Dual Brushless Motor ESC, 10-62V, up to 50A per motor. Motors ganged or independent, multiple control input methods, cycle-by-cycle current limit, speed mode and torque mode control. Motors tiny to kW. Speed limit and other parameters easily set in firmware. As used in 'The Brushless Brutalist' locomotive - www.jons-workshop.com. See also Model Engineer magazine June-October 2019.
Dependencies: mbed BufferedSerial Servo PCT2075 FastPWM
Update 17th August 2020 Radio control inputs completed
main.cpp@4:21d91465e4b1, 2018-04-26 (annotated)
- Committer:
- JonFreeman
- Date:
- Thu Apr 26 08:23:04 2018 +0000
- Revision:
- 4:21d91465e4b1
- Parent:
- 3:ecb00e0e8d68
- Child:
- 5:ca86a7848d54
Adding setup in eeprom code, responses to be aligned to controller;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JonFreeman | 0:435bf84ce48a | 1 | #include "mbed.h" |
JonFreeman | 0:435bf84ce48a | 2 | #include "DualBLS.h" |
JonFreeman | 0:435bf84ce48a | 3 | #include "BufferedSerial.h" |
JonFreeman | 0:435bf84ce48a | 4 | #include "FastPWM.h" |
JonFreeman | 4:21d91465e4b1 | 5 | #include "Servo.h" |
JonFreeman | 0:435bf84ce48a | 6 | /* STM32F401RE - compile using NUCLEO-F401RE |
JonFreeman | 0:435bf84ce48a | 7 | // PROJECT - Dual Brushless Motor Controller - March 2018. |
JonFreeman | 0:435bf84ce48a | 8 | |
JonFreeman | 0:435bf84ce48a | 9 | AnalogIn to read each motor current |
JonFreeman | 0:435bf84ce48a | 10 | |
JonFreeman | 0:435bf84ce48a | 11 | ____________________________________________________________________________________ |
JonFreeman | 0:435bf84ce48a | 12 | CONTROL PHILOSOPHY |
JonFreeman | 0:435bf84ce48a | 13 | This Bogie drive board software should ensure sensible control when commands supplied are not sensible ! |
JonFreeman | 0:435bf84ce48a | 14 | |
JonFreeman | 0:435bf84ce48a | 15 | That is, smooth transition between Drive, Coast and Brake to be implemented here. |
JonFreeman | 0:435bf84ce48a | 16 | The remote controller must not be relied upon to deliver sensible command sequences. |
JonFreeman | 0:435bf84ce48a | 17 | |
JonFreeman | 0:435bf84ce48a | 18 | So much the better if the remote controller does issue sensible commands, but ... |
JonFreeman | 0:435bf84ce48a | 19 | |
JonFreeman | 0:435bf84ce48a | 20 | ____________________________________________________________________________________ |
JonFreeman | 0:435bf84ce48a | 21 | |
JonFreeman | 0:435bf84ce48a | 22 | |
JonFreeman | 0:435bf84ce48a | 23 | */ |
JonFreeman | 0:435bf84ce48a | 24 | |
JonFreeman | 0:435bf84ce48a | 25 | // Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out |
JonFreeman | 4:21d91465e4b1 | 26 | //#define SERVO1_IN |
JonFreeman | 0:435bf84ce48a | 27 | //#define SERVO1_OUT |
JonFreeman | 0:435bf84ce48a | 28 | //#define SERVO2_IN |
JonFreeman | 4:21d91465e4b1 | 29 | //#define SERVO2_OUT |
JonFreeman | 0:435bf84ce48a | 30 | |
JonFreeman | 0:435bf84ce48a | 31 | |
JonFreeman | 0:435bf84ce48a | 32 | // Port A -> MotorA, Port B -> MotorB |
JonFreeman | 0:435bf84ce48a | 33 | const uint16_t |
JonFreeman | 4:21d91465e4b1 | 34 | AUL = 1 << 0, // Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers |
JonFreeman | 0:435bf84ce48a | 35 | AVL = 1 << 6, |
JonFreeman | 0:435bf84ce48a | 36 | AWL = 1 << 4, |
JonFreeman | 0:435bf84ce48a | 37 | |
JonFreeman | 0:435bf84ce48a | 38 | AUH = 1 << 1, |
JonFreeman | 0:435bf84ce48a | 39 | AVH = 1 << 7, |
JonFreeman | 0:435bf84ce48a | 40 | AWH = 1 << 8, |
JonFreeman | 0:435bf84ce48a | 41 | |
JonFreeman | 0:435bf84ce48a | 42 | AUV = AUH | AVL, |
JonFreeman | 0:435bf84ce48a | 43 | AVU = AVH | AUL, |
JonFreeman | 0:435bf84ce48a | 44 | AUW = AUH | AWL, |
JonFreeman | 0:435bf84ce48a | 45 | AWU = AWH | AUL, |
JonFreeman | 0:435bf84ce48a | 46 | AVW = AVH | AWL, |
JonFreeman | 0:435bf84ce48a | 47 | AWV = AWH | AVL, |
JonFreeman | 0:435bf84ce48a | 48 | |
JonFreeman | 3:ecb00e0e8d68 | 49 | KEEP_L_MASK_A = AUL | AVL | AWL, |
JonFreeman | 3:ecb00e0e8d68 | 50 | KEEP_H_MASK_A = AUH | AVH | AWH, |
JonFreeman | 3:ecb00e0e8d68 | 51 | |
JonFreeman | 0:435bf84ce48a | 52 | BRA = AUL | AVL | AWL, |
JonFreeman | 0:435bf84ce48a | 53 | |
JonFreeman | 0:435bf84ce48a | 54 | BUL = 1 << 0, |
JonFreeman | 0:435bf84ce48a | 55 | BVL = 1 << 1, |
JonFreeman | 0:435bf84ce48a | 56 | BWL = 1 << 2, |
JonFreeman | 0:435bf84ce48a | 57 | |
JonFreeman | 0:435bf84ce48a | 58 | BUH = 1 << 10, |
JonFreeman | 0:435bf84ce48a | 59 | BVH = 1 << 12, |
JonFreeman | 0:435bf84ce48a | 60 | BWH = 1 << 13, |
JonFreeman | 0:435bf84ce48a | 61 | |
JonFreeman | 0:435bf84ce48a | 62 | BUV = BUH | BVL, |
JonFreeman | 0:435bf84ce48a | 63 | BVU = BVH | BUL, |
JonFreeman | 0:435bf84ce48a | 64 | BUW = BUH | BWL, |
JonFreeman | 0:435bf84ce48a | 65 | BWU = BWH | BUL, |
JonFreeman | 0:435bf84ce48a | 66 | BVW = BVH | BWL, |
JonFreeman | 0:435bf84ce48a | 67 | BWV = BWH | BVL, |
JonFreeman | 0:435bf84ce48a | 68 | |
JonFreeman | 3:ecb00e0e8d68 | 69 | KEEP_L_MASK_B = BUL | BVL | BWL, |
JonFreeman | 3:ecb00e0e8d68 | 70 | KEEP_H_MASK_B = BUH | BVH | BWH, |
JonFreeman | 3:ecb00e0e8d68 | 71 | |
JonFreeman | 0:435bf84ce48a | 72 | BRB = BUL | BVL | BWL, |
JonFreeman | 0:435bf84ce48a | 73 | |
JonFreeman | 0:435bf84ce48a | 74 | PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH, // NEW METHOD FOR DGD21032 MOSFET DRIVERS |
JonFreeman | 0:435bf84ce48a | 75 | PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH; |
JonFreeman | 0:435bf84ce48a | 76 | |
JonFreeman | 0:435bf84ce48a | 77 | PortOut MotA (PortA, PORT_A_MASK); |
JonFreeman | 0:435bf84ce48a | 78 | PortOut MotB (PortB, PORT_B_MASK); |
JonFreeman | 0:435bf84ce48a | 79 | |
JonFreeman | 0:435bf84ce48a | 80 | // Pin 1 VBAT NET +3V3 |
JonFreeman | 0:435bf84ce48a | 81 | DigitalIn J3 (PC_13, PullUp);// Pin 2 Jumper pulls to GND, R floats Hi |
JonFreeman | 0:435bf84ce48a | 82 | // Pin 3 PC14-OSC32_IN NET O32I |
JonFreeman | 0:435bf84ce48a | 83 | // Pin 4 PC15-OSC32_OUT NET O32O |
JonFreeman | 0:435bf84ce48a | 84 | // Pin 5 PH0-OSC_IN NET PH1 |
JonFreeman | 0:435bf84ce48a | 85 | // Pin 6 PH1-OSC_OUT NET PH1 |
JonFreeman | 0:435bf84ce48a | 86 | // Pin 7 NRST NET NRST |
JonFreeman | 0:435bf84ce48a | 87 | AnalogIn Ain_DriverPot (PC_0); // Pin 8 Spare Analogue in, net SAIN fitted with external pull-down |
JonFreeman | 0:435bf84ce48a | 88 | AnalogIn Ain_SystemVolts (PC_1); // Pin 9 |
JonFreeman | 0:435bf84ce48a | 89 | AnalogIn Motor_A_Current (PC_2); // Pin 10 might as well use up WSRA stock here |
JonFreeman | 0:435bf84ce48a | 90 | AnalogIn Motor_B_Current (PC_3); // Pin 11 |
JonFreeman | 0:435bf84ce48a | 91 | // Pin 12 VSSA/VREF- NET GND |
JonFreeman | 0:435bf84ce48a | 92 | // Pin 13 VDDA/VREF+ NET +3V3 |
JonFreeman | 0:435bf84ce48a | 93 | // Pin 14 Port_A AUL |
JonFreeman | 0:435bf84ce48a | 94 | // Pin 15 Port_A AUH |
JonFreeman | 0:435bf84ce48a | 95 | // Pins 16, 17 BufferedSerial pc |
JonFreeman | 0:435bf84ce48a | 96 | BufferedSerial pc (PA_2, PA_3, 512, 4, NULL); // Pins 16, 17 tx, rx to pc via usb lead |
JonFreeman | 0:435bf84ce48a | 97 | // Pin 18 VSS NET GND |
JonFreeman | 0:435bf84ce48a | 98 | // Pin 19 VDD NET +3V3 |
JonFreeman | 0:435bf84ce48a | 99 | // Pin 20 Port_A AWL |
JonFreeman | 0:435bf84ce48a | 100 | // Pin 21 DigitalOut led1(LED1); |
