rpp/src/rpp/hbr.c

   1 /* Copyright (C) 2013, 2014, 2015 Czech Technical University in Prague
   2  *
   3  * Authors:
   4  *     - Carlos Jenkins <carlos@jenkins.co.cr>
   5  *
   6  * This document contains proprietary information belonging to Czech
   7  * Technical University in Prague. Passing on and copying of this
   8  * document, and communication of its contents is not permitted
   9  * without prior written authorization.
  10  *
  11  * File : hbr.c
  12  * Abstract:
  13  *     H-Bridge Output RPP API implementation file.
  14  *
  15  * References:
  16  *     hbr.h
  17  *     RPP API documentation.
  18  */
  19
  20
  21 #include "rpp/rpp.h"
  22 #include "rpp/mutex.h"
  23
  24 #ifndef FREERTOS_POSIX
  25 #include "drv/hbridge.h"
  26 #include "drv/spi_tms570.h"
  27 #endif
  28
  29 RPP_MUTEX_DEFINE(mutex_hbr);
  30
  31 static boolean_t initialized = FALSE;
  32
  33 int8_t rpp_hbr_init()
  34 {
  35         if (initialized)
  36                 return FAILURE;
  37         if (!RPP_MUTEX_INIT(mutex_hbr))
  38                 return FAILURE;
  39         initialized = TRUE;
  40 #ifndef FREERTOS_POSIX
  41         dmmInit();
  42         hetInit();
  43         spi_tms570_init();
  44 #endif
  45         return SUCCESS;
  46 }
  47
  48
  49 // Private function to set the H-Bridge to default OFF settings
  50 static void rpp_hdr_reset()
  51 {
  52 #ifndef FREERTOS_POSIX
  53         drv_hbr_set_en(LOW);
  54         drv_hbr_pwm_set_duty(0);
  55         drv_hbr_pwm_stop();
  56         drv_hbr_set_dir(LOW);
  57 #endif
  58 }
  59
  60
  61 static boolean_t enabled = FALSE;
  62
  63 int8_t rpp_hbr_enable(int32_t period)
  64 {
  65         if (enabled)
  66                 return FAILURE;
  67
  68         if (period < 1)
  69                 period = 55;  // ~18kHz (18181.818181818 Hz to be precise)
  70
  71 #ifndef FREERTOS_POSIX
  72         RPP_MUTEX_LOCK(mutex_hbr);
  73         rpp_hdr_reset();
  74
  75         // Configure N2HET
  76         if (drv_hbr_pwm_set_signal(period, 0) != SUCCESS) {
  77                 RPP_MUTEX_UNLOCK(mutex_hbr);
  78                 return FAILURE;
  79         }
  80         drv_hbr_pwm_start();
  81
  82         drv_hbr_set_en(HIGH);
  83
  84         // Start watchdog
  85         int ret = drv_hbr_wdg_start();
  86         if (ret != SUCCESS && ret != -RPP_EBUSY) {   // Don't fail if already started
  87                 RPP_MUTEX_UNLOCK(mutex_hbr);
  88                 return FAILURE;
  89         }
  90         RPP_MUTEX_UNLOCK(mutex_hbr);
  91 #endif
  92
  93         enabled = TRUE;
  94
  95         return SUCCESS;
  96 }
  97
  98
  99 int8_t rpp_hbr_control(double cmd)
 100 {
 101         if (!enabled)
 102                 return -1;
 103
 104         // Check range of the command
 105         if ((cmd < -1.0) || (cmd > 1.0))
 106                 return -2;
 107
 108 #ifndef FREERTOS_POSIX
 109         // Great, now scale and return to sanity world of ints :D
 110         int32_t scaled = (int32_t)(cmd * 100.0);
 111
 112
 113         // Set direction
 114         RPP_MUTEX_LOCK(mutex_hbr);
 115         drv_hbr_set_dir(scaled > 0);
 116
 117         // Set PWM duty cycle
 118         drv_hbr_pwm_set_duty(abs(scaled));
 119         RPP_MUTEX_UNLOCK(mutex_hbr);
 120 #endif
 121
 122         return SUCCESS;
 123 }
 124
 125
 126 int8_t rpp_hbr_disable()
 127 {
 128         if (!enabled)
 129                 return FAILURE;
 130
 131 #ifndef FREERTOS_POSIX
 132         RPP_MUTEX_LOCK(mutex_hbr);
 133         rpp_hdr_reset();
 134
 135         // We ignore is watchdog could not be stopped, because is harmless.
 136         // It would be worse if we just could not stop the H-Bridge just because
 137         // the watchdog could not be stopped.
 138         drv_hbr_wdg_stop();
 139         RPP_MUTEX_UNLOCK(mutex_hbr);
 140 #endif
 141
 142         enabled = FALSE;
 143
 144         return SUCCESS;
 145 }