68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
#ifndef BLDCDriver6PWM_h
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#define BLDCDriver6PWM_h
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#include "../common/base_classes/BLDCDriver.h"
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#include "../common/foc_utils.h"
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#include "../common/time_utils.h"
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#include "../common/defaults.h"
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#include "hardware_api.h"
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/**
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6 pwm bldc driver class
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*/
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class BLDCDriver6PWM: public BLDCDriver
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{
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public:
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/**
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BLDCDriver class constructor
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@param phA_h A phase pwm pin
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@param phA_l A phase pwm pin
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@param phB_h B phase pwm pin
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@param phB_l A phase pwm pin
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@param phC_h C phase pwm pin
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@param phC_l A phase pwm pin
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@param en enable pin (optional input)
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*/
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BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int en = NOT_SET);
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/** Motor hardware init function */
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int init() override;
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/** Motor disable function */
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void disable() override;
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/** Motor enable function */
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void enable() override;
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// hardware variables
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int pwmA_h,pwmA_l; //!< phase A pwm pin number
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int pwmB_h,pwmB_l; //!< phase B pwm pin number
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int pwmC_h,pwmC_l; //!< phase C pwm pin number
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int enable_pin; //!< enable pin number
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bool enable_active_high = true;
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float dead_zone; //!< a percentage of dead-time(zone) (both high and low side in low) for each pwm cycle [0,1]
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/**
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* Set phase voltages to the harware
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*
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* @param Ua - phase A voltage
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* @param Ub - phase B voltage
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* @param Uc - phase C voltage
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*/
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void setPwm(float Ua, float Ub, float Uc) override;
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/**
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* Set phase voltages to the harware
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*
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* @param sc - phase A state : active / disabled ( high impedance )
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* @param sb - phase B state : active / disabled ( high impedance )
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* @param sa - phase C state : active / disabled ( high impedance )
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*/
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virtual void setPhaseState(int sa, int sb, int sc) override;
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private:
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};
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#endif
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