JonFreeman | 0:435bf84ce48a | 101 | DigitalOut LED (PA_5); // Pin 21 |
JonFreeman | 0:435bf84ce48a | 102 | // Pin 22 Port_A AVL |
JonFreeman | 0:435bf84ce48a | 103 | // Pin 23 Port_A AVH |
JonFreeman | 0:435bf84ce48a | 104 | InterruptIn MBH2 (PC_4); // Pin 24 |
JonFreeman | 0:435bf84ce48a | 105 | InterruptIn MBH3 (PC_5); // Pin 25 |
JonFreeman | 0:435bf84ce48a | 106 | // Pin 26 Port_B BUL |
JonFreeman | 0:435bf84ce48a | 107 | // Pin 27 Port_B BVL |
JonFreeman | 0:435bf84ce48a | 108 | // Pin 28 Port_B BWL |
JonFreeman | 0:435bf84ce48a | 109 | // Pin 29 Port_B BUH |
JonFreeman | 0:435bf84ce48a | 110 | // Pin 30 VCAP1 |
JonFreeman | 0:435bf84ce48a | 111 | // Pin 31 VSS |
JonFreeman | 0:435bf84ce48a | 112 | // Pin 32 VDD |
JonFreeman | 0:435bf84ce48a | 113 | // Pin 33 Port_B BVH |
JonFreeman | 0:435bf84ce48a | 114 | // Pin 34 Port_B BWH |
JonFreeman | 0:435bf84ce48a | 115 | DigitalOut T4 (PB_14); // Pin 35 |
JonFreeman | 0:435bf84ce48a | 116 | DigitalOut T3 (PB_15); // Pin 36 |
JonFreeman | 3:ecb00e0e8d68 | 117 | // BufferedSerial com2 pins 37 Tx, 38 Rx |
JonFreeman | 3:ecb00e0e8d68 | 118 | BufferedSerial com2 (PC_6, PC_7); // Pins 37, 38 tx, rx to XBee module |
JonFreeman | 0:435bf84ce48a | 119 | FastPWM A_MAX_V_PWM (PC_8, 1), // Pin 39 pwm3/3 |
JonFreeman | 0:435bf84ce48a | 120 | A_MAX_I_PWM (PC_9, 1); // pin 40, prescaler value pwm3/4 |
JonFreeman | 0:435bf84ce48a | 121 | //InterruptIn MotB_Hall (PA_8); // Pin 41 |
JonFreeman | 0:435bf84ce48a | 122 | // Pin 41 Port_A AWH |
JonFreeman | 3:ecb00e0e8d68 | 123 | // BufferedSerial com3 pins 42 Tx, 43 Rx |
JonFreeman | 4:21d91465e4b1 | 124 | //InterruptIn tryseredge (PA_9); |
JonFreeman | 3:ecb00e0e8d68 | 125 | BufferedSerial com3 (PA_9, PA_10); // Pins 42, 43 tx, rx to any aux module |
JonFreeman | 4:21d91465e4b1 | 126 | // PA_9 is Tx. I wonder, can we also use InterruptIn on this pin to generate interrupts on tx bit transitions ? Let's find out ! |
JonFreeman | 4:21d91465e4b1 | 127 | // No. |
JonFreeman | 0:435bf84ce48a | 128 | |
JonFreeman | 0:435bf84ce48a | 129 | // Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses |
JonFreeman | 0:435bf84ce48a | 130 | //BufferedSerial extra_ser (PA_11, PA_12); // Pins 44, 45 tx, rx to XBee module |
JonFreeman | 0:435bf84ce48a | 131 | DigitalOut T2 (PA_11); // Pin 44 |
JonFreeman | 0:435bf84ce48a | 132 | DigitalOut T1 (PA_12); // Pin 45 |
JonFreeman | 0:435bf84ce48a | 133 | // Pin 46 SWDIO |
JonFreeman | 0:435bf84ce48a | 134 | // Pin 47 VSS |
JonFreeman | 0:435bf84ce48a | 135 | // Pin 48 VDD |
JonFreeman | 0:435bf84ce48a | 136 | // Pin 49 SWCLK |
JonFreeman | 0:435bf84ce48a | 137 | DigitalOut T5 (PA_15); // Pin 50 |
JonFreeman | 0:435bf84ce48a | 138 | InterruptIn MAH1 (PC_10); // Pin 51 |
JonFreeman | 0:435bf84ce48a | 139 | InterruptIn MAH2 (PC_11); // Pin 52 |
JonFreeman | 0:435bf84ce48a | 140 | InterruptIn MAH3 (PC_12); // Pin 53 |
JonFreeman | 0:435bf84ce48a | 141 | InterruptIn MBH1 (PD_2); // Pin 54 |
JonFreeman | 0:435bf84ce48a | 142 | DigitalOut T6 (PB_3); // Pin 55 |
JonFreeman | 0:435bf84ce48a | 143 | FastPWM B_MAX_V_PWM (PB_4, 1), // Pin 56 pwm3/3 |
JonFreeman | 0:435bf84ce48a | 144 | B_MAX_I_PWM (PB_5, 1); // pin 57, prescaler value pwm3/4 |
JonFreeman | 0:435bf84ce48a | 145 | |
JonFreeman | 0:435bf84ce48a | 146 | I2C i2c (PB_7, PB_6); // Pins 58, 59 For 24LC64 eeprom |
JonFreeman | 0:435bf84ce48a | 147 | // Pin 60 BOOT0 |
JonFreeman | 0:435bf84ce48a | 148 | |
JonFreeman | 4:21d91465e4b1 | 149 | // Servo pins, 2 off. Configured as Input to read radio control receiver |
JonFreeman | 4:21d91465e4b1 | 150 | // If used as servo output, code gives pin to 'Servo' - seems to work |
JonFreeman | 0:435bf84ce48a | 151 | InterruptIn Servo1_i (PB_8); // Pin 61 to read output from rc rx |
JonFreeman | 0:435bf84ce48a | 152 | InterruptIn Servo2_i (PB_9); // Pin 62 to read output from rc rx |
JonFreeman | 0:435bf84ce48a | 153 | |
JonFreeman | 0:435bf84ce48a | 154 | // Pin 63 VSS |
JonFreeman | 0:435bf84ce48a | 155 | // Pin 64 VDD |
JonFreeman | 0:435bf84ce48a | 156 | // SYSTEM CONSTANTS |
JonFreeman | 0:435bf84ce48a | 157 | |
JonFreeman | 0:435bf84ce48a | 158 | /* Please Do Not Alter these */ |
JonFreeman | 0:435bf84ce48a | 159 | const int VOLTAGE_READ_INTERVAL_US = 50, // Interrupts timed every 50 micro sec, runs around loop performing 1 A-D conversion per pass |
JonFreeman | 0:435bf84ce48a | 160 | MAIN_LOOP_REPEAT_TIME_US = 31250, // 31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second |
JonFreeman | 0:435bf84ce48a | 161 | MAIN_LOOP_ITERATION_Hz = 1000000 / MAIN_LOOP_REPEAT_TIME_US, |
JonFreeman | 0:435bf84ce48a | 162 | CURRENT_SAMPLES_AVERAGED = 100, // Current is spikey. Reading smoothed by using average of this many latest current readings |
JonFreeman | 0:435bf84ce48a | 163 | PWM_HZ = 16000, // chosen to be above cutoff frequency of average human ear |
JonFreeman | 4:21d91465e4b1 | 164 | MAX_PWM_TICKS = SystemCoreClock / PWM_HZ, |
JonFreeman | 4:21d91465e4b1 | 165 | TICKLE_TIMES = 100 ; |
JonFreeman | 0:435bf84ce48a | 166 | |
JonFreeman | 0:435bf84ce48a | 167 | /* End of Please Do Not Alter these */ |
JonFreeman | 0:435bf84ce48a | 168 | |
JonFreeman | 0:435bf84ce48a | 169 | /* Global variable declarations */ |
JonFreeman | 3:ecb00e0e8d68 | 170 | volatile uint32_t fast_sys_timer = 0; // gets incremented by our Ticker ISR every VOLTAGE_READ_INTERVAL_US |
JonFreeman | 0:435bf84ce48a | 171 | uint32_t volt_reading = 0, // Global updated by interrupt driven read of Battery Volts |
JonFreeman | 0:435bf84ce48a | 172 | driverpot_reading = 0, // Global updated by interrupt driven read of Drivers Pot |
JonFreeman | 0:435bf84ce48a | 173 | sys_timer = 0, // gets incremented by our Ticker ISR every MAIN_LOOP_REPEAT_TIME_US |
JonFreeman | 0:435bf84ce48a | 174 | AtoD_Semaphore = 0; |
JonFreeman | 0:435bf84ce48a | 175 | bool loop_flag = false; // made true in ISR_loop_timer, picked up and made false again in main programme loop |
JonFreeman | 0:435bf84ce48a | 176 | bool flag_8Hz = false; // As loop_flag but repeats 8 times per sec |
JonFreeman | 3:ecb00e0e8d68 | 177 | |
JonFreeman | 4:21d91465e4b1 | 178 | double angle = 0.0, angle_step = 0.00005, sinv, cosv; |
JonFreeman | 3:ecb00e0e8d68 | 179 | |
JonFreeman | 3:ecb00e0e8d68 | 180 | //double test_pot = 0.0, test_amps = 0.0; // These used in knifeandfork code testing only |
JonFreeman | 0:435bf84ce48a | 181 | /* End of Global variable declarations */ |
JonFreeman | 0:435bf84ce48a | 182 | |
JonFreeman | 0:435bf84ce48a | 183 | Ticker tick_vread; // Device to cause periodic interrupts, used to time voltage readings etc |
JonFreeman | 0:435bf84ce48a | 184 | Ticker loop_timer; // Device to cause periodic interrupts, used to sync iterations of main programme loop |
JonFreeman | 0:435bf84ce48a | 185 | |
JonFreeman | 0:435bf84ce48a | 186 | // Interrupt Service Routines |
JonFreeman | 0:435bf84ce48a | 187 | |
JonFreeman | 4:21d91465e4b1 | 188 | /*uint32_t edgeintcnt = 0; |
JonFreeman | 4:21d91465e4b1 | 189 | void seredgerise () { edgeintcnt++; } |
JonFreeman | 4:21d91465e4b1 | 190 | void seredgefall () { edgeintcnt++; } |
JonFreeman | 4:21d91465e4b1 | 191 | |
JonFreeman | 4:21d91465e4b1 | 192 | void seredgetest () { |
