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