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: brushless_motor.h
- Revision:
- 12:d1d21a2941ef
- Parent:
- 11:bfb73f083009
--- a/brushless_motor.h Sat Jan 19 11:45:01 2019 +0000 +++ b/brushless_motor.h Mon Mar 04 17:51:08 2019 +0000 @@ -7,49 +7,53 @@ #include "mbed.h" #include "DualBLS.h" +#include "FastPWM.h" class brushless_motor { int32_t angle_cnt; - uint32_t Hall_index[2], encoder_error_cnt; - uint32_t Hall_total, visible_mode, inner_mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; // to contain one seconds worth - uint32_t latest_pulses_per_sec, Hall_tab_ptr, direction, ppstmp; - bool moving_flag; - const uint16_t * lut; - uint16_t ttabl[34]; - FastPWM maxV; - FastPWM maxI; - InterruptIn H1; - InterruptIn H2; - InterruptIn H3; - PortOut OP; + uint32_t Hall_index[2], encoder_error_cnt, motor_poles, current_sense_rs_offset; + uint32_t Hall_total, // Incremented on every Hall sensor transition + Hall_previous, + visible_mode, + inner_mode; + uint32_t direction; + int temp_tick; + double RPM_filter, dv_by_dt; + double target_speed; + bool moving_flag; + const uint16_t * lut; AnalogIn Motor_I; - void Hall_change () ; - int read_Halls () ; // Returns 3 bits of latest Hall sensor outputs + FastPWM maxV, maxI; + InterruptIn H1, H2, H3; // Inputs for motor Hall sensors + PortOut OP; + void Hall_change () ; + int read_Halls () ; // Returns 3 bits of latest Hall sensor outputs + uint32_t max_rpm ; + double V_clamp ; // Used to limit top speed + double numof_current_sense_rs; public: +#ifdef USING_DC_MOTORS bool dc_motor; - struct currents { - uint32_t max, min, ave; - } I; - uint32_t current_samples[CURRENT_SAMPLES_AVERAGED]; // Circular buffer where latest current readings get stored - uint32_t cs_ptr; - uint32_t RPM, PPS, tickleon; +#endif + uint32_t tickleon; + double Idbl; double last_V, last_I; + double dRPM, dMPH, s[8]; // brushless_motor () {} ; // can not use this with exotic elements PortOut, FastPWM etc - brushless_motor (PinName iadc, PinName pwv, PinName pwi, const uint16_t *, PinName h1, PinName h2, PinName h3, PortName, int) ; // Constructor + brushless_motor (PinName iadc, PinName pwv, PinName pwi, const uint16_t *, PinName h1, PinName h2, PinName h3, PortName, int, uint32_t) ; // Constructor + bool poles (int) ; // Set number of motor poles - 4, 6, or 8 + void set_speed (double) ; // Sets target_speed void set_V_limit (double) ; // Sets max motor voltage void set_I_limit (double) ; // Sets max motor current void motor_set () ; // Energise Port with data determined by Hall sensors - void direction_set (int) ; // sets 'direction' with bit pattern to eor with FORWARD or REVERSE in set_mode - bool set_mode (int); // sets mode to HANDBRAKE, FORWARD, REVERSE or REGENBRAKE + void direction_set (int) ; // sets 'direction' with bit pattern to eor with MOTOR_FORWARD or MOTOR_REVERSE in set_mode + bool set_mode (int); // sets mode to MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE or MOTOR_REGENBRAKE bool is_moving () ; // Returns true if one or more Hall transitions within last 31.25 milli secs - void current_calc () ; // Updates 3 uint32_t I.min, I.ave, I.max - uint32_t pulses_per_sec () ; // call this once per main loop pass to keep count = edges per sec - bool motor_is_brushless (); + void speed_monitor_and_control () ; // call this once per main loop pass (32Hz) to keep count = edges per sec void high_side_off () ; - void low_side_on () ; - void raw_V_pwm (int); - void sniff_current () ; +// void low_side_on () ; + void sniff_current () ; // Call this every 200us to update Idbl } ; //MotorA, MotorB, or even Motor[2]; #endif