JonFreeman | 4:21d91465e4b1 | 193 | com2.printf ("edgeintcnt = %d\r\n", edgeintcnt); |
JonFreeman | 4:21d91465e4b1 | 194 | com3.printf ("%c", 0x55); |
JonFreeman | 4:21d91465e4b1 | 195 | }*/ |
JonFreeman | 0:435bf84ce48a | 196 | /** void ISR_loop_timer () |
JonFreeman | 0:435bf84ce48a | 197 | * This ISR responds to Ticker interrupts at a rate of (probably) 32 times per second (check from constant declarations above) |
JonFreeman | 0:435bf84ce48a | 198 | * This ISR sets global flag 'loop_flag' used to synchronise passes around main programme control loop. |
JonFreeman | 0:435bf84ce48a | 199 | * Increments global 'sys_timer', usable anywhere as general measure of elapsed time |
JonFreeman | 0:435bf84ce48a | 200 | */ |
JonFreeman | 0:435bf84ce48a | 201 | void ISR_loop_timer () // This is Ticker Interrupt Service Routine - loop timer - MAIN_LOOP_REPEAT_TIME_US |
JonFreeman | 0:435bf84ce48a | 202 | { |
JonFreeman | 0:435bf84ce48a | 203 | loop_flag = true; // set flag to allow main programme loop to proceed |
JonFreeman | 0:435bf84ce48a | 204 | sys_timer++; // Just a handy measure of elapsed time for anything to use |
JonFreeman | 0:435bf84ce48a | 205 | if ((sys_timer & 0x03) == 0) |
JonFreeman | 0:435bf84ce48a | 206 | flag_8Hz = true; |
JonFreeman | 0:435bf84ce48a | 207 | } |
JonFreeman | 0:435bf84ce48a | 208 | |
JonFreeman | 0:435bf84ce48a | 209 | /** void ISR_voltage_reader () |
JonFreeman | 0:435bf84ce48a | 210 | * This ISR responds to Ticker interrupts every 'VOLTAGE_READ_INTERVAL_US' micro seconds |
JonFreeman | 0:435bf84ce48a | 211 | * |
JonFreeman | 0:435bf84ce48a | 212 | * AtoD_reader() called from convenient point in code to take readings outside of ISRs |
JonFreeman | 0:435bf84ce48a | 213 | */ |
JonFreeman | 0:435bf84ce48a | 214 | |
JonFreeman | 3:ecb00e0e8d68 | 215 | void ISR_voltage_reader () // This is Ticker Interrupt Service Routine - few us between readings - VOLTAGE_READ_INTERVAL_US = 50 |
JonFreeman | 0:435bf84ce48a | 216 | { |
JonFreeman | 0:435bf84ce48a | 217 | AtoD_Semaphore++; |
JonFreeman | 2:04761b196473 | 218 | fast_sys_timer++; // Just a handy measure of elapsed time for anything to use |
JonFreeman | 0:435bf84ce48a | 219 | } |
JonFreeman | 0:435bf84ce48a | 220 | |
JonFreeman | 0:435bf84ce48a | 221 | |
JonFreeman | 0:435bf84ce48a | 222 | /* |
JonFreeman | 0:435bf84ce48a | 223 | Servo - mutex uses : |
JonFreeman | 0:435bf84ce48a | 224 | 0. Unused |
JonFreeman | 0:435bf84ce48a | 225 | 1. Input of pwm from model control Rx |
JonFreeman | 0:435bf84ce48a | 226 | 2. Output pwm to drive model control servo |
JonFreeman | 0:435bf84ce48a | 227 | */ |
JonFreeman | 4:21d91465e4b1 | 228 | enum {SERVO_UNUSED, SERVO_IN, SERVO_OUT} ; |
JonFreeman | 4:21d91465e4b1 | 229 | |
JonFreeman | 4:21d91465e4b1 | 230 | class RControl_In |
JonFreeman | 4:21d91465e4b1 | 231 | { // Read servo style pwm input |
JonFreeman | 0:435bf84ce48a | 232 | Timer t; |
JonFreeman | 0:435bf84ce48a | 233 | int32_t clock_old, clock_new; |
JonFreeman | 0:435bf84ce48a | 234 | int32_t pulse_width_us, period_us; |
JonFreeman | 4:21d91465e4b1 | 235 | public: |
JonFreeman | 4:21d91465e4b1 | 236 | RControl_In () { |
JonFreeman | 0:435bf84ce48a | 237 | pulse_width_us = period_us = 0; |
JonFreeman | 4:21d91465e4b1 | 238 | com2.printf ("Setting up Radio_Congtrol_In\r\n"); |
JonFreeman | 4:21d91465e4b1 | 239 | } ; |
JonFreeman | 0:435bf84ce48a | 240 | bool validate_rx () ; |
JonFreeman | 0:435bf84ce48a | 241 | void rise () ; |
JonFreeman | 0:435bf84ce48a | 242 | void fall () ; |
JonFreeman | 4:21d91465e4b1 | 243 | uint32_t pulsewidth () ; |
JonFreeman | 4:21d91465e4b1 | 244 | uint32_t period () ; |
JonFreeman | 4:21d91465e4b1 | 245 | bool rx_active; |
JonFreeman | 4:21d91465e4b1 | 246 | } ; |
JonFreeman | 0:435bf84ce48a | 247 | |
JonFreeman | 4:21d91465e4b1 | 248 | uint32_t RControl_In::pulsewidth () { |
JonFreeman | 4:21d91465e4b1 | 249 | return pulse_width_us; |
JonFreeman | 4:21d91465e4b1 | 250 | } |
JonFreeman | 4:21d91465e4b1 | 251 | |
JonFreeman | 4:21d91465e4b1 | 252 | uint32_t RControl_In::period () { |
JonFreeman | 4:21d91465e4b1 | 253 | return period_us; |
JonFreeman | 4:21d91465e4b1 | 254 | } |
JonFreeman | 4:21d91465e4b1 | 255 | |
JonFreeman | 4:21d91465e4b1 | 256 | bool RControl_In::validate_rx () |
JonFreeman | 0:435bf84ce48a | 257 | { |
JonFreeman | 0:435bf84ce48a | 258 | if ((clock() - clock_new) > 4) |
JonFreeman | 0:435bf84ce48a | 259 | rx_active = false; |
JonFreeman | 0:435bf84ce48a | 260 | else |
JonFreeman | 0:435bf84ce48a | 261 | rx_active = true; |
JonFreeman | 0:435bf84ce48a | 262 | return rx_active; |
JonFreeman | 0:435bf84ce48a | 263 | } |
JonFreeman | 0:435bf84ce48a | 264 | |
JonFreeman | 4:21d91465e4b1 | 265 | void RControl_In::rise () |
JonFreeman | 0:435bf84ce48a | 266 | { |
JonFreeman | 0:435bf84ce48a | 267 | t.stop (); |
JonFreeman | 0:435bf84ce48a | 268 | period_us = t.read_us (); |
JonFreeman | 0:435bf84ce48a | 269 | t.reset (); |
JonFreeman | 0:435bf84ce48a | 270 | t.start (); |
JonFreeman | 0:435bf84ce48a | 271 | } |
JonFreeman | 4:21d91465e4b1 | 272 | void RControl_In::fall () |
JonFreeman | 0:435bf84ce48a | 273 | { |
JonFreeman | 0:435bf84ce48a | 274 | pulse_width_us = t.read_us (); |
JonFreeman | 0:435bf84ce48a | 275 | clock_old = clock_new; |
JonFreeman | 0:435bf84ce48a | 276 | clock_new = clock(); |
JonFreeman | 0:435bf84ce48a | 277 | if ((clock_new - clock_old) < 4) |
JonFreeman | 0:435bf84ce48a | 278 | rx_active = true; |
JonFreeman | 0:435bf84ce48a | 279 | } |
JonFreeman | 4:21d91465e4b1 | 280 | |
JonFreeman | 0:435bf84ce48a | 281 | |
JonFreeman | 4:21d91465e4b1 | 282 | Servo * Servos[2]; |
JonFreeman | 4:21d91465e4b1 | 283 | |
JonFreeman | 0:435bf84ce48a | 284 | //uint32_t HAtot = 0, HBtot = 0, A_Offset = 0, B_Offset = 0; |
JonFreeman | 0:435bf84ce48a | 285 | /* |
JonFreeman | 0:435bf84ce48a | 286 | 5 1 3 2 6 4 SENSOR SEQUENCE |
JonFreeman | 0:435bf84ce48a | 287 | |
JonFreeman | 3:ecb00e0e8d68 | 288 | 1 1 1 1 0 0 0 ---___---___ Hall1 |
JonFreeman | 3:ecb00e0e8d68 | 289 | 2 0 0 1 1 1 0 __---___---_ Hall2 |
JonFreeman | 3:ecb00e0e8d68 | 290 | 4 1 0 0 0 1 1 -___---___-- Hall3 |
JonFreeman | 0:435bf84ce48a | 291 | |
JonFreeman | 0:435bf84ce48a | 292 | UV WV WU VU VW UW OUTPUT SEQUENCE |
JonFreeman | 0:435bf84ce48a | 293 | */ |
JonFreeman | 3:ecb00e0e8d68 | 294 | const uint16_t A_tabl[] = { // Origial table |
JonFreeman | 0:435bf84ce48a | 295 | 0, 0, 0, 0, 0, 0, 0, 0, // Handbrake |
JonFreeman | 0:435bf84ce48a | 296 | 0, AWV,AVU,AWU,AUW,AUV,AVW, 0, // Forward 0, WV1, VU1, WU1, UW1, UV1, VW1, 0, // JP, FR, SG, PWM = 1 0 1 1 Forward1 |
JonFreeman | 0:435bf84ce48a | 297 | 0, AVW,AUV,AUW,AWU,AVU,AWV, 0, // Reverse 0, VW1, UV1, UW1, WU1, VU1, WV1, 0, // JP, FR, SG, PWM = 1 1 0 1 Reverse1 |
JonFreeman | 3:ecb00e0e8d68 | 298 | 0, BRA,BRA,BRA,BRA,BRA,BRA,0, // Regenerative Braking |
JonFreeman | 4:21d91465e4b1 | 299 | KEEP_L_MASK_A, KEEP_H_MASK_A // [32 and 33] |
JonFreeman | 3:ecb00e0e8d68 | 300 | } ; |
JonFreeman | 4:21d91465e4b1 | 301 | InterruptIn * AHarr[] = { |
JonFreeman | 4:21d91465e4b1 | 302 | &MAH1, |
JonFreeman | 4:21d91465e4b1 | 303 | &MAH2, |
JonFreeman | 4:21d91465e4b1 | 304 | &MAH3 |
JonFreeman | 3:ecb00e0e8d68 | 305 | } ; |
