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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
F446ZE.h@7:6deaeace9a3e, 2018-06-17 (annotated)
- Committer:
- JonFreeman
- Date:
- Sun Jun 17 06:59:37 2018 +0000
- Revision:
- 7:6deaeace9a3e
- Child:
- 8:93203f473f6e
Firmware for STM3 Twin Brushless Motor Electronic Speed Controller; Snapshot at 17th June 2018
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JonFreeman | 7:6deaeace9a3e | 1 | // 5TH JUNE 2018 NONE OF THIS IS RIGHT YET !! |
JonFreeman | 7:6deaeace9a3e | 2 | |
JonFreeman | 7:6deaeace9a3e | 3 | // Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out |
JonFreeman | 7:6deaeace9a3e | 4 | |
JonFreeman | 7:6deaeace9a3e | 5 | // Port A -> MotorA, Port B -> MotorB |
JonFreeman | 7:6deaeace9a3e | 6 | const uint16_t |
JonFreeman | 7:6deaeace9a3e | 7 | 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 | 7:6deaeace9a3e | 8 | AVL = 1 << 6, // These are which port bits connect to which mosfet driver |
JonFreeman | 7:6deaeace9a3e | 9 | AWL = 1 << 4, |
JonFreeman | 7:6deaeace9a3e | 10 | |
JonFreeman | 7:6deaeace9a3e | 11 | AUH = 1 << 1, |
JonFreeman | 7:6deaeace9a3e | 12 | AVH = 1 << 7, |
JonFreeman | 7:6deaeace9a3e | 13 | AWH = 1 << 8, |
JonFreeman | 7:6deaeace9a3e | 14 | |
JonFreeman | 7:6deaeace9a3e | 15 | AUV = AUH | AVL, // Each of 6 possible output energisations made up of one hi and one low |
JonFreeman | 7:6deaeace9a3e | 16 | AVU = AVH | AUL, |
JonFreeman | 7:6deaeace9a3e | 17 | AUW = AUH | AWL, |
JonFreeman | 7:6deaeace9a3e | 18 | AWU = AWH | AUL, |
JonFreeman | 7:6deaeace9a3e | 19 | AVW = AVH | AWL, |
JonFreeman | 7:6deaeace9a3e | 20 | AWV = AWH | AVL, |
JonFreeman | 7:6deaeace9a3e | 21 | |
JonFreeman | 7:6deaeace9a3e | 22 | KEEP_L_MASK_A = AUL | AVL | AWL, |
JonFreeman | 7:6deaeace9a3e | 23 | KEEP_H_MASK_A = AUH | AVH | AWH, |
JonFreeman | 7:6deaeace9a3e | 24 | |
JonFreeman | 7:6deaeace9a3e | 25 | BRA = AUL | AVL | AWL, // All low side switches on (and all high side off) for braking |
JonFreeman | 7:6deaeace9a3e | 26 | |
JonFreeman | 7:6deaeace9a3e | 27 | BUL = 1 << 0, // Likewise for MotorB but different port bits on different port |
JonFreeman | 7:6deaeace9a3e | 28 | BVL = 1 << 1, |
JonFreeman | 7:6deaeace9a3e | 29 | BWL = 1 << 2, |
JonFreeman | 7:6deaeace9a3e | 30 | |
JonFreeman | 7:6deaeace9a3e | 31 | BUH = 1 << 10, |
JonFreeman | 7:6deaeace9a3e | 32 | BVH = 1 << 12, |
JonFreeman | 7:6deaeace9a3e | 33 | BWH = 1 << 13, |
JonFreeman | 7:6deaeace9a3e | 34 | |
JonFreeman | 7:6deaeace9a3e | 35 | BUV = BUH | BVL, |
JonFreeman | 7:6deaeace9a3e | 36 | BVU = BVH | BUL, |
JonFreeman | 7:6deaeace9a3e | 37 | BUW = BUH | BWL, |
JonFreeman | 7:6deaeace9a3e | 38 | BWU = BWH | BUL, |
JonFreeman | 7:6deaeace9a3e | 39 | BVW = BVH | BWL, |
JonFreeman | 7:6deaeace9a3e | 40 | BWV = BWH | BVL, |
JonFreeman | 7:6deaeace9a3e | 41 | |
JonFreeman | 7:6deaeace9a3e | 42 | KEEP_L_MASK_B = BUL | BVL | BWL, |
JonFreeman | 7:6deaeace9a3e | 43 | KEEP_H_MASK_B = BUH | BVH | BWH, |
JonFreeman | 7:6deaeace9a3e | 44 | |
