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
error_handler.cpp@12:d1d21a2941ef, 2019-03-04 (annotated)
- Committer:
- JonFreeman
- Date:
- Mon Mar 04 17:51:08 2019 +0000
- Revision:
- 12:d1d21a2941ef
STM3 ESC dual motor controller boards. Always 'Work In Progress', working snapshot March 2019
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JonFreeman | 12:d1d21a2941ef | 1 | #include "mbed.h" |
JonFreeman | 12:d1d21a2941ef | 2 | #include "DualBLS.h" |
JonFreeman | 12:d1d21a2941ef | 3 | #include "BufferedSerial.h" |
JonFreeman | 12:d1d21a2941ef | 4 | extern BufferedSerial pc; |
JonFreeman | 12:d1d21a2941ef | 5 | |
JonFreeman | 12:d1d21a2941ef | 6 | /*class error_handling_Jan_2019 |
JonFreeman | 12:d1d21a2941ef | 7 | { |
JonFreeman | 12:d1d21a2941ef | 8 | int32_t TS_fault[NUMOF_REPORTABLE_TS_ERRORS] ; // Some number of reportable error codes, accessible through set and read members |
JonFreeman | 12:d1d21a2941ef | 9 | public: |
JonFreeman | 12:d1d21a2941ef | 10 | error_handling_Jan_2019 () { // default constructor |
JonFreeman | 12:d1d21a2941ef | 11 | for (int i = 0; i < (sizeof(TS_fault) / sizeof(int32_t)); i++) |
JonFreeman | 12:d1d21a2941ef | 12 | TS_fault[i] = 0; |
JonFreeman | 12:d1d21a2941ef | 13 | } |
JonFreeman | 12:d1d21a2941ef | 14 | void set (uint32_t, int32_t) ; |
JonFreeman | 12:d1d21a2941ef | 15 | uint32_t read (uint32_t) ; |
JonFreeman | 12:d1d21a2941ef | 16 | bool all_good () ; |
JonFreeman | 12:d1d21a2941ef | 17 | void report_any () ; |
JonFreeman | 12:d1d21a2941ef | 18 | } ; |
JonFreeman | 12:d1d21a2941ef | 19 | */ |
JonFreeman | 12:d1d21a2941ef | 20 | |
JonFreeman | 12:d1d21a2941ef | 21 | const char * FaultList[] = { |
JonFreeman | 12:d1d21a2941ef | 22 | /* |
JonFreeman | 12:d1d21a2941ef | 23 | FAULT_0, |
JonFreeman | 12:d1d21a2941ef | 24 | FAULT_EEPROM, |
JonFreeman | 12:d1d21a2941ef | 25 | FAULT_BOARD_ID, |
JonFreeman | 12:d1d21a2941ef | 26 | FAULT_COM_LINE_LEN, |
JonFreeman | 12:d1d21a2941ef | 27 | FAULT_COM_LINE_NOMATCH, |
JonFreeman | 12:d1d21a2941ef | 28 | FAULT_COM_LINE_LEN_PC, |
JonFreeman | 12:d1d21a2941ef | 29 | FAULT_COM_LINE_LEN_TS, |
JonFreeman | 12:d1d21a2941ef | 30 | FAULT_COM_LINE_NOMATCH_PC, |
JonFreeman | 12:d1d21a2941ef | 31 | FAULT_COM_LINE_NOMATCH_TS, |
JonFreeman | 12:d1d21a2941ef | 32 | FAULT_MAX, |
JonFreeman | 12:d1d21a2941ef | 33 | NUMOF_REPORTABLE_TS_ERRORS |
JonFreeman | 12:d1d21a2941ef | 34 | */ |
JonFreeman | 12:d1d21a2941ef | 35 | "Zero", |
JonFreeman | 12:d1d21a2941ef | 36 | "EEPROM", |
JonFreeman | 12:d1d21a2941ef | 37 | "board ID", |
JonFreeman | 12:d1d21a2941ef | 38 | "com line len", |
JonFreeman | 12:d1d21a2941ef | 39 | "com line nomatch", |
JonFreeman | 12:d1d21a2941ef | 40 | "com line len", |
JonFreeman | 12:d1d21a2941ef | 41 | "com line len", |
JonFreeman | 12:d1d21a2941ef | 42 | "com no match", |