JonFreeman | 0:435bf84ce48a | 306 | const uint16_t B_tabl[] = { |
JonFreeman | 0:435bf84ce48a | 307 | 0, 0, 0, 0, 0, 0, 0, 0, // Handbrake |
JonFreeman | 0:435bf84ce48a | 308 | 0, BWV,BVU,BWU,BUW,BUV,BVW, 0, // Forward 0, WV1, VU1, WU1, UW1, UV1, VW1, 0, // JP, FR, SG, PWM = 1 0 1 1 Forward1 |
JonFreeman | 0:435bf84ce48a | 309 | 0, BVW,BUV,BUW,BWU,BVU,BWV, 0, // Reverse 0, VW1, UV1, UW1, WU1, VU1, WV1, 0, // JP, FR, SG, PWM = 1 1 0 1 Reverse1 |
JonFreeman | 3:ecb00e0e8d68 | 310 | 0, BRB,BRB,BRB,BRB,BRB,BRB,0, // Regenerative Braking |
JonFreeman | 4:21d91465e4b1 | 311 | KEEP_L_MASK_B, KEEP_H_MASK_B |
JonFreeman | 3:ecb00e0e8d68 | 312 | } ; |
JonFreeman | 4:21d91465e4b1 | 313 | InterruptIn * BHarr[] = { |
JonFreeman | 4:21d91465e4b1 | 314 | &MBH1, |
JonFreeman | 4:21d91465e4b1 | 315 | &MBH2, |
JonFreeman | 4:21d91465e4b1 | 316 | &MBH3 |
JonFreeman | 0:435bf84ce48a | 317 | } ; |
JonFreeman | 0:435bf84ce48a | 318 | |
JonFreeman | 0:435bf84ce48a | 319 | class motor |
JonFreeman | 0:435bf84ce48a | 320 | { |
JonFreeman | 0:435bf84ce48a | 321 | uint32_t Hall_total, mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; // to contain one seconds worth |
JonFreeman | 3:ecb00e0e8d68 | 322 | uint32_t latest_pulses_per_sec, Hall_tab_ptr, direction, ppstmp; |
JonFreeman | 3:ecb00e0e8d68 | 323 | bool moving_flag; |
JonFreeman | 0:435bf84ce48a | 324 | const uint16_t * lut; |
JonFreeman | 0:435bf84ce48a | 325 | FastPWM * maxV, * maxI; |
JonFreeman | 0:435bf84ce48a | 326 | PortOut * Motor_Port; |
JonFreeman | 2:04761b196473 | 327 | InterruptIn * Hall1, * Hall2, * Hall3; |
JonFreeman | 0:435bf84ce48a | 328 | public: |
JonFreeman | 2:04761b196473 | 329 | struct currents { |
JonFreeman | 2:04761b196473 | 330 | uint32_t max, min, ave; |
JonFreeman | 2:04761b196473 | 331 | } I; |
JonFreeman | 3:ecb00e0e8d68 | 332 | int32_t angle_cnt; |
JonFreeman | 0:435bf84ce48a | 333 | uint32_t current_samples[CURRENT_SAMPLES_AVERAGED]; // Circular buffer where latest current readings get stored |
JonFreeman | 3:ecb00e0e8d68 | 334 | uint32_t Hindex[2], tickleon, encoder_error_cnt; |
JonFreeman | 0:435bf84ce48a | 335 | motor () {} ; // Default constructor |
JonFreeman | 4:21d91465e4b1 | 336 | motor (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **) ; |
JonFreeman | 0:435bf84ce48a | 337 | void set_V_limit (double) ; // Sets max motor voltage |
JonFreeman | 0:435bf84ce48a | 338 | void set_I_limit (double) ; // Sets max motor current |
JonFreeman | 0:435bf84ce48a | 339 | void Hall_change () ; // Called in response to edge on Hall input pin |
JonFreeman | 3:ecb00e0e8d68 | 340 | void motor_set () ; // Energise Port with data determined by Hall sensors |
JonFreeman | 3:ecb00e0e8d68 | 341 | void direction_set (int) ; // sets 'direction' with bit pattern to eor with FORWARD or REVERSE in set_mode |
JonFreeman | 3:ecb00e0e8d68 | 342 | bool set_mode (int); // sets mode to HANDBRAKE, FORWARD, REVERSE or REGENBRAKE |
JonFreeman | 3:ecb00e0e8d68 | 343 | bool is_moving () ; // Returns true if one or more Hall transitions within last 31.25 milli secs |
JonFreeman | 3:ecb00e0e8d68 | 344 | void current_calc () ; // Updates 3 uint32_t I.min, I.ave, I.max |
JonFreeman | 3:ecb00e0e8d68 | 345 | uint32_t pulses_per_sec () ; // call this once per main loop pass to keep count = edges per sec |
JonFreeman | 3:ecb00e0e8d68 | 346 | int read_Halls () ; // Returns 3 bits of latest Hall sensor outputs |
JonFreeman | 3:ecb00e0e8d68 | 347 | void high_side_off () ; |
JonFreeman | 3:ecb00e0e8d68 | 348 | } ; //MotorA, MotorB, or even Motor[2]; |
JonFreeman | 0:435bf84ce48a | 349 | |
JonFreeman | 4:21d91465e4b1 | 350 | motor MotorA (&MotA, &A_MAX_V_PWM, &A_MAX_I_PWM, A_tabl, AHarr); |
JonFreeman | 4:21d91465e4b1 | 351 | motor MotorB (&MotB, &B_MAX_V_PWM, &B_MAX_I_PWM, B_tabl, BHarr); |
JonFreeman | 0:435bf84ce48a | 352 | |
JonFreeman | 3:ecb00e0e8d68 | 353 | motor * MotPtr[8]; // Array of pointers to some number of motor objects |
JonFreeman | 3:ecb00e0e8d68 | 354 | |
JonFreeman | 4:21d91465e4b1 | 355 | motor::motor (PortOut * P , FastPWM * _maxV_ , FastPWM * _maxI_ , const uint16_t * lutptr, InterruptIn ** Hall) // Constructor |
JonFreeman | 3:ecb00e0e8d68 | 356 | { // Constructor |
JonFreeman | 0:435bf84ce48a | 357 | maxV = _maxV_; |
JonFreeman | 0:435bf84ce48a | 358 | maxI = _maxI_; |
JonFreeman | 3:ecb00e0e8d68 | 359 | Hall_total = 0; // mode can be only 0, 8, 16 or 24, lut row select for Handbrake, Forward, Reverse, or Regen Braking |
JonFreeman | 0:435bf84ce48a | 360 | latest_pulses_per_sec = 0; |
JonFreeman | 0:435bf84ce48a | 361 | for (int i = 0; i < MAIN_LOOP_ITERATION_Hz; i++) |
JonFreeman | 0:435bf84ce48a | 362 | edge_count_table[i] = 0; |
JonFreeman | 0:435bf84ce48a | 363 | if (lutptr != A_tabl && lutptr != B_tabl) |
JonFreeman | 0:435bf84ce48a | 364 | pc.printf ("Fatal in 'motor' constructor, Invalid lut address\r\n"); |
JonFreeman | 3:ecb00e0e8d68 | 365 | Hall_tab_ptr = 0; |
JonFreeman | 0:435bf84ce48a | 366 | Motor_Port = P; |
JonFreeman | 0:435bf84ce48a | 367 | pc.printf ("In motor constructor, Motor port = %lx\r\n", P); |
JonFreeman | 0:435bf84ce48a | 368 | maxV->period_ticks (MAX_PWM_TICKS + 1); // around 18 kHz |
JonFreeman | 0:435bf84ce48a | 369 | maxI->period_ticks (MAX_PWM_TICKS + 1); |
JonFreeman | 0:435bf84ce48a | 370 | maxV->pulsewidth_ticks (MAX_PWM_TICKS / 20); |
JonFreeman | 0:435bf84ce48a | 371 | maxI->pulsewidth_ticks (MAX_PWM_TICKS / 30); |
JonFreeman | 0:435bf84ce48a | 372 | // if (P != PortA && P != PortB) |
JonFreeman | 0:435bf84ce48a | 373 | // pc.printf ("Fatal in 'motor' constructor, Invalid Port\r\n"); |
JonFreeman | 0:435bf84ce48a | 374 | // else |
JonFreeman | 0:435bf84ce48a | 375 | // PortOut Motor_P (P, *mask); // PortA for motor A, PortB for motor B |
JonFreeman | 3:ecb00e0e8d68 | 376 | mode = REGENBRAKE; |
JonFreeman | 0:435bf84ce48a | 377 | lut = lutptr; |
JonFreeman | 3:ecb00e0e8d68 | 378 | Hindex[0] = Hindex[1] = read_Halls (); |
JonFreeman | 3:ecb00e0e8d68 | 379 | ppstmp = 0; |
JonFreeman | 3:ecb00e0e8d68 | 380 | tickleon = 0; |
JonFreeman | 3:ecb00e0e8d68 | 381 | direction = 0; |
JonFreeman | 3:ecb00e0e8d68 | 382 | angle_cnt = 0; // Incremented or decremented on each Hall event according to actual measured direction of travel |
JonFreeman | 3:ecb00e0e8d68 | 383 | encoder_error_cnt = 0; // Incremented when Hall transition not recognised as either direction |
JonFreeman | 4:21d91465e4b1 | 384 | Hall1 = Hall[0]; |
JonFreeman | 4:21d91465e4b1 | 385 | Hall2 = Hall[1]; |
JonFreeman | 4:21d91465e4b1 | 386 | Hall3 = Hall[2]; |
JonFreeman | 3:ecb00e0e8d68 | 387 | } |
JonFreeman | 3:ecb00e0e8d68 | 388 | |
JonFreeman | 3:ecb00e0e8d68 | 389 | void motor::direction_set (int dir) { |
JonFreeman | 3:ecb00e0e8d68 | 390 | if (dir != 0) |
JonFreeman | 3:ecb00e0e8d68 | 391 | dir = FORWARD | REVERSE; // bits used in eor |
JonFreeman | 3:ecb00e0e8d68 | 392 | direction = dir; |
JonFreeman | 0:435bf84ce48a | 393 | } |
JonFreeman | 0:435bf84ce48a | 394 | |
JonFreeman | 1:0fabe6fdb55b | 395 | int motor::read_Halls () { |
JonFreeman | 2:04761b196473 | 396 | int x = 0; |
JonFreeman | 2:04761b196473 | 397 | if (*Hall1 != 0) x |= 1; |
JonFreeman | 2:04761b196473 | 398 | if (*Hall2 != 0) x |= 2; |
