Jon Freeman / Mbed 2 deprecated Brushless_STM3_Ctrl_2018_11

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

Radio_Control_In.cpp@12:d1d21a2941ef, 2019-03-04 (annotated)

Committer:
JonFreeman
Date:
Mon Mar 04 17:51:08 2019 +0000
Revision:
12:d1d21a2941ef
Parent:
11:bfb73f083009 
STM3 ESC dual motor controller boards. Always 'Work In Progress', working snapshot March 2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 11:bfb73f083009 1 #include "mbed.h"
JonFreeman 11:bfb73f083009 2 #include "BufferedSerial.h"
JonFreeman 11:bfb73f083009 3 #include "Radio_Control_In.h"
JonFreeman 11:bfb73f083009 4 /**class RControl_In
JonFreeman 11:bfb73f083009 5 Jon Freeman
JonFreeman 11:bfb73f083009 6 Jan 2019
JonFreeman 11:bfb73f083009 7
JonFreeman 11:bfb73f083009 8 Checks for __-__ duration 800-2200us
JonFreeman 11:bfb73f083009 9 Checks repetition rate in range 5-25ms
JonFreeman 11:bfb73f083009 10 */
JonFreeman 11:bfb73f083009 11 extern BufferedSerial pc;
JonFreeman 11:bfb73f083009 12
JonFreeman 11:bfb73f083009 13 // RControl_In::RControl_In () { // Default Constructor
JonFreeman 11:bfb73f083009 14 // pulse_width_us = period_us = pulse_count = 0;
JonFreeman 11:bfb73f083009 15 // lost_chan_return_value = 0.0;
JonFreeman 11:bfb73f083009 16 // } ;
JonFreeman 11:bfb73f083009 17 // RControl_In::RControl_In (PinName inp) : pulse_in(inp) { // Default Constructor
JonFreeman 11:bfb73f083009 18 // pulse_width_us = period_us = pulse_count = 0;
JonFreeman 11:bfb73f083009 19 // lost_chan_return_value = 0.0;
JonFreeman 11:bfb73f083009 20 // } ;
JonFreeman 11:bfb73f083009 21 /**
JonFreeman 11:bfb73f083009 22 */
JonFreeman 11:bfb73f083009 23 void RControl_In::set_lost_chan_return_value (double d) {
JonFreeman 11:bfb73f083009 24 lost_chan_return_value = d;
JonFreeman 11:bfb73f083009 25 }
JonFreeman 11:bfb73f083009 26
JonFreeman 11:bfb73f083009 27 uint32_t RControl_In::pulsewidth ()
JonFreeman 11:bfb73f083009 28 {
JonFreeman 11:bfb73f083009 29 return pulse_width_us;
JonFreeman 11:bfb73f083009 30 }
JonFreeman 11:bfb73f083009 31
JonFreeman 11:bfb73f083009 32 uint32_t RControl_In::pulsecount ()
JonFreeman 11:bfb73f083009 33 {
JonFreeman 11:bfb73f083009 34 return pulse_count;
JonFreeman 11:bfb73f083009 35 }
JonFreeman 11:bfb73f083009 36
JonFreeman 11:bfb73f083009 37 uint32_t RControl_In::period ()
JonFreeman 11:bfb73f083009 38 {
JonFreeman 11:bfb73f083009 39 return period_us;
JonFreeman 11:bfb73f083009 40 }
JonFreeman 11:bfb73f083009 41
JonFreeman 12:d1d21a2941ef 42 void RControl_In::reset ()
JonFreeman 12:d1d21a2941ef 43 {
JonFreeman 12:d1d21a2941ef 44 pulse_width_us = period_us = pulse_count = 0;
JonFreeman 12:d1d21a2941ef 45 t.reset ();
JonFreeman 12:d1d21a2941ef 46 }
JonFreeman 12:d1d21a2941ef 47
JonFreeman 11:bfb73f083009 48 bool RControl_In::validate_rx ()
JonFreeman 11:bfb73f083009 49 { // Tests for pulse width and repetition rates being believable
JonFreeman 11:bfb73f083009 50 return !((period_us < 5000) || (period_us > 25000) || (pulse_width_us < 800) || (pulse_width_us > 2200));
JonFreeman 11:bfb73f083009 51 }
JonFreeman 11:bfb73f083009 52
JonFreeman 11:bfb73f083009 53 double RControl_In::normalised () {
JonFreeman 11:bfb73f083009 54 if (!validate_rx()) {
JonFreeman 11:bfb73f083009 55 pc.printf ("Invalid RCin\r\n");
JonFreeman 11:bfb73f083009 56 return lost_chan_return_value; // ** WHAT TO RETURN WHEN RC NOT ACTIVE ? ** This is now user settable
JonFreeman 11:bfb73f083009 57 } // Defaults to returning 0.0, user should call set_lost_chan_value (value) to alter
JonFreeman 11:bfb73f083009 58 double norm = (double) (pulse_width_us - 1000); // left with -200 to + 1200 allowing for some margin
JonFreeman 11:bfb73f083009 59 norm /= 1000.0;
JonFreeman 11:bfb73f083009 60 if (norm > 1.0)
JonFreeman 11:bfb73f083009 61 norm = 1.0;
JonFreeman 11:bfb73f083009 62 if (norm < 0.0)
JonFreeman 11:bfb73f083009 63 norm = 0.0;
JonFreeman 11:bfb73f083009 64 return norm;
JonFreeman 11:bfb73f083009 65 }
JonFreeman 11:bfb73f083009 66
JonFreeman 11:bfb73f083009 67 void RControl_In::RadC_rise () // December 2018 - Could not make Servo port bidirectional, fix by using PC_14 and 15 as inputs
JonFreeman 11:bfb73f083009 68 {
JonFreeman 11:bfb73f083009 69 period_us = t.read_us ();
JonFreeman 11:bfb73f083009 70 t.reset ();
JonFreeman 11:bfb73f083009 71 t.start ();
JonFreeman 11:bfb73f083009 72 }
JonFreeman 11:bfb73f083009 73
JonFreeman 11:bfb73f083009 74 void RControl_In::RadC_fall ()
JonFreeman 11:bfb73f083009 75 {
JonFreeman 11:bfb73f083009 76 pulse_width_us = t.read_us ();
JonFreeman 11:bfb73f083009 77 pulse_count++;
JonFreeman 11:bfb73f083009 78 }
JonFreeman 11:bfb73f083009 79 // end of RControl_In class