JonFreeman | 12:d1d21a2941ef | 43 | "com no match", |
JonFreeman | 12:d1d21a2941ef | 44 | "max", |
JonFreeman | 12:d1d21a2941ef | 45 | "endoflist", |
JonFreeman | 12:d1d21a2941ef | 46 | " ", |
JonFreeman | 12:d1d21a2941ef | 47 | } ; |
JonFreeman | 12:d1d21a2941ef | 48 | |
JonFreeman | 12:d1d21a2941ef | 49 | bool error_handling_Jan_2019::all_good () { |
JonFreeman | 12:d1d21a2941ef | 50 | for (int i = 0; i < NUMOF_REPORTABLE_TS_ERRORS; i++) |
JonFreeman | 12:d1d21a2941ef | 51 | if (ESC_fault[i]) |
JonFreeman | 12:d1d21a2941ef | 52 | return false; |
JonFreeman | 12:d1d21a2941ef | 53 | return true; |
JonFreeman | 12:d1d21a2941ef | 54 | } |
JonFreeman | 12:d1d21a2941ef | 55 | |
JonFreeman | 12:d1d21a2941ef | 56 | /**void error_handling_Jan_2019::set (uint32_t err_no, int32_t bits_to_set) { |
JonFreeman | 12:d1d21a2941ef | 57 | Used to set bits in error int |
JonFreeman | 12:d1d21a2941ef | 58 | Uses OR to set new bits without clearing other bits set previously |
JonFreeman | 12:d1d21a2941ef | 59 | */ |
JonFreeman | 12:d1d21a2941ef | 60 | void error_handling_Jan_2019::set (uint32_t err_no, int32_t bits_to_set) { |
JonFreeman | 12:d1d21a2941ef | 61 | if (bits_to_set) { |
JonFreeman | 12:d1d21a2941ef | 62 | pc.printf ("At Error.set, err_no %d, bits %lx\r\n", err_no, bits_to_set); |
JonFreeman | 12:d1d21a2941ef | 63 | ESC_fault[err_no] |= bits_to_set; // Uses OR to set new bits without clearing other bits set previously |
JonFreeman | 12:d1d21a2941ef | 64 | } |
JonFreeman | 12:d1d21a2941ef | 65 | } |
JonFreeman | 12:d1d21a2941ef | 66 | |
JonFreeman | 12:d1d21a2941ef | 67 | /**void error_handling_Jan_2019::clr (uint32_t err_no) { |
JonFreeman | 12:d1d21a2941ef | 68 | Used to clear all bits in error int |
JonFreeman | 12:d1d21a2941ef | 69 | */ |
JonFreeman | 12:d1d21a2941ef | 70 | void error_handling_Jan_2019::clr (uint32_t err_no) { |
JonFreeman | 12:d1d21a2941ef | 71 | ESC_fault[err_no] = 0; |
JonFreeman | 12:d1d21a2941ef | 72 | } |
JonFreeman | 12:d1d21a2941ef | 73 | |
JonFreeman | 12:d1d21a2941ef | 74 | uint32_t error_handling_Jan_2019::read (uint32_t err_no) { |
JonFreeman | 12:d1d21a2941ef | 75 | return ESC_fault[err_no]; |
JonFreeman | 12:d1d21a2941ef | 76 | } |
JonFreeman | 12:d1d21a2941ef | 77 | |
JonFreeman | 12:d1d21a2941ef | 78 | void error_handling_Jan_2019::report_any (bool retain) { |
JonFreeman | 12:d1d21a2941ef | 79 | for (int i = 0; i < NUMOF_REPORTABLE_TS_ERRORS; i++) { |
JonFreeman | 12:d1d21a2941ef | 80 | if (ESC_fault[i]) { |
JonFreeman | 12:d1d21a2941ef | 81 | pc.printf ("Error report, number %d, value %d, %s\r\n", i, ESC_fault[i], FaultList[i]); |
JonFreeman | 12:d1d21a2941ef | 82 | if (!retain) |
JonFreeman | 12:d1d21a2941ef | 83 | ESC_fault[i] = 0; |
JonFreeman | 12:d1d21a2941ef | 84 | } |
JonFreeman | 12:d1d21a2941ef | 85 | } |
JonFreeman | 12:d1d21a2941ef | 86 | } |
JonFreeman | 12:d1d21a2941ef | 87 |