JonFreeman | 2:04761b196473 | 399 | if (*Hall3 != 0) x |= 4; |
JonFreeman | 2:04761b196473 | 400 | return x; |
JonFreeman | 2:04761b196473 | 401 | } |
JonFreeman | 2:04761b196473 | 402 | |
JonFreeman | 3:ecb00e0e8d68 | 403 | void motor::high_side_off () { |
JonFreeman | 3:ecb00e0e8d68 | 404 | uint16_t p = *Motor_Port; |
JonFreeman | 3:ecb00e0e8d68 | 405 | p &= lut[32]; // KEEP_L_MASK_A or B |
JonFreeman | 3:ecb00e0e8d68 | 406 | *Motor_Port = p; |
JonFreeman | 1:0fabe6fdb55b | 407 | } |
JonFreeman | 1:0fabe6fdb55b | 408 | |
JonFreeman | 0:435bf84ce48a | 409 | void motor::current_calc () |
JonFreeman | 0:435bf84ce48a | 410 | { |
JonFreeman | 0:435bf84ce48a | 411 | I.min = 0x0fffffff; // samples are 16 bit |
JonFreeman | 0:435bf84ce48a | 412 | I.max = 0; |
JonFreeman | 0:435bf84ce48a | 413 | I.ave = 0; |
JonFreeman | 0:435bf84ce48a | 414 | uint16_t sample; |
JonFreeman | 0:435bf84ce48a | 415 | for (int i = 0; i < CURRENT_SAMPLES_AVERAGED; i++) { |
JonFreeman | 0:435bf84ce48a | 416 | sample = current_samples[i]; |
JonFreeman | 0:435bf84ce48a | 417 | I.ave += sample; |
JonFreeman | 0:435bf84ce48a | 418 | if (I.min > sample) |
JonFreeman | 0:435bf84ce48a | 419 | I.min = sample; |
JonFreeman | 0:435bf84ce48a | 420 | if (I.max < sample) |
JonFreeman | 0:435bf84ce48a | 421 | I.max = sample; |
JonFreeman | 0:435bf84ce48a | 422 | } |
JonFreeman | 0:435bf84ce48a | 423 | I.ave /= CURRENT_SAMPLES_AVERAGED; |
JonFreeman | 0:435bf84ce48a | 424 | } |
JonFreeman | 0:435bf84ce48a | 425 | |
JonFreeman | 0:435bf84ce48a | 426 | void motor::set_V_limit (double p) // Sets max motor voltage |
JonFreeman | 0:435bf84ce48a | 427 | { |
JonFreeman | 0:435bf84ce48a | 428 | if (p < 0.0) |
JonFreeman | 0:435bf84ce48a | 429 | p = 0.0; |
JonFreeman | 0:435bf84ce48a | 430 | if (p > 1.0) |
JonFreeman | 0:435bf84ce48a | 431 | p = 1.0; |
JonFreeman | 0:435bf84ce48a | 432 | // last_pwm = p; |
JonFreeman | 0:435bf84ce48a | 433 | p *= 0.95; // need limit, ffi see MCP1630 data |
JonFreeman | 0:435bf84ce48a | 434 | p = 1.0 - p; // because pwm is wrong way up |
JonFreeman | 0:435bf84ce48a | 435 | maxV->pulsewidth_ticks ((int)(p * MAX_PWM_TICKS)); // PWM output to MCP1630 inverted motor pwm as MCP1630 inverts |
JonFreeman | 0:435bf84ce48a | 436 | } |
JonFreeman | 0:435bf84ce48a | 437 | |
JonFreeman | 0:435bf84ce48a | 438 | void motor::set_I_limit (double p) // Sets max motor current. pwm integrated to dc ref voltage level |
JonFreeman | 0:435bf84ce48a | 439 | { |
JonFreeman | 0:435bf84ce48a | 440 | int a; |
JonFreeman | 0:435bf84ce48a | 441 | if (p < 0.0) |
JonFreeman | 0:435bf84ce48a | 442 | p = 0.0; |
JonFreeman | 0:435bf84ce48a | 443 | if (p > 1.0) |
JonFreeman | 0:435bf84ce48a | 444 | p = 1.0; |
JonFreeman | 0:435bf84ce48a | 445 | a = (int)(p * MAX_PWM_TICKS); |
JonFreeman | 0:435bf84ce48a | 446 | if (a > MAX_PWM_TICKS) |
JonFreeman | 0:435bf84ce48a | 447 | a = MAX_PWM_TICKS; |
JonFreeman | 0:435bf84ce48a | 448 | if (a < 0) |
JonFreeman | 0:435bf84ce48a | 449 | a = 0; |
JonFreeman | 0:435bf84ce48a | 450 | maxI->pulsewidth_ticks (a); // PWM |
JonFreeman | 0:435bf84ce48a | 451 | } |
JonFreeman | 0:435bf84ce48a | 452 | |
JonFreeman | 3:ecb00e0e8d68 | 453 | uint32_t motor::pulses_per_sec () // call this once per 'MAIN_LOOP_REPEAT_TIME_US= 31250' main loop pass to keep count = edges per sec |
JonFreeman | 3:ecb00e0e8d68 | 454 | { // Can also test for motor running or not here |
JonFreeman | 3:ecb00e0e8d68 | 455 | if (ppstmp == Hall_total) { |
JonFreeman | 3:ecb00e0e8d68 | 456 | moving_flag = false; // Zero Hall transitions since previous call - motor not moving |
JonFreeman | 4:21d91465e4b1 | 457 | tickleon = TICKLE_TIMES; |
JonFreeman | 3:ecb00e0e8d68 | 458 | } |
JonFreeman | 3:ecb00e0e8d68 | 459 | else { |
JonFreeman | 3:ecb00e0e8d68 | 460 | moving_flag = true; |
JonFreeman | 3:ecb00e0e8d68 | 461 | ppstmp = Hall_total; |
JonFreeman | 3:ecb00e0e8d68 | 462 | } |
JonFreeman | 3:ecb00e0e8d68 | 463 | latest_pulses_per_sec = ppstmp - edge_count_table[Hall_tab_ptr]; |
JonFreeman | 3:ecb00e0e8d68 | 464 | edge_count_table[Hall_tab_ptr] = ppstmp; |
JonFreeman | 0:435bf84ce48a | 465 | Hall_tab_ptr++; |
JonFreeman | 0:435bf84ce48a | 466 | if (Hall_tab_ptr >= MAIN_LOOP_ITERATION_Hz) |
JonFreeman | 0:435bf84ce48a | 467 | Hall_tab_ptr = 0; |
JonFreeman | 0:435bf84ce48a | 468 | return latest_pulses_per_sec; |
JonFreeman | 0:435bf84ce48a | 469 | } |
JonFreeman | 0:435bf84ce48a | 470 | |
JonFreeman | 3:ecb00e0e8d68 | 471 | bool motor::is_moving () |
JonFreeman | 3:ecb00e0e8d68 | 472 | { |
JonFreeman | 3:ecb00e0e8d68 | 473 | return moving_flag; |
JonFreeman | 3:ecb00e0e8d68 | 474 | } |
JonFreeman | 3:ecb00e0e8d68 | 475 | |
JonFreeman | 0:435bf84ce48a | 476 | bool motor::set_mode (int m) |
JonFreeman | 0:435bf84ce48a | 477 | { |
JonFreeman | 2:04761b196473 | 478 | if ((m != HANDBRAKE) && (m != FORWARD) && (m != REVERSE) && (m !=REGENBRAKE)) { |
JonFreeman | 2:04761b196473 | 479 | pc.printf ("Error in set_mode, invalid mode %d\r\n", m); |
JonFreeman | 0:435bf84ce48a | 480 | return false; |
JonFreeman | 2:04761b196473 | 481 | } |
JonFreeman | 3:ecb00e0e8d68 | 482 | if (m == FORWARD || m == REVERSE) |
JonFreeman | 3:ecb00e0e8d68 | 483 | m ^= direction; |
JonFreeman | 0:435bf84ce48a | 484 | mode = m; |
JonFreeman | 0:435bf84ce48a | 485 | return true; |
JonFreeman | 0:435bf84ce48a | 486 | } |
JonFreeman | 0:435bf84ce48a | 487 | |
JonFreeman | 0:435bf84ce48a | 488 | void motor::Hall_change () |
JonFreeman | 0:435bf84ce48a | 489 | { |
JonFreeman | 3:ecb00e0e8d68 | 490 | const int32_t delta_theta_lut[] = // Looks up -1 for forward move detected, +1 for reverse move detected, 0 for error or unknown |
JonFreeman | 3:ecb00e0e8d68 | 491 | { |
JonFreeman | 3:ecb00e0e8d68 | 492 | 0, 0, 0, 0, 0, 0, 0, 0, // Previous Hindex was 0 |
JonFreeman | 3:ecb00e0e8d68 | 493 | 0, 0, 0,-1, 0, 1, 0, 0, // Previous Hindex was 1 |
JonFreeman | 3:ecb00e0e8d68 | 494 | 0, 0, 0, 1, 0, 0,-1, 0, // Previous Hindex was 2 |
JonFreeman | 3:ecb00e0e8d68 | 495 | 0, 1,-1, 0, 0, 0, 0, 0, // Previous Hindex was 3 |
JonFreeman | 3:ecb00e0e8d68 | 496 | 0, 0, 0, 0, 0,-1, 1, 0, // Previous Hindex was 4 |
JonFreeman | 3:ecb00e0e8d68 | 497 | 0,-1, 0, 0, 1, 0, 0, 0, // Previous Hindex was 5 |
JonFreeman | 3:ecb00e0e8d68 | 498 | 0, 0, 1, 0,-1, 0, 0, 0, // Previous Hindex was 6 |
JonFreeman | 3:ecb00e0e8d68 | 499 | 0, 0, 0, 0, 0, 0, 0, 0, // Previous Hindex was 7 |
JonFreeman | 3:ecb00e0e8d68 | 500 | } ; |
JonFreeman | 3:ecb00e0e8d68 | 501 | int32_t delta_theta = delta_theta_lut[(Hindex[1] << 3) | Hindex[0]]; |
JonFreeman | 3:ecb00e0e8d68 | 502 | if (delta_theta == 0) |
JonFreeman | 3:ecb00e0e8d68 | 503 | encoder_error_cnt++; |
JonFreeman | 3:ecb00e0e8d68 | 504 | else |
JonFreeman | 3:ecb00e0e8d68 | 505 | angle_cnt += delta_theta; |
JonFreeman | 3:ecb00e0e8d68 | 506 | *Motor_Port = lut[mode | Hindex[0]]; |
JonFreeman | 0:435bf84ce48a | 507 | Hall_total++; |
JonFreeman | 3:ecb00e0e8d68 | 508 | Hindex[1] = Hindex[0]; |
JonFreeman | 0:435bf84ce48a | 509 | } |
JonFreeman | 2:04761b196473 | 510 | |
JonFreeman | 3:ecb00e0e8d68 | 511 | void MAH_isr () |
JonFreeman | 0:435bf84ce48a | 512 | { |
JonFreeman | 3:ecb00e0e8d68 | 513 | uint32_t x = 0; |
