This code example demonstrates the basic usage of the Infineon TLE94112 multi half-bridge shield together with supported ModusToolbox™ MCUs for motor control applications.
The example consists of a set of code snippets based on the multi half-bridge library API.
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Note: This code example version requires ModusToolbox™ software version 3.0 or later and is not backward compatible with v2.4 or older versions.
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Programming language: C++
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Associated parts: Infineon controllers supporting the ModusToolbox™ Hardware Abstraction Layer (HAL)
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Motor or controlling load
- GNU Arm® embedded compiler v10.3.1 (
GCC_ARM) - Default value ofTOOLCHAIN - Arm® compiler v6.16 (
ARM) - IAR C/C++ compiler v8.50.6 (
IAR)
- PSoC™ 6 Wi-Fi Bluetooth™ Prototyping Kit (CY8CPROTO-062-4343W) - Default value of
TARGET - Infineon MCU kits support the ModusToolbox™ HAL in their board support package (BSP).
If you have an MCU board header compatible with Arduino, then place the multi-half-bridge shield on top of this board.
For all other ModusToolbox™ MCU evaluation kits, you must wire the correct SPI pins from the board to the shield, including the EN (enable board) pin, VDD, and GND. The following figure is an example of the PSoC™ 6 Wi-Fi Bluetooth® Prototyping Kit (CY8CPROTO-062-4343W).
Check each example description to find out their specific load connection details. In most cases, by default, the load high-side is connected to OUTPUT 1, and the low-side of the load to OUTPUT 5.
Install a terminal emulator if you don't have one. Instructions in this document use Tera Term.
This example requires no additional software or tools.
Create the project and open it using one of the following:
In Eclipse IDE for ModusToolbox™ software
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Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox Application). This launches the Project Creator tool.
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Pick the CY8CPROTO-062-4343W BSP from the list shown in the Project Creator - Choose Board Support Package (BSP) dialog.
When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the Quick Panel.
You can also just start the application creation process again and select a different kit. The BSP selected requires as capabilities the ModusToolbox™ HAL and an SPI peripheral interface.
If you want to use the application for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.
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In the Project Creator - Select Application dialog, choose the example "Multi Half-Bridge" by enabling the checkbox.
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(Optional) Change the suggested New Application Name.
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The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.
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Click Create to complete the application creation process.
For more details, see the Eclipse IDE for ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mt_ide_user_guide.pdf).
In command-line interface (CLI)
ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ software install directory}/tools_{version}/project-creator/ directory.
Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software tools. You can access it by typing modus-shell in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.
The "project-creator-cli" tool has the following arguments:
| Argument | Description | Required/optional |
|---|---|---|
--board-id |
Defined in the <id> field of the BSP manifest |
Required |
--app-id |
Defined in the <id> field of the CE manifest |
Required |
--target-dir |
Specify the directory in which the application is to be created if you prefer not to use the default current working directory | Optional |
--user-app-name |
Specify the name of the application if you prefer to have a name other than the example's default name | Optional |
The following example clones the mtb-example-multi-half-bridge application with the desired name "MultiHalfBridge" configured for the CY8CPROTO-062-4343W BSP into the specified working directory, C:/mtb_projects:
project-creator-cli --board-id CY8CPROTO-062-4343W --app-id mtb-example-multi-half-bridge --user-app-name MultiHalfBridge --target-dir "C:/mtb_projects"
Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).
To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can invoke the Library Manager GUI tool from the terminal using make library-manager command or use the Library Manager CLI tool "library-manager-cli" to change the BSP.
The "library-manager-cli" tool has the following arguments:
| Argument | Description | Required/optional |
|---|---|---|
--add-bsp-name |
Name of the BSP that should be added to the application | Required |
--set-active-bsp |
Name of the BSP that should be as active BSP for the application | Required |
--add-bsp-version |
Specify the version of the BSP that should be added to the application if you do not wish to use the latest from manifest | Optional |
--add-bsp-location |
Specify the location of the BSP (local/shared) if you prefer to add the BSP in a shared path | Optional |
Following example adds the CY8CPROTO-062-4343W BSP to the already created application and makes it the active BSP for the app:
~/ModusToolbox/tools_3.0/library-manager/library-manager-cli --project "C:/mtb_projects/MultiHalfBridge" --add-bsp-name CY8CPROTO-062-4343W --add-bsp-version "latest-v4.X" --add-bsp-location "local"
~/ModusToolbox/tools_3.0/library-manager/library-manager-cli --project "C:/mtb_projects/MultiHalfBridge" --set-active-bsp APP_CY8CPROTO-062-4343W
In third-party IDEs
Use one of the following options:
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Use the standalone Project Creator tool:
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Launch Project Creator from the Windows Start menu or from {ModusToolbox™ software install directory}/tools_{version}/project-creator/project-creator.exe.
