PERIODE-1))

	/** @defgroup H_Bridge Driver / H-bridge
	* @brief Driver for the H-bridge of the motor.
	*
	* The DC motor is supplied by a H-bridge on the HRI board. These power
	* electronics are controlled by the microcontroller using a PWM timer.
	*
	* Call hb_Init() first in the initialization code. Then, call hb_Enable()
	* to enable the H-bridge chip (power on), and hb_SetPWM() to set the motor
	* voltage.
	*
	* @addtogroup H_Bridge
	* @{
	*/

	void hb_Init(void);
	void hb_Enable(void);
	void hb_Disable(void);
	void hb_SetPWM(float32_t ratio);

	/**
	* @}
	*/

	#endif