JonFreeman | 3:ecb00e0e8d68 | 514 | MotorA.high_side_off (); |
JonFreeman | 3:ecb00e0e8d68 | 515 | T3 = !T3; |
JonFreeman | 3:ecb00e0e8d68 | 516 | if (MAH1 != 0) x |= 1; |
JonFreeman | 3:ecb00e0e8d68 | 517 | if (MAH2 != 0) x |= 2; |
JonFreeman | 3:ecb00e0e8d68 | 518 | if (MAH3 != 0) x |= 4; |
JonFreeman | 3:ecb00e0e8d68 | 519 | MotorA.Hindex[0] = x; // New in [0], old in [1] |
JonFreeman | 0:435bf84ce48a | 520 | MotorA.Hall_change (); |
JonFreeman | 0:435bf84ce48a | 521 | } |
JonFreeman | 0:435bf84ce48a | 522 | |
JonFreeman | 3:ecb00e0e8d68 | 523 | void MBH_isr () |
JonFreeman | 0:435bf84ce48a | 524 | { |
JonFreeman | 3:ecb00e0e8d68 | 525 | uint32_t x = 0; |
JonFreeman | 3:ecb00e0e8d68 | 526 | MotorB.high_side_off (); |
JonFreeman | 3:ecb00e0e8d68 | 527 | if (MBH1 != 0) x |= 1; |
JonFreeman | 3:ecb00e0e8d68 | 528 | if (MBH2 != 0) x |= 2; |
JonFreeman | 3:ecb00e0e8d68 | 529 | if (MBH3 != 0) x |= 4; |
JonFreeman | 3:ecb00e0e8d68 | 530 | MotorB.Hindex[0] = x; |
JonFreeman | 0:435bf84ce48a | 531 | MotorB.Hall_change (); |
JonFreeman | 0:435bf84ce48a | 532 | } |
JonFreeman | 0:435bf84ce48a | 533 | |
JonFreeman | 0:435bf84ce48a | 534 | |
JonFreeman | 0:435bf84ce48a | 535 | // End of Interrupt Service Routines |
JonFreeman | 0:435bf84ce48a | 536 | |
JonFreeman | 3:ecb00e0e8d68 | 537 | void motor::motor_set () |
JonFreeman | 3:ecb00e0e8d68 | 538 | { |
JonFreeman | 3:ecb00e0e8d68 | 539 | Hindex[0] = read_Halls (); |
JonFreeman | 3:ecb00e0e8d68 | 540 | *Motor_Port = lut[mode | Hindex[0]]; |
JonFreeman | 3:ecb00e0e8d68 | 541 | } |
JonFreeman | 3:ecb00e0e8d68 | 542 | |
JonFreeman | 2:04761b196473 | 543 | void setVI (double v, double i) { |
JonFreeman | 4:21d91465e4b1 | 544 | MotorA.set_V_limit (v); // Sets max motor voltage |
JonFreeman | 4:21d91465e4b1 | 545 | MotorA.set_I_limit (i); // Sets max motor current |
JonFreeman | 4:21d91465e4b1 | 546 | MotorB.set_V_limit (v); |
JonFreeman | 4:21d91465e4b1 | 547 | MotorB.set_I_limit (i); |
JonFreeman | 4:21d91465e4b1 | 548 | } |
JonFreeman | 4:21d91465e4b1 | 549 | void setV (double v) { |
JonFreeman | 2:04761b196473 | 550 | MotorA.set_V_limit (v); |
JonFreeman | 4:21d91465e4b1 | 551 | MotorB.set_V_limit (v); |
JonFreeman | 4:21d91465e4b1 | 552 | } |
JonFreeman | 4:21d91465e4b1 | 553 | void setI (double i) { |
JonFreeman | 2:04761b196473 | 554 | MotorA.set_I_limit (i); |
JonFreeman | 2:04761b196473 | 555 | MotorB.set_I_limit (i); |
JonFreeman | 0:435bf84ce48a | 556 | } |
JonFreeman | 2:04761b196473 | 557 | |
JonFreeman | 3:ecb00e0e8d68 | 558 | void sincostest () { |
JonFreeman | 3:ecb00e0e8d68 | 559 | sinv = sin(angle); // to set speed and direction of MotorA |
JonFreeman | 3:ecb00e0e8d68 | 560 | cosv = cos(angle); // to set speed and direction of MotorB |
JonFreeman | 4:21d91465e4b1 | 561 | Servos[0]->write ((sinv + 1.0) / 2.0); |
JonFreeman | 4:21d91465e4b1 | 562 | Servos[1]->write ((cosv + 1.0) / 2.0); |
JonFreeman | 3:ecb00e0e8d68 | 563 | angle += angle_step; |
JonFreeman | 3:ecb00e0e8d68 | 564 | if (angle > TWOPI) |
JonFreeman | 3:ecb00e0e8d68 | 565 | angle -= TWOPI; |
JonFreeman | 3:ecb00e0e8d68 | 566 | if (sinv > 0.0) |
JonFreeman | 3:ecb00e0e8d68 | 567 | MotorA.set_mode (FORWARD); |
JonFreeman | 3:ecb00e0e8d68 | 568 | else { |
JonFreeman | 3:ecb00e0e8d68 | 569 | MotorA.set_mode (REVERSE); |
JonFreeman | 3:ecb00e0e8d68 | 570 | sinv = -sinv; |
JonFreeman | 3:ecb00e0e8d68 | 571 | } |
JonFreeman | 4:21d91465e4b1 | 572 | MotorA.set_V_limit (0.01 + (sinv / 1.3)); |
JonFreeman | 3:ecb00e0e8d68 | 573 | if (cosv > 0.0) |
JonFreeman | 3:ecb00e0e8d68 | 574 | MotorB.set_mode (FORWARD); |
JonFreeman | 3:ecb00e0e8d68 | 575 | else { |
JonFreeman | 3:ecb00e0e8d68 | 576 | MotorB.set_mode (REVERSE); |
JonFreeman | 3:ecb00e0e8d68 | 577 | cosv = -cosv; |
JonFreeman | 3:ecb00e0e8d68 | 578 | } |
JonFreeman | 4:21d91465e4b1 | 579 | MotorB.set_V_limit (0.01 + (cosv / 1.3)); |
JonFreeman | 3:ecb00e0e8d68 | 580 | } |
JonFreeman | 3:ecb00e0e8d68 | 581 | |
JonFreeman | 3:ecb00e0e8d68 | 582 | void AtoD_reader () // Call to here every VOLTAGE_READ_INTERVAL_US = 50 once loop responds to flag set in isr |
JonFreeman | 0:435bf84ce48a | 583 | { |
JonFreeman | 0:435bf84ce48a | 584 | static uint32_t i = 0, tab_ptr = 0; |
JonFreeman | 3:ecb00e0e8d68 | 585 | |
JonFreeman | 4:21d91465e4b1 | 586 | // sincostest (); |
JonFreeman | 3:ecb00e0e8d68 | 587 | |
JonFreeman | 3:ecb00e0e8d68 | 588 | if (MotorA.tickleon) |
JonFreeman | 3:ecb00e0e8d68 | 589 | MotorA.high_side_off (); |
JonFreeman | 3:ecb00e0e8d68 | 590 | if (MotorB.tickleon) |
JonFreeman | 3:ecb00e0e8d68 | 591 | MotorB.high_side_off (); |
JonFreeman | 0:435bf84ce48a | 592 | if (AtoD_Semaphore > 20) { |
JonFreeman | 0:435bf84ce48a | 593 | pc.printf ("WARNING - silly semaphore count %d, limiting to sensible\r\n", AtoD_Semaphore); |
JonFreeman | 0:435bf84ce48a | 594 | AtoD_Semaphore = 20; |
JonFreeman | 0:435bf84ce48a | 595 | } |
JonFreeman | 0:435bf84ce48a | 596 | while (AtoD_Semaphore > 0) { |
JonFreeman | 0:435bf84ce48a | 597 | AtoD_Semaphore--; |
JonFreeman | 0:435bf84ce48a | 598 | // Code here to sequence through reading voltmeter, demand pot, ammeters |
JonFreeman | 0:435bf84ce48a | 599 | switch (i) { // |
JonFreeman | 0:435bf84ce48a | 600 | case 0: |
JonFreeman | 0:435bf84ce48a | 601 | volt_reading += Ain_SystemVolts.read_u16 (); // Result = Result + New Reading |
JonFreeman | 0:435bf84ce48a | 602 | volt_reading >>= 1; // Result = Result / 2 |
JonFreeman | 0:435bf84ce48a | 603 | break; // i.e. Very simple digital low pass filter |
JonFreeman | 0:435bf84ce48a | 604 | case 1: |
JonFreeman | 0:435bf84ce48a | 605 | driverpot_reading += Ain_DriverPot.read_u16 (); |
JonFreeman | 0:435bf84ce48a | 606 | driverpot_reading >>= 1; |
JonFreeman | 0:435bf84ce48a | 607 | break; |
JonFreeman | 0:435bf84ce48a | 608 | case 2: |
JonFreeman | 0:435bf84ce48a | 609 | MotorA.current_samples[tab_ptr] = Motor_A_Current.read_u16 (); // |
JonFreeman | 0:435bf84ce48a | 610 | break; |
JonFreeman | 0:435bf84ce48a | 611 | case 3: |
JonFreeman | 0:435bf84ce48a | 612 | MotorB.current_samples[tab_ptr++] = Motor_B_Current.read_u16 (); // |
JonFreeman | 0:435bf84ce48a | 613 | if (tab_ptr >= CURRENT_SAMPLES_AVERAGED) // Current reading will be lumpy and spikey, so put through moving average filter |
JonFreeman | 0:435bf84ce48a | 614 | tab_ptr = 0; |
JonFreeman | 0:435bf84ce48a | 615 | break; |
JonFreeman | 0:435bf84ce48a | 616 | } |
JonFreeman | 0:435bf84ce48a | 617 | i++; // prepare to read the next input in response to the next interrupt |
JonFreeman | 0:435bf84ce48a | 618 | if (i > 3) |
JonFreeman | 0:435bf84ce48a | 619 | i = 0; |
JonFreeman | 3:ecb00e0e8d68 | 620 | } // end of while (AtoD_Semaphore > 0) { |
JonFreeman | 3:ecb00e0e8d68 | 621 | if (MotorA.tickleon) { |
JonFreeman | 3:ecb00e0e8d68 | 622 | MotorA.tickleon--; |
JonFreeman | 3:ecb00e0e8d68 | 623 | MotorA.motor_set (); |
JonFreeman | 3:ecb00e0e8d68 | 624 | } |
JonFreeman | 3:ecb00e0e8d68 | 625 | if (MotorB.tickleon) { |
JonFreeman | 3:ecb00e0e8d68 | 626 | MotorB.tickleon--; |
JonFreeman | 3:ecb00e0e8d68 | 627 | MotorB.motor_set (); |
JonFreeman | 0:435bf84ce48a | 628 | } |
JonFreeman | 0:435bf84ce48a | 629 | } |
JonFreeman | 0:435bf84ce48a | 630 | |