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In the initial Choose Board Support Package screen, select the BSP, and click Next.
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In the Select Application screen, select the appropriate IDE from the Target IDE drop-down menu.
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Click Create and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE.
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Use command-line interface (CLI):
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Follow the instructions from the In command-line interface (CLI) section to create the application.
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Export the application to a supported IDE using the
make <ide>command. -
Follow the instructions displayed in the terminal to create or import the application as an IDE project.
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For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).
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Connect the CY8CPROTO-062-4343W kit with the DC motor shield and the adequate motor to the PC through the USB of the PSoC™ 6 kit.
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Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud.
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Select the desired example to be executed. These examples are included:
//!< This is a list of all examples which are covered here. enum examples_t { BASICTEST = 1, //!< \brief basicTest just starts and stops a motor */ ADVANCEDTEST, //!< \brief advanceTest runs a motor up and down */ ERRORDIAGNOSIS, //!< \brief errorDiagnosis shows the use of the error registers */ HALFBRIDGE, //!< \brief halfBridge shows the use of only the controller library LEDMODE, //!< \brief ledMode shows how to lower the sensitivity for open load detection STEPPERMOTOR, //!< \brief stepperMotor shows how to drive voltage-controlled bipolar stepper motors MULTIPLECONTROLLERS, //!< \brief multipleControllers shows how to implement stacked shields */ MULTIPLEMOTORS //!< \brief multipleMotors shows how to use more than one motor */ };You can change the running example by just changing the EXAMPLE definition:
//!> Select the example which is compiled. There are several different examples defined that can be switched here. #define EXAMPLE BASICTESTSeveral example functions for the basic API functions flow of the library are provided. Find more information about each example in the header files of each of the examples folders.
There is also a possibility to change between single or multiple half-bridges, in case your motor needs more current than the 0.9 A, which a half-bridge can deliver.
// Select the number of connected half-bridges to be used // If only two half-bridges are used (one high, one low) then a motor with only 0.9 A can be used, otherwise the controller will signal an over-current error. // If your motor or application needs more than multiple half-bridges can be connected. // If you choose four half-bridges then 1.8 A can be reached. // The following settings are possible: // - 2U two half-bridges with 0.9A are used, which is sufficient for small motors. This is the default setting // - 4U with 1.8A, which is sufficient for bigger motors like most computer fans #define TWO_BRIDGES 2U #define FOUR_BRIDGES 4U #define MULTI_HALF_BRIDGES TWO_BRIDGESJust change from TWO_BRIDGES to FOUR_BRIDGES.
- TWO_BRIDGES means use H1 and H5
- FOUR_BRIDGES means uses H1/H2 and H3/H4
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After building and programming, the serial terminal application will print out the example results and relevant information about the executed functions.
You can debug the example to step through the code. In the IDE, use the <Application Name> Debug (KitProg3_MiniProg4) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ software user guide.
Note: (Only while debugging) On the CM4 CPU, some code in main() may execute before the debugger halts at the beginning of main(). This means that some code executes twice – once before the debugger stops execution, and again after the debugger resets the program counter to the beginning of main(). See KBA231071 to learn about this and for the workaround.
Additionally, the multi half-bridge library provides debug log traces. These can be enabled in the src/config/tl94112-conf.hpp file of the multi-half-bridge folder (by default located under the mtb_shared folder of the ModusToolbox™ workspace).
The following project provides multiple directories with independent application examples, which provide several functions showing examples of how to use the multi half-bridge API and use cases of the library:
- basicTest
- advancedTest
- errorDiagnosis
- halfBridge
- ledMode
- multipleControllers
- multipleMotors
- stepperMotor
Find more information about the multi-half-bridge library in the wiki.
| Resources | Links |
|---|---|
| Application notes | AN228571 – Getting started with PSoC™ 6 MCU on ModusToolbox™ software |
| Code examples | Using ModusToolbox™ software |
| Device documentation | PSoC™ 6 MCU datasheets PSoC™ 6 technical reference manuals |
| Development kits | Select your kits from the evaluation board finder |
| Libraries on GitHub | mtb-pdl-cat1 – PSoC™ 6 Peripheral Driver Library (PDL) mtb-hal-cat1 – Hardware Abstraction Layer (HAL) retarget-io – Utility library to retarget STDIO messages to a UART port |
| Middleware on GitHub | psoc6-middleware – Links to all PSoC™ 6 MCU middleware multi-half-bridge – Multi half-bridge C++ library |
| Tools | Eclipse IDE for ModusToolbox™ software – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices. |
Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.
Document title: CE236069 - Multi half-bridge
| Version | Description of change |
|---|---|
| 1.0.0 | New code example |
| 2.0.0 | Updated to support ModusToolbox™ software v3.0 |
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