hardware_api.h File Reference

#include "../common/foc_utils.h"
#include "../common/time_utils.h"
#include "../communication/SimpleFOCDebug.h"
#include "../common/base_classes/BLDCDriver.h"

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Classes
struct	GenericDriverParams

Macros
#define	SIMPLEFOC_PWM_ACTIVE_HIGH   true
#define	SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH   true
#define	SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH   true
#define	SIMPLEFOC_DRIVER_INIT_FAILED   ((void*)-1)

Typedefs
typedef struct GenericDriverParams	GenericDriverParams

Functions
void *	_configure1PWM (long pwm_frequency, const int pinA)
void *	_configure2PWM (long pwm_frequency, const int pinA, const int pinB)
void *	_configure3PWM (long pwm_frequency, const int pinA, const int pinB, const int pinC)
void *	_configure4PWM (long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B)
void *	_configure6PWM (long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l, const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l)
void	_writeDutyCycle1PWM (float dc_a, void *params)
void	_writeDutyCycle2PWM (float dc_a, float dc_b, void *params)
void	_writeDutyCycle3PWM (float dc_a, float dc_b, float dc_c, void *params)
void	_writeDutyCycle4PWM (float dc_1a, float dc_1b, float dc_2a, float dc_2b, void *params)
void	_writeDutyCycle6PWM (float dc_a, float dc_b, float dc_c, PhaseState *phase_state, void *params)

Macro Definition Documentation

SIMPLEFOC_DRIVER_INIT_FAILED

#define SIMPLEFOC_DRIVER_INIT_FAILED   ((void*)-1)

Definition at line 29 of file drivers/hardware_api.h.

SIMPLEFOC_PWM_ACTIVE_HIGH

#define SIMPLEFOC_PWM_ACTIVE_HIGH   true

Definition at line 17 of file drivers/hardware_api.h.

SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH

#define SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH   true

Definition at line 21 of file drivers/hardware_api.h.

SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH

#define SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH   true

Definition at line 25 of file drivers/hardware_api.h.

Typedef Documentation

GenericDriverParams

typedef struct GenericDriverParams GenericDriverParams

Function Documentation

_configure1PWM()

void * _configure1PWM	(	long	pwm_frequency,
		const int	pinA
	)

Configuring PWM frequency, resolution and alignment

• Stepper driver - 2PWM setting
• hardware specific

Parameters

pwm_frequency	- frequency in hertz - if applicable
pinA	pinA pwm pin

Returns

-1 if failed, or pointer to internal driver parameters struct if successful

_configure2PWM()

void * _configure2PWM	(	long	pwm_frequency,
		const int	pinA,
		const int	pinB
	)

Configuring PWM frequency, resolution and alignment

• Stepper driver - 2PWM setting
• hardware specific

Parameters

pwm_frequency	- frequency in hertz - if applicable
pinA	pinA bldc driver
pinB	pinB bldc driver

Returns

-1 if failed, or pointer to internal driver parameters struct if successful

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_configure3PWM()

void * _configure3PWM	(	long	pwm_frequency,
		const int	pinA,
		const int	pinB,
		const int	pinC
	)

Configuring PWM frequency, resolution and alignment

• BLDC driver - 3PWM setting
• hardware specific

Parameters

pwm_frequency	- frequency in hertz - if applicable
pinA	pinA bldc driver
pinB	pinB bldc driver
pinC	pinC bldc driver

Returns

-1 if failed, or pointer to internal driver parameters struct if successful

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_configure4PWM()

void * _configure4PWM	(	long	pwm_frequency,
		const int	pin1A,
		const int	pin1B,
		const int	pin2A,
		const int	pin2B
	)

Configuring PWM frequency, resolution and alignment

• Stepper driver - 4PWM setting
• hardware specific

Parameters

pwm_frequency	- frequency in hertz - if applicable
pin1A	pin1A stepper driver
pin1B	pin1B stepper driver
pin2A	pin2A stepper driver
pin2B	pin2B stepper driver

Returns

-1 if failed, or pointer to internal driver parameters struct if successful

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_configure6PWM()

void * _configure6PWM	(	long	pwm_frequency,
		float	dead_zone,
		const int	pinA_h,
		const int	pinA_l,
		const int	pinB_h,
		const int	pinB_l,
		const int	pinC_h,
		const int	pinC_l
	)

Configuring PWM frequency, resolution and alignment

• BLDC driver - 6PWM setting
• hardware specific

Parameters

pwm_frequency	- frequency in hertz - if applicable
dead_zone	duty cycle protection zone [0, 1] - both low and high side low - if applicable
pinA_h	pinA high-side bldc driver
pinA_l	pinA low-side bldc driver
pinB_h	pinA high-side bldc driver
pinB_l	pinA low-side bldc driver
pinC_h	pinA high-side bldc driver
pinC_l	pinA low-side bldc driver

Returns

-1 if failed, or pointer to internal driver parameters struct if successful

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_writeDutyCycle1PWM()

void _writeDutyCycle1PWM	(	float	dc_a,
		void *	params
	)

Function setting the duty cycle to the pwm pin (ex. analogWrite())

• Stepper driver - 2PWM setting
• hardware specific

Parameters

dc_a	duty cycle phase A [0, 1]
dc_b	duty cycle phase B [0, 1]
params	the driver parameters

_writeDutyCycle2PWM()

void _writeDutyCycle2PWM	(	float	dc_a,
		float	dc_b,
		void *	params
	)

Function setting the duty cycle to the pwm pin (ex. analogWrite())

• Stepper driver - 2PWM setting
• hardware specific

Parameters

dc_a	duty cycle phase A [0, 1]
dc_b	duty cycle phase B [0, 1]
params	the driver parameters

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_writeDutyCycle3PWM()

void _writeDutyCycle3PWM	(	float	dc_a,
		float	dc_b,
		float	dc_c,
		void *	params
	)

Function setting the duty cycle to the pwm pin (ex. analogWrite())

• BLDC driver - 3PWM setting
• hardware specific

Parameters

dc_a	duty cycle phase A [0, 1]
dc_b	duty cycle phase B [0, 1]
dc_c	duty cycle phase C [0, 1]
params	the driver parameters

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_writeDutyCycle4PWM()

void _writeDutyCycle4PWM	(	float	dc_1a,
		float	dc_1b,
		float	dc_2a,
		float	dc_2b,
		void *	params
	)

Function setting the duty cycle to the pwm pin (ex. analogWrite())

• Stepper driver - 4PWM setting
• hardware specific

Parameters

dc_1a	duty cycle phase 1A [0, 1]
dc_1b	duty cycle phase 1B [0, 1]
dc_2a	duty cycle phase 2A [0, 1]
dc_2b	duty cycle phase 2B [0, 1]
params	the driver parameters

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_writeDutyCycle6PWM()

void _writeDutyCycle6PWM	(	float	dc_a,
		float	dc_b,
		float	dc_c,
		PhaseState *	phase_state,
		void *	params
	)

Function setting the duty cycle to the pwm pin (ex. analogWrite())

• BLDC driver - 6PWM setting
• hardware specific

Parameters

dc_a	duty cycle phase A [0, 1]
dc_b	duty cycle phase B [0, 1]
dc_c	duty cycle phase C [0, 1]
phase_state	pointer to PhaseState[3] array
params	the driver parameters

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