JonFreeman | 7:6deaeace9a3e | 45 | BRB = BUL | BVL | BWL, |
JonFreeman | 7:6deaeace9a3e | 46 | |
JonFreeman | 7:6deaeace9a3e | 47 | PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH, // NEW METHOD FOR DGD21032 MOSFET DRIVERS |
JonFreeman | 7:6deaeace9a3e | 48 | PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH; |
JonFreeman | 7:6deaeace9a3e | 49 | |
JonFreeman | 7:6deaeace9a3e | 50 | PortOut MotA (PortA, PORT_A_MASK); // Activate output ports to motor drivers |
JonFreeman | 7:6deaeace9a3e | 51 | PortOut MotB (PortB, PORT_B_MASK); |
JonFreeman | 7:6deaeace9a3e | 52 | |
JonFreeman | 7:6deaeace9a3e | 53 | // Pin 1 VBAT NET +3V3 |
JonFreeman | 7:6deaeace9a3e | 54 | |
JonFreeman | 7:6deaeace9a3e | 55 | //DigitalIn J3 (PC_13, PullUp);// Pin 2 Jumper pulls to GND, R floats Hi |
JonFreeman | 7:6deaeace9a3e | 56 | InterruptIn Temperature_pin (PC_13);// Pin 2 June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn |
JonFreeman | 7:6deaeace9a3e | 57 | |
JonFreeman | 7:6deaeace9a3e | 58 | |
JonFreeman | 7:6deaeace9a3e | 59 | // Pin 3 PC14-OSC32_IN NET O32I |
JonFreeman | 7:6deaeace9a3e | 60 | // Pin 4 PC15-OSC32_OUT NET O32O |
JonFreeman | 7:6deaeace9a3e | 61 | // Pin 5 PH0-OSC_IN NET PH1 |
JonFreeman | 7:6deaeace9a3e | 62 | // Pin 6 PH1-OSC_OUT NET PH1 |
JonFreeman | 7:6deaeace9a3e | 63 | // Pin 7 NRST NET NRST |
JonFreeman | 7:6deaeace9a3e | 64 | AnalogIn Ain_DriverPot (PC_0); // Pin 8 Spare Analogue in, net SAIN fitted with external pull-down |
JonFreeman | 7:6deaeace9a3e | 65 | AnalogIn Ain_SystemVolts (PC_1); // Pin 9 |
JonFreeman | 7:6deaeace9a3e | 66 | AnalogIn Motor_A_Current (PC_2); // Pin 10 |
JonFreeman | 7:6deaeace9a3e | 67 | AnalogIn Motor_B_Current (PC_3); // Pin 11 |
JonFreeman | 7:6deaeace9a3e | 68 | // Pin 12 VSSA/VREF- NET GND |
JonFreeman | 7:6deaeace9a3e | 69 | // Pin 13 VDDA/VREF+ NET +3V3 |
JonFreeman | 7:6deaeace9a3e | 70 | // Pin 14 Port_A AUL |
JonFreeman | 7:6deaeace9a3e | 71 | // Pin 15 Port_A AUH |
JonFreeman | 7:6deaeace9a3e | 72 | // Pins 16, 17 BufferedSerial pc |
JonFreeman | 7:6deaeace9a3e | 73 | BufferedSerial pc (PA_2, PA_3, 512, 4, NULL); // Pins 16, 17 tx, rx to pc via usb lead |
JonFreeman | 7:6deaeace9a3e | 74 | // Pin 18 VSS NET GND |
JonFreeman | 7:6deaeace9a3e | 75 | // Pin 19 VDD NET +3V3 |
JonFreeman | 7:6deaeace9a3e | 76 | // Pin 20 Port_A AWL |
JonFreeman | 7:6deaeace9a3e | 77 | // Pin 21 DigitalOut led1(LED1); |
JonFreeman | 7:6deaeace9a3e | 78 | DigitalOut LED (PA_5); // Pin 21 |
JonFreeman | 7:6deaeace9a3e | 79 | // Pin 22 Port_A AVL |
JonFreeman | 7:6deaeace9a3e | 80 | // Pin 23 Port_A AVH |
JonFreeman | 7:6deaeace9a3e | 81 | InterruptIn MBH2 (PC_4); // Pin 24 |
JonFreeman | 7:6deaeace9a3e | 82 | InterruptIn MBH3 (PC_5); // Pin 25 |
JonFreeman | 7:6deaeace9a3e | 83 | // Pin 26 Port_B BUL |
JonFreeman | 7:6deaeace9a3e | 84 | // Pin 27 Port_B BVL |
JonFreeman | 7:6deaeace9a3e | 85 | // Pin 28 Port_B BWL |
JonFreeman | 7:6deaeace9a3e | 86 | // Pin 29 Port_B BUH |
JonFreeman | 7:6deaeace9a3e | 87 | // Pin 30 VCAP1 |
