STM3 ESC dual brushless motor controller. 10-60v, motor power rating tiny to kW. Ganged or independent motor control As used in 'The Brute' locomotive - www.jons-workshop.com
Dependencies: mbed BufferedSerial Servo FastPWM
DualBLS.h@8:93203f473f6e, 2018-08-18 (annotated)
- Committer:
- JonFreeman
- Date:
- Sat Aug 18 12:51:35 2018 +0000
- Revision:
- 8:93203f473f6e
- Parent:
- 7:6deaeace9a3e
- Child:
- 10:e40d8724268a
Work underway to drive brushed motors.; Code as supplied to Rob
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JonFreeman | 2:04761b196473 | 1 | const int HANDBRAKE = 0, |
JonFreeman | 2:04761b196473 | 2 | FORWARD = 8, |
JonFreeman | 2:04761b196473 | 3 | REVERSE = 16, |
JonFreeman | 2:04761b196473 | 4 | REGENBRAKE = 24; |
JonFreeman | 3:ecb00e0e8d68 | 5 | |
JonFreeman | 5:ca86a7848d54 | 6 | const int TIMEOUT_SECONDS = 30; |
JonFreeman | 5:ca86a7848d54 | 7 | |
JonFreeman | 5:ca86a7848d54 | 8 | /* Please Do Not Alter these */ |
JonFreeman | 8:93203f473f6e | 9 | const int PWM_PRESECALER_DEFAULT = 5, |
JonFreeman | 8:93203f473f6e | 10 | VOLTAGE_READ_INTERVAL_US = 50, // Interrupts timed every 50 micro sec, runs around loop performing 1 A-D conversion per pass |
JonFreeman | 5:ca86a7848d54 | 11 | MAIN_LOOP_REPEAT_TIME_US = 31250, // 31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second |
JonFreeman | 5:ca86a7848d54 | 12 | MAIN_LOOP_ITERATION_Hz = 1000000 / MAIN_LOOP_REPEAT_TIME_US, |
JonFreeman | 5:ca86a7848d54 | 13 | CURRENT_SAMPLES_AVERAGED = 100, // Current is spikey. Reading smoothed by using average of this many latest current readings |
JonFreeman | 8:93203f473f6e | 14 | PWM_HZ = 15000, // chosen to be above cutoff frequency of average human ear |
JonFreeman | 8:93203f473f6e | 15 | MAX_PWM_TICKS = (SystemCoreClock / (PWM_HZ * PWM_PRESECALER_DEFAULT)), |
JonFreeman | 5:ca86a7848d54 | 16 | TICKLE_TIMES = 100 , |
JonFreeman | 5:ca86a7848d54 | 17 | WATCHDOG_RELOAD = (TIMEOUT_SECONDS * 8); // WatchDog counter ticked down in 8Hz loop |
JonFreeman | 5:ca86a7848d54 | 18 | |
JonFreeman | 5:ca86a7848d54 | 19 | /* End of Please Do Not Alter these */ |
JonFreeman | 3:ecb00e0e8d68 | 20 | const double PI = 4.0 * atan(1.0), |
JonFreeman | 3:ecb00e0e8d68 | 21 | TWOPI = 8.0 * atan(1.0); |
JonFreeman | 8:93203f473f6e | 22 | const double Pot_Brake_Range = 0.33; |
JonFreeman | 5:ca86a7848d54 | 23 | |
JonFreeman | 8:93203f473f6e | 24 | //enum {MOTADIR, MOTBDIR, GANG, SVO1, SVO2, COMM_SRC, ID, WHEELDIA, MOTPIN, WHEELGEAR} ; // Identical in TS and DualBLS |
JonFreeman | 8:93203f473f6e | 25 | enum {MOTADIR, MOTBDIR, GANG, SVO1, SVO2, COMM_SRC, ID, WHEELDIA, MOTPIN, WHEELGEAR, BOGHUNWAT, FUT1, FUT2, FUT3, FUT4, FUT5} ; // Identical in TS and DualBLS |
JonFreeman | 5:ca86a7848d54 | 26 | struct optpar { |
JonFreeman | 5:ca86a7848d54 | 27 | int min, max, def; // min, max, default |
JonFreeman | 5:ca86a7848d54 | 28 | const char * t; // description |
JonFreeman | 5:ca86a7848d54 | 29 | } ; |
JonFreeman | 5:ca86a7848d54 | 30 | struct optpar const option_list[] = { |
JonFreeman | 5:ca86a7848d54 | 31 | {0, 1, 1, "MotorA direction 0 or 1"}, |
JonFreeman | 5:ca86a7848d54 | 32 | {0, 1, 0, "MotorB direction 0 or 1"}, |
JonFreeman | 5:ca86a7848d54 | 33 | {0, 1, 1, "gang 0 for separate control (robot mode), 1 for ganged loco bogie mode"}, |
JonFreeman | 5:ca86a7848d54 | 34 | {0, 2, 2, "Servo1 0, 1, 2 = Not used, Input, Output"}, |
JonFreeman | 5:ca86a7848d54 | 35 | {0, 2, 2, "Servo2 0, 1, 2 = Not used, Input, Output"}, |
JonFreeman | 5:ca86a7848d54 | 36 | {1, 5, 2, "Command source 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2"}, |
JonFreeman | 5:ca86a7848d54 | 37 | {'1', '9', '0', "Alternative ID ascii '1' to '9'"}, // defaults to '0' before eerom setup for first time |
JonFreeman | 8:93203f473f6e | 38 | {50, 253, 98, "Wheel diameter mm"}, // New 01/06/2018 |
JonFreeman | 7:6deaeace9a3e | 39 | {10, 253, 27, "Motor pinion"}, // New 01/06/2018 |
JonFreeman | 8:93203f473f6e | 40 | {50, 253, 85, "Wheel gear"}, // New 01/06/2018 |
JonFreeman | 8:93203f473f6e | 41 | {1, 20, 4, "Bogie power closest hundreds of Watt"}, // New 22/06/2018 |
JonFreeman | 8:93203f473f6e | 42 | {0, 100, 0, "Future 1"}, |
JonFreeman | 8:93203f473f6e | 43 | {0, 100, 0, "Future 2"}, |
JonFreeman | 8:93203f473f6e | 44 | {0, 100, 0, "Future 3"}, |
JonFreeman | 8:93203f473f6e | 45 | {0, 100, 0, "Future 4"}, |
JonFreeman | 8:93203f473f6e | 46 | {0, 100, 0, "Future 5"}, |
JonFreeman | 5:ca86a7848d54 | 47 | } ; |
JonFreeman | 6:f289a49c1eae | 48 | const int numof_eeprom_options = sizeof(option_list) / sizeof (struct optpar); |
JonFreeman | 5:ca86a7848d54 | 49 | |
JonFreeman | 6:f289a49c1eae | 50 | struct single_bogie_options { |
JonFreeman | 6:f289a49c1eae | 51 | char motoradir, motorbdir, gang, svo1, svo2, comm_src, id, wheeldia, motpin, wheelgear, spare; |
JonFreeman | 6:f289a49c1eae | 52 | } ; |