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
Diff: DualBLS.h
- Revision:
- 12:d1d21a2941ef
- Parent:
- 11:bfb73f083009
--- a/DualBLS.h Sat Jan 19 11:45:01 2019 +0000 +++ b/DualBLS.h Mon Mar 04 17:51:08 2019 +0000 @@ -3,20 +3,24 @@ #ifndef MBED_DUALBLS_H #define MBED_DUALBLS_H -const int HANDBRAKE = 0, - FORWARD = 8, - REVERSE = 16, - REGENBRAKE = 24; +//#define USING_DC_MOTORS // Uncomment this to play with Dinosaur DC motors -const int TIMEOUT_SECONDS = 30; +#include "BufferedSerial.h" +const int MOTOR_HANDBRAKE = 0, + MOTOR_FORWARD = 8, + MOTOR_REVERSE = 16, + MOTOR_REGENBRAKE = 24; + +const int TIMEOUT_SECONDS = 2; /* Please Do Not Alter these */ -const int PWM_PRESECALER_DEFAULT = 5, +const int PWM_PRESECALER_DEFAULT = 2, VOLTAGE_READ_INTERVAL_US = 50, // Interrupts timed every 50 micro sec, runs around loop performing 1 A-D conversion per pass MAIN_LOOP_REPEAT_TIME_US = 31250, // 31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second MAIN_LOOP_ITERATION_Hz = 1000000 / MAIN_LOOP_REPEAT_TIME_US, - CURRENT_SAMPLES_AVERAGED = 100, // Current is spikey. Reading smoothed by using average of this many latest current readings +// CURRENT_SAMPLES_AVERAGED = 100, // Current is spikey. Reading smoothed by using average of this many latest current readings PWM_HZ = 15000, // chosen to be above cutoff frequency of average human ear +// PWM_HZ = 8000, // chosen to be above cutoff frequency of average human ear - clearly audible annoying noise MAX_PWM_TICKS = (SystemCoreClock / (PWM_HZ * PWM_PRESECALER_DEFAULT)), TICKLE_TIMES = 100 , WATCHDOG_RELOAD = (TIMEOUT_SECONDS * 8); // WatchDog counter ticked down in 8Hz loop @@ -27,36 +31,95 @@ enum {COM_SOURCES, COM1, COM2, HAND, RC_IN1, RC_IN2,THEEND} ; -//enum {MOTADIR, MOTBDIR, GANG, SVO1, SVO2, COMM_SRC, ID, WHEELDIA, MOTPIN, WHEELGEAR} ; // Identical in TS and DualBLS -enum {MOTADIR, MOTBDIR, GANG, SVO1, SVO2, COMM_SRC, ID, WHEELDIA, MOTPIN, WHEELGEAR, BOGHUNWAT, FUT1, FUT2, FUT3, FUT4, FUT5} ; // Identical in TS and DualBLS -struct optpar { - int min, max, def; // min, max, default - const char * t; // description -} ; -struct optpar const option_list[] = { - {0, 1, 1, "MotorA direction 0 or 1"}, - {0, 1, 0, "MotorB direction 0 or 1"}, - {0, 1, 1, "gang 0 for separate control (robot mode), 1 for ganged loco bogie mode"}, - {0, 2, 2, "Servo1 0, 1, 2 = Not used, Input, Output"}, - {0, 2, 2, "Servo2 0, 1, 2 = Not used, Input, Output"}, - {1, 5, 2, "Command source 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2"}, - {'1', '9', '0', "Alternative ID ascii '1' to '9'"}, // defaults to '0' before eerom setup for first time - {50, 253, 98, "Wheel diameter mm"}, // New 01/06/2018 - {10, 253, 27, "Motor pinion"}, // New 01/06/2018 - {50, 253, 85, "Wheel gear"}, // New 01/06/2018 - {1, 20, 4, "Bogie power closest hundreds of Watt"}, // New 22/06/2018 - {0, 100, 0, "Future 1"}, - {0, 100, 0, "Future 2"}, - {0, 100, 0, "Future 3"}, - {0, 100, 