Added ZXMB5210 Magnetorquer control lib!

include/global.h

@@ -27,6 +27,9 @@
 #define DEBUG 1 			/* if non-zero then debug statements will be printed over USB serial */
 
 
+enum MotorDirection {REV=0, FWD=1};
+
+
 /*
  * Print a summary of the defines above and what their current ON/OFF state is.
  */

include/samd51_pin_definitions.h

@@ -31,14 +31,14 @@
 #define SUNSENSOR_A 13
 
 // MAGNETORQUER CONTROL PINS
-#define MAGNETORQUER_2_REV_PIN 4
-#define MAGNETORQUER_2_FWD_PIN 22
+#define MAGNETORQUER_2_REV_PIN 4    // reverse pin for ZXBM5210 controlling first magnetorquer
+#define MAGNETORQUER_2_FWD_PIN 22   // same but forward pin
 
-#define MAGNETORQUER_1_REV_PIN 23
-#define MAGNETORQUER_1_FWD_PIN 24
+#define MAGNETORQUER_1_REV_PIN 23   // reverse pin for ZXBM5210 controlling second magnetorquer
+#define MAGNETORQUER_1_FWD_PIN 24   // same but forward pin
 
 // BUCK CONVERTER
-#define BUCK_ENABLE_PIN A5
+#define BUCK_ENABLE_PIN A5          // Buck converter is ON when high, provides power to both magnetorquers
 
 // UART
 #define RX 0

lib/DRV10970/src/DRV_10970.h

@@ -11,6 +11,7 @@
 #define DRV_10970_H
 
 #include <Arduino.h>
+#include <global.h>
 #include <samd51_pin_definitions.h>
 
 // default pinout for the SAMD51
@@ -20,7 +21,6 @@ const int   DRV_FG = FLYWHL_RPM_PIN,     // frequency/rpm indication pin
             DRV_PWM = FLYWHL_PWM_PIN,   // pwm output pin
             DRV_RD = FLYWHL_LOCK_INDICATION_PIN;     // lock indication pin
 
-enum MotorDirection {REV=0, FWD=1};
 
 class DRV10970 {
     private:

lib/ZXMB5210/src/ZXMB5210.cpp

@@ -0,0 +1,89 @@
+#include "ZXMB5210.h"
+
+/*
+ * @brief      Construct a new instance.
+ *
+ * @param[in]  fwd   Forward pin
+ * @param[in]  rev   The reverse pin
+ * @param[in]  buck  The buck enable pin, must be high to drive motor
+ */
+ZXMB5210::ZXMB5210(uint8_t fwd, uint8_t rev, uint8_t buck){
+	this->fwd_pin = fwd;
+	this->rev_pin = rev;
+	this->buck_enable = buck;
+
+	pinMode(this->buck_enable, OUTPUT);
+	digitalWrite(this->buck_enable, LOW);
+
+	pinMode(this->fwd_pin, OUTPUT);
+	digitalWrite(this->fwd_pin, LOW);
+
+	pinMode(this->rev_pin, OUTPUT);
+	digitalWrite(this->fwd_pin, LOW);
+
+}
+
+/**
+ * @brief      Constructs a new instance. Doesn't set the state of the buck converter.
+ *
+ * @param[in]  fwd   Forward pin
+ * @param[in]  rev   The reverse pin
+ */
+ZXMB5210::ZXMB5210(uint8_t fwd, uint8_t rev){
+	this->fwd_pin = fwd;
+	this->rev_pin = rev;
+
+	pinMode(this->fwd_pin, OUTPUT);
+	digitalWrite(this->fwd_pin, LOW);
+
+	pinMode(this->rev_pin, OUTPUT);
+	digitalWrite(this->fwd_pin, LOW);
+
+}
+
+/**
+ * @brief      drive the motor forward
+ */
+void ZXMB5210::fwd(void){
+	if(this->buck_enable < 255){ // send power to the magnetorquers
+		digitalWrite(this->buck_enable, HIGH);
+	}
+	digitalWrite(this->fwd_pin, HIGH);
+	digitalWrite(this->rev_pin, LOW);
+}
+
+/**
+ * @brief      drive the motor in reverse
+ */
+void ZXMB5210::rev(void){
+	if(this->buck_enable < 255){ // send power to the magnetorquers
+		digitalWrite(this->buck_enable, HIGH);
+	}
+	digitalWrite(this->fwd_pin, LOW);
+	digitalWrite(this->rev_pin, HIGH);
+
+}
+
+/**
+ * @brief      motor driver enters standby mode, with outputs to the motor floating
+ */
+void ZXMB5210::standby(void){
+	if(this->buck_enable < 255){ // turn off power to the magnetorquers
+		digitalWrite(this->buck_enable, LOW);
+	}
+	digitalWrite(this->fwd_pin, LOW);
+	digitalWrite(this->rev_pin, LOW);
+
+}
+
+/**
+ * @brief      motor driver enters brake mode, with outputs to the motor both low, short circuit brake
+ */
+void ZXMB5210::stop(void){
+	if(this->buck_enable < 255){ // turn off power to the magnetorquers
+		digitalWrite(this->buck_enable, LOW);
+	}
+	digitalWrite(this->fwd_pin, HIGH);
+	digitalWrite(this->rev_pin, HIGH);
+
+}

lib/ZXMB5210/src/ZXMB5210.h

@@ -0,0 +1,22 @@
+#ifndef ZXMB5210_MAGNETORQUER_H
+#define ZXMB5210_MAGNETORQUER_H
+
+#include <Arduino.h>
+#include <global.h>
+
+class ZXMB5210 {
+private:
+	uint8_t fwd_pin, rev_pin, buck_enable=255;
+
+public:
+	ZXMB5210(uint8_t fwd, uint8_t rev, uint8_t buck);
+	ZXMB5210(uint8_t fwd, uint8_t rev);
+
+	void fwd(void);
+	void rev(void);
+	void standby(void);
+	void stop(void);
+
+};
+
+#endif

src/main.cpp

@@ -6,6 +6,7 @@
 #include "supportFunctions.h"
 #include "commandFunctions.h"
 #include "DRV_10970.h"
+#include "ZXMB5210.h"
 #include "validation_tests.h" // tests for functionality
 
 // Arduino library headers