JonFreeman | 0:435bf84ce48a | 631 | /** double Read_DriverPot () |
JonFreeman | 0:435bf84ce48a | 632 | * driverpot_reading is a global 16 bit unsigned int updated in interrupt service routine |
JonFreeman | 0:435bf84ce48a | 633 | * ISR also filters signal |
JonFreeman | 0:435bf84ce48a | 634 | * This function returns normalised double (range 0.0 to 1.0) representation of driver pot position |
JonFreeman | 0:435bf84ce48a | 635 | */ |
JonFreeman | 0:435bf84ce48a | 636 | double Read_DriverPot () |
JonFreeman | 0:435bf84ce48a | 637 | { |
JonFreeman | 0:435bf84ce48a | 638 | return (double) driverpot_reading / 65535.0; // Normalise 0.0 <= control pot <= 1.0 |
JonFreeman | 0:435bf84ce48a | 639 | } |
JonFreeman | 0:435bf84ce48a | 640 | |
JonFreeman | 0:435bf84ce48a | 641 | double Read_BatteryVolts () |
JonFreeman | 0:435bf84ce48a | 642 | { |
JonFreeman | 2:04761b196473 | 643 | return (double) volt_reading / 951.0; // divisor fiddled to make voltage reading correct ! |
JonFreeman | 0:435bf84ce48a | 644 | } |
JonFreeman | 0:435bf84ce48a | 645 | |
JonFreeman | 0:435bf84ce48a | 646 | double read_volts () // A test function |
JonFreeman | 0:435bf84ce48a | 647 | { |
JonFreeman | 0:435bf84ce48a | 648 | pc.printf ("pot = %.4f, System Voltage = %.2f\r\n", Read_DriverPot(), Read_BatteryVolts()); |
JonFreeman | 0:435bf84ce48a | 649 | return Read_BatteryVolts(); |
JonFreeman | 0:435bf84ce48a | 650 | } |
JonFreeman | 0:435bf84ce48a | 651 | |
JonFreeman | 2:04761b196473 | 652 | void mode_test (int mode, double val) { |
JonFreeman | 2:04761b196473 | 653 | MotorA.set_mode (mode); |
JonFreeman | 2:04761b196473 | 654 | MotorB.set_mode (mode); |
JonFreeman | 2:04761b196473 | 655 | if (mode == REGENBRAKE) { |
JonFreeman | 2:04761b196473 | 656 | |
JonFreeman | 2:04761b196473 | 657 | } |
JonFreeman | 2:04761b196473 | 658 | } |
JonFreeman | 0:435bf84ce48a | 659 | |
JonFreeman | 0:435bf84ce48a | 660 | extern void command_line_interpreter () ; |
JonFreeman | 0:435bf84ce48a | 661 | extern int check_24LC64 () ; // Call from near top of main() to init i2c bus |
JonFreeman | 0:435bf84ce48a | 662 | extern bool wr_24LC64 (int mem_start_addr, char * source, int length) ; |
JonFreeman | 0:435bf84ce48a | 663 | extern bool rd_24LC64 (int mem_start_addr, char * dest, int length) ; |
JonFreeman | 0:435bf84ce48a | 664 | |
JonFreeman | 3:ecb00e0e8d68 | 665 | struct motorpairoptions { // This to be user settable in eeprom, 32 bytes |
JonFreeman | 3:ecb00e0e8d68 | 666 | uint8_t MotA_dir, // 0 or 1 |
JonFreeman | 3:ecb00e0e8d68 | 667 | MotB_dir, // 0 or 1 |
JonFreeman | 3:ecb00e0e8d68 | 668 | gang, // 0 for separate control (robot mode), 1 for ganged loco bogie mode |
JonFreeman | 3:ecb00e0e8d68 | 669 | serv1, // 0, 1, 2 = Not used, Input, Output |
JonFreeman | 3:ecb00e0e8d68 | 670 | serv2, // 0, 1, 2 = Not used, Input, Output |
JonFreeman | 3:ecb00e0e8d68 | 671 | cmd_source, // 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2 |
JonFreeman | 3:ecb00e0e8d68 | 672 | last; |
JonFreeman | 3:ecb00e0e8d68 | 673 | } ; |
JonFreeman | 3:ecb00e0e8d68 | 674 | |
JonFreeman | 3:ecb00e0e8d68 | 675 | int I_Am () { // Returns boards id number as ASCII char |
JonFreeman | 3:ecb00e0e8d68 | 676 | int i = J3; |
JonFreeman | 3:ecb00e0e8d68 | 677 | if (i != 0) |
JonFreeman | 3:ecb00e0e8d68 | 678 | i = 1; |
JonFreeman | 3:ecb00e0e8d68 | 679 | return i | '0'; |
JonFreeman | 3:ecb00e0e8d68 | 680 | } |
JonFreeman | 3:ecb00e0e8d68 | 681 | |
JonFreeman | 4:21d91465e4b1 | 682 | |
JonFreeman | 0:435bf84ce48a | 683 | int main() |
JonFreeman | 0:435bf84ce48a | 684 | { |
JonFreeman | 4:21d91465e4b1 | 685 | int eighth_sec_count = 0; |
JonFreeman | 0:435bf84ce48a | 686 | uint32_t Apps, Bpps; |
JonFreeman | 0:435bf84ce48a | 687 | |
JonFreeman | 4:21d91465e4b1 | 688 | MotA = 0; // Output all 0s to Motor drive ports A and B |
JonFreeman | 0:435bf84ce48a | 689 | MotB = 0; |
JonFreeman | 4:21d91465e4b1 | 690 | MotPtr[0] = &MotorA; // Pointers to motor class objects |
JonFreeman | 3:ecb00e0e8d68 | 691 | MotPtr[1] = &MotorB; |
JonFreeman | 3:ecb00e0e8d68 | 692 | |
JonFreeman | 4:21d91465e4b1 | 693 | // tryseredge.rise (&seredgerise); |
JonFreeman | 4:21d91465e4b1 | 694 | // tryseredge.fall (&seredgefall); |
JonFreeman | 4:21d91465e4b1 | 695 | |
JonFreeman | 4:21d91465e4b1 | 696 | MAH1.rise (& MAH_isr); // Set up interrupt vectors |
JonFreeman | 3:ecb00e0e8d68 | 697 | MAH1.fall (& MAH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 698 | MAH2.rise (& MAH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 699 | MAH2.fall (& MAH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 700 | MAH3.rise (& MAH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 701 | MAH3.fall (& MAH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 702 | |
JonFreeman | 3:ecb00e0e8d68 | 703 | MBH1.rise (& MBH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 704 | MBH1.fall (& MBH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 705 | MBH2.rise (& MBH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 706 | MBH2.fall (& MBH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 707 | MBH3.rise (& MBH_isr); |
JonFreeman | 3:ecb00e0e8d68 | 708 | MBH3.fall (& MBH_isr); |
JonFreeman | 4:21d91465e4b1 | 709 | |
JonFreeman | 0:435bf84ce48a | 710 | MAH1.mode (PullUp); |
JonFreeman | 0:435bf84ce48a | 711 | MAH2.mode (PullUp); |
JonFreeman | 0:435bf84ce48a | 712 | MAH3.mode (PullUp); |
JonFreeman | 0:435bf84ce48a | 713 | MBH1.mode (PullUp); |
JonFreeman | 0:435bf84ce48a | 714 | MBH2.mode (PullUp); |
JonFreeman | 0:435bf84ce48a | 715 | MBH3.mode (PullUp); |
JonFreeman | 4:21d91465e4b1 | 716 | Servo1_i.mode (PullUp); |
JonFreeman | 4:21d91465e4b1 | 717 | Servo2_i.mode (PullUp); |
JonFreeman | 4:21d91465e4b1 | 718 | |
JonFreeman | 0:435bf84ce48a | 719 | pc.printf ("\tAbandon Hope %d\r\n", LED ? 0 : 1); |
JonFreeman | 0:435bf84ce48a | 720 | // Setup system timers to cause periodic interrupts to synchronise and automate volt and current readings, loop repeat rate etc |
JonFreeman | 0:435bf84ce48a | 721 | tick_vread.attach_us (&ISR_voltage_reader, VOLTAGE_READ_INTERVAL_US); // Start periodic interrupt generator |
JonFreeman | 0:435bf84ce48a | 722 | loop_timer.attach_us (&ISR_loop_timer, MAIN_LOOP_REPEAT_TIME_US); // Start periodic interrupt generator |
JonFreeman | 0:435bf84ce48a | 723 | // Done setting up system interrupt timers |
JonFreeman | 0:435bf84ce48a | 724 | |
JonFreeman | 0:435bf84ce48a | 725 | const int TXTBUFSIZ = 36; |
JonFreeman | 0:435bf84ce48a | 726 | char buff[TXTBUFSIZ]; |
JonFreeman | 0:435bf84ce48a | 727 | bool eerom_detected = false; |
JonFreeman | 3:ecb00e0e8d68 | 728 | pc.baud (9600); |
JonFreeman | 4:21d91465e4b1 | 729 | com3.baud (1200); |
JonFreeman | 4:21d91465e4b1 | 730 | com2.baud (19200); |
JonFreeman | 3:ecb00e0e8d68 | 731 | |
JonFreeman | 0:435bf84ce48a | 732 | pc.printf ("RAM test - "); |
JonFreeman | 0:435bf84ce48a | 733 | if (check_24LC64() != 0xa0) // searches for i2c devices, returns address of highest found |
JonFreeman | 0:435bf84ce48a | 734 | pc.printf ("Check for 24LC64 eeprom FAILED\r\n"); |
JonFreeman | 0:435bf84ce48a | 735 | else // i2c.write returned 0, think this means device responded with 'ACK', found it anyway |