0, "Future 4"}, - {0, 100, 0, "Future 5"}, -} ; -const int numof_eeprom_options = sizeof(option_list) / sizeof (struct optpar); +enum {MOTADIR, MOTBDIR, MOTAPOLES, MOTBPOLES, ISHUNTA, ISHUNTB, SVO1, SVO2, RCIN1, RCIN2, + COMM_SRC, BOARD_ID, TOP_SPEED, WHEELDIA, MOTPIN, WHEELGEAR, + FUT1, FUT2, FUT3, FUT4, FUT5} ; // -struct single_bogie_options { - char motoradir, motorbdir, gang, svo1, svo2, comm_src, id, wheeldia, motpin, wheelgear, spare; +enum { + FAULT_0, + FAULT_EEPROM, + FAULT_BOARD_ID, + FAULT_COM_LINE_LEN, + FAULT_COM_LINE_NOMATCH, + FAULT_COM_LINE_LEN_PC, + FAULT_COM_LINE_LEN_TS, + FAULT_COM_LINE_NOMATCH_PC, + FAULT_COM_LINE_NOMATCH_TS, + FAULT_UNRECOGNISED_STATE, + FAULT_MAX, + NUMOF_REPORTABLE_TS_ERRORS + } ; + +class error_handling_Jan_2019 +{ + int32_t ESC_fault[NUMOF_REPORTABLE_TS_ERRORS] ; // Some number of reportable error codes, accessible through set and read members + public: + error_handling_Jan_2019 () { // default constructor + for (int i = 0; i < (sizeof(ESC_fault) / sizeof(int32_t)); i++) + ESC_fault[i] = 0; + } + void set (uint32_t, int32_t) ; + void clr (uint32_t) ; + uint32_t read (uint32_t) ; + bool all_good () ; + void report_any (bool) ; // retain ? true or false } ; -//const double SERVOIN_PWR_BENDER = 1.5; // Used to change servo_in stick at centre position to match pot approx 1/3 braking 2/3 driving +enum {SOURCE_PC, SOURCE_TS} ; +const int BROADCAST = '\r'; +const int MAX_PARAMS = 20; +const int MAX_CMD_LEN = 220; + +struct parameters { + struct kb_command const * command_list; + BufferedSerial * com; // pc or com2 + int32_t position_in_list, numof_dbls, target_unit, source, numof_menu_items; + double dbl[MAX_PARAMS]; + bool respond, resp_always; +} ; + +class cli_2019 { + struct kb_command const * commandlist ; + int clindex; + char cmdline[MAX_CMD_LEN + 8]; + char * cmdline_ptr; + parameters a ; +public: + cli_2019 (BufferedSerial * comport, kb_command const * list, int list_len, int source) { + a.com = comport ; + a.command_list = commandlist = list ; + a.numof_menu_items = list_len ; + a.source = source ; + cmdline_ptr = cmdline; + clindex = 0; + if (source == SOURCE_PC) + a.resp_always = true; + else + a.resp_always = false; + } ; + void core () ; + void test () ; +} ; + +class eeprom_settings { + I2C i2c; + uint32_t errors; + char settings [36]; + bool rd_24LC64 (int start_addr, char * dest, int length) ; + bool wr_24LC64 (int start_addr, char * dest, int length) ; + bool set_24LC64_internal_address (int start_addr) ; + bool ack_poll () ; + public: + eeprom_settings (PinName sda, PinName scl); // Constructor + char rd (uint32_t) ; // Read one setup char value from private buffer 'settings' + bool wr (char, uint32_t) ; // Write one setup char value to private buffer 'settings' + bool save () ; // Write 'settings' buffer to EEPROM + bool set_defaults (); // Put default settings into EEPROM and local buffer + uint32_t errs () ; // Return errors +} ; + + + + #endif