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