JonFreeman | 0:435bf84ce48a | 736 | eerom_detected = true; |
JonFreeman | 0:435bf84ce48a | 737 | if (eerom_detected) { |
JonFreeman | 0:435bf84ce48a | 738 | bool j, k; |
JonFreeman | 0:435bf84ce48a | 739 | pc.printf ("ok\r\n"); |
JonFreeman | 0:435bf84ce48a | 740 | static const char ramtst[] = "I found the man sir!"; |
JonFreeman | 0:435bf84ce48a | 741 | j = wr_24LC64 (0x1240, (char*)ramtst, strlen(ramtst)); |
JonFreeman | 0:435bf84ce48a | 742 | for (int i = 0; i < TXTBUFSIZ; i++) buff[i] = 0; // Clear buffer |
JonFreeman | 0:435bf84ce48a | 743 | // need a way to check i2c busy - YES implemented ack_poll |
JonFreeman | 0:435bf84ce48a | 744 | k = rd_24LC64 (0x1240, buff, strlen(ramtst)); |
JonFreeman | 0:435bf84ce48a | 745 | pc.printf("Ram test returned [%s], wr ret'd [%s], rd ret'd [%s]\r\n", buff, j ? "true" : "false", k ? "true" : "false"); |
JonFreeman | 0:435bf84ce48a | 746 | } |
JonFreeman | 0:435bf84ce48a | 747 | T1 = 0; // As yet unused pins |
JonFreeman | 0:435bf84ce48a | 748 | T2 = 0; |
JonFreeman | 0:435bf84ce48a | 749 | T3 = 0; |
JonFreeman | 0:435bf84ce48a | 750 | T4 = 0; |
JonFreeman | 0:435bf84ce48a | 751 | T5 = 0; |
JonFreeman | 0:435bf84ce48a | 752 | T6 = 0; |
JonFreeman | 3:ecb00e0e8d68 | 753 | // MotPtr[0]->set_mode (REGENBRAKE); |
JonFreeman | 2:04761b196473 | 754 | MotorA.set_mode (REGENBRAKE); |
JonFreeman | 2:04761b196473 | 755 | MotorB.set_mode (REGENBRAKE); |
JonFreeman | 2:04761b196473 | 756 | MotorA.set_V_limit (0.9); |
JonFreeman | 2:04761b196473 | 757 | MotorB.set_V_limit (0.9); |
JonFreeman | 2:04761b196473 | 758 | MotorA.set_I_limit (0.5); |
JonFreeman | 2:04761b196473 | 759 | MotorB.set_I_limit (0.5); |
JonFreeman | 4:21d91465e4b1 | 760 | Servos[0] = Servos[1] = NULL; |
JonFreeman | 4:21d91465e4b1 | 761 | // NOTE The ONLY way to get both servos working properly is to NOT use any if (bla) Servo ervo1(PB_8); |
JonFreeman | 4:21d91465e4b1 | 762 | // Only works with unconditional inline code |
JonFreeman | 4:21d91465e4b1 | 763 | // However, setup code for Input by default, |
JonFreeman | 4:21d91465e4b1 | 764 | // This can be used to monitor Servo output also ! |
JonFreeman | 4:21d91465e4b1 | 765 | Servo Servo1 (PB_8) ; |
JonFreeman | 4:21d91465e4b1 | 766 | Servos[0] = & Servo1; |
JonFreeman | 4:21d91465e4b1 | 767 | Servo Servo2 (PB_9) ; |
JonFreeman | 4:21d91465e4b1 | 768 | Servos[1] = & Servo2; |
JonFreeman | 4:21d91465e4b1 | 769 | /* |
JonFreeman | 0:435bf84ce48a | 770 | // Setup Complete ! Can now start main control forever loop. |
JonFreeman | 3:ecb00e0e8d68 | 771 | // March 16th 2018 thoughts !!! |
JonFreeman | 3:ecb00e0e8d68 | 772 | // Control from one of several sources and types as selected in options bytes in eeprom. |
JonFreeman | 3:ecb00e0e8d68 | 773 | // Control could be from e.g. Pot, Com2, Servos etc. |
JonFreeman | 3:ecb00e0e8d68 | 774 | // Suggest e.g. |
JonFreeman | 4:21d91465e4b1 | 775 | */ /* |
JonFreeman | 3:ecb00e0e8d68 | 776 | switch (mode_byte) { // executed once only upon startup |
JonFreeman | 3:ecb00e0e8d68 | 777 | case POT: |
JonFreeman | 3:ecb00e0e8d68 | 778 | while (1) { // forever loop |
JonFreeman | 3:ecb00e0e8d68 | 779 | call common_stuff (); |
JonFreeman | 3:ecb00e0e8d68 | 780 | ... |
JonFreeman | 3:ecb00e0e8d68 | 781 | } |
JonFreeman | 3:ecb00e0e8d68 | 782 | break; |
JonFreeman | 3:ecb00e0e8d68 | 783 | case COM2: |
JonFreeman | 3:ecb00e0e8d68 | 784 | while (1) { // forever loop |
JonFreeman | 3:ecb00e0e8d68 | 785 | call common_stuff (); |
JonFreeman | 3:ecb00e0e8d68 | 786 | ... |
JonFreeman | 3:ecb00e0e8d68 | 787 | } |
JonFreeman | 3:ecb00e0e8d68 | 788 | break; |
JonFreeman | 3:ecb00e0e8d68 | 789 | } |
JonFreeman | 3:ecb00e0e8d68 | 790 | */ |
JonFreeman | 4:21d91465e4b1 | 791 | MotorA.set_mode (FORWARD); |
JonFreeman | 4:21d91465e4b1 | 792 | MotorB.set_mode (REVERSE); |
JonFreeman | 4:21d91465e4b1 | 793 | MotorA.set_V_limit (0.2); |
JonFreeman | 4:21d91465e4b1 | 794 | MotorB.set_V_limit (0.2); |
JonFreeman | 4:21d91465e4b1 | 795 | MotorA.set_I_limit (0.5); |
JonFreeman | 4:21d91465e4b1 | 796 | MotorB.set_I_limit (0.5); |
JonFreeman | 0:435bf84ce48a | 797 | |
JonFreeman | 0:435bf84ce48a | 798 | while (1) { // Loop forever, repeats synchroised by waiting for ticker Interrupt Service Routine to set 'loop_flag' true |
JonFreeman | 0:435bf84ce48a | 799 | while (!loop_flag) { // Most of the time is spent in this loop, repeatedly re-checking for commands from pc port |
JonFreeman | 0:435bf84ce48a | 800 | command_line_interpreter () ; // Proceed beyond here once loop_timer ticker ISR has set loop_flag true |
JonFreeman | 0:435bf84ce48a | 801 | AtoD_reader (); // Performs A to D conversions at rate set by ticker interrupts |
JonFreeman | 0:435bf84ce48a | 802 | } |
JonFreeman | 0:435bf84ce48a | 803 | loop_flag = false; // Clear flag set by ticker interrupt handler |
JonFreeman | 0:435bf84ce48a | 804 | Apps = MotorA.pulses_per_sec (); // Needed to keep table updated to give reading in Hall transitions per second |
JonFreeman | 0:435bf84ce48a | 805 | Bpps = MotorB.pulses_per_sec (); |
JonFreeman | 3:ecb00e0e8d68 | 806 | T4 = !T4; // toggle to hang scope on to verify loop execution |
JonFreeman | 0:435bf84ce48a | 807 | // do stuff |
JonFreeman | 0:435bf84ce48a | 808 | if (flag_8Hz) { // do slower stuff |
JonFreeman | 0:435bf84ce48a | 809 | flag_8Hz = false; |
JonFreeman | 3:ecb00e0e8d68 | 810 | LED = !LED; // Toggle LED on board, should be seen to fast flash |
JonFreeman | 4:21d91465e4b1 | 811 | eighth_sec_count++; |
JonFreeman | 4:21d91465e4b1 | 812 | if (eighth_sec_count > 6) { // Send some status info out of serial port every second and a bit or thereabouts |
JonFreeman | 4:21d91465e4b1 | 813 | eighth_sec_count = 0; |
JonFreeman | 2:04761b196473 | 814 | MotorA.current_calc (); |
JonFreeman | 2:04761b196473 | 815 | MotorB.current_calc (); |
JonFreeman | 4:21d91465e4b1 | 816 | // Apps += Bpps; // to kill compiler warning |
JonFreeman | 3:ecb00e0e8d68 | 817 | // pc.printf ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IA %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls (), MotorB.read_Halls (), MotorA.I.ave, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24); |
JonFreeman | 4:21d91465e4b1 | 818 | com2.printf ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IAmin %d, IAave %d, IAmax %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls (), MotorB.read_Halls (), MotorA.I.min, MotorA.I.ave, MotorA.I.max, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24); |
JonFreeman | 4:21d91465e4b1 | 819 | // pc.printf ("\tAangle_cnt %d\tAencoder_error_cnt %d", MotorA.angle_cnt, MotorA.encoder_error_cnt); |
JonFreeman | 4:21d91465e4b1 | 820 | // pc.printf ("\tBangle_cnt %d\tBencoder_error_cnt %d, J3 %d\r\n", MotorB.angle_cnt, MotorB.encoder_error_cnt, J3 == 0 ? 0 : 1); |
JonFreeman | 4:21d91465e4b1 | 821 | // com2.printf ("RCI1 pw %d, RCI2 pw %d, 1per %d, 2per %d\r\n", RCI1.pulsewidth(), RCI2.pulsewidth(), RCI1.period(), RCI2.period()); |
JonFreeman | 0:435bf84ce48a | 822 | } |
JonFreeman | 0:435bf84ce48a | 823 | } // End of if(flag_8Hz) |
JonFreeman | 0:435bf84ce48a | 824 | } // End of main programme loop |
JonFreeman | 0:435bf84ce48a | 825 | } |