JonFreeman | 7:6deaeace9a3e | 88 | // Pin 31 VSS |
JonFreeman | 7:6deaeace9a3e | 89 | // Pin 32 VDD |
JonFreeman | 7:6deaeace9a3e | 90 | // Pin 33 Port_B BVH |
JonFreeman | 7:6deaeace9a3e | 91 | // Pin 34 Port_B BWH |
JonFreeman | 7:6deaeace9a3e | 92 | DigitalOut T4 (PB_14); // Pin 35 |
JonFreeman | 7:6deaeace9a3e | 93 | DigitalOut T3 (PB_15); // Pin 36 |
JonFreeman | 7:6deaeace9a3e | 94 | // BufferedSerial com2 pins 37 Tx, 38 Rx |
JonFreeman | 7:6deaeace9a3e | 95 | BufferedSerial com2 (PC_6, PC_7); // Pins 37, 38 tx, rx to XBee module |
JonFreeman | 7:6deaeace9a3e | 96 | FastPWM A_MAX_V_PWM (PC_8, 1), // Pin 39 pwm3/3 |
JonFreeman | 7:6deaeace9a3e | 97 | A_MAX_I_PWM (PC_9, 1); // pin 40, prescaler value pwm3/4 |
JonFreeman | 7:6deaeace9a3e | 98 | //InterruptIn MotB_Hall (PA_8); // Pin 41 |
JonFreeman | 7:6deaeace9a3e | 99 | // Pin 41 Port_A AWH |
JonFreeman | 7:6deaeace9a3e | 100 | // BufferedSerial com3 pins 42 Tx, 43 Rx |
JonFreeman | 7:6deaeace9a3e | 101 | //InterruptIn tryseredge (PA_9); |
JonFreeman | 7:6deaeace9a3e | 102 | BufferedSerial com3 (PA_9, PA_10); // Pins 42, 43 tx, rx to any aux module |
JonFreeman | 7:6deaeace9a3e | 103 | // 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 | 7:6deaeace9a3e | 104 | // No. |
JonFreeman | 7:6deaeace9a3e | 105 | |
JonFreeman | 7:6deaeace9a3e | 106 | // Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses |
JonFreeman | 7:6deaeace9a3e | 107 | //BufferedSerial extra_ser (PA_11, PA_12); // Pins 44, 45 tx, rx to XBee module |
JonFreeman | 7:6deaeace9a3e | 108 | DigitalOut T2 (PA_11); // Pin 44 |
JonFreeman | 7:6deaeace9a3e | 109 | // was DigitalOut T1 (PA_12); // Pin 45 |
JonFreeman | 7:6deaeace9a3e | 110 | |
JonFreeman | 7:6deaeace9a3e | 111 | |
JonFreeman | 7:6deaeace9a3e | 112 | //InterruptIn T1 (PA_12); // Pin 45 now input counting pulses from LMT01 temperature sensor |
JonFreeman | 7:6deaeace9a3e | 113 | // InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13 |
JonFreeman | 7:6deaeace9a3e | 114 | DigitalIn T1 (PA_12); |
JonFreeman | 7:6deaeace9a3e | 115 | ////InterruptIn T1 (PC_13); // Pin 45 now input counting pulses from LMT01 temperature sensor |
JonFreeman | 7:6deaeace9a3e | 116 | |
JonFreeman | 7:6deaeace9a3e | 117 | |
JonFreeman | 7:6deaeace9a3e | 118 | |
JonFreeman | 7:6deaeace9a3e | 119 | // Pin 46 SWDIO |
JonFreeman | 7:6deaeace9a3e | 120 | // Pin 47 VSS |
JonFreeman | 7:6deaeace9a3e | 121 | // Pin 48 VDD |
JonFreeman | 7:6deaeace9a3e | 122 | // Pin 49 SWCLK |
JonFreeman | 7:6deaeace9a3e | 123 | |
JonFreeman | 7:6deaeace9a3e | 124 | //Was DigitalOut T5 (PA_15); // Pin 50 |
JonFreeman | 7:6deaeace9a3e | 125 | DigitalIn T5 (PA_15); // Pin 50 now fwd/rev from remote control box if fitted |
JonFreeman | 7:6deaeace9a3e | 126 | InterruptIn MAH1 (PC_10); // Pin 51 |
JonFreeman | 7:6deaeace9a3e | 127 | InterruptIn MAH2 (PC_11); // Pin 52 |
JonFreeman | 7:6deaeace9a3e | 128 | InterruptIn MAH3 (PC_12); // Pin 53 |
JonFreeman | 7:6deaeace9a3e | 129 | InterruptIn MBH1 (PD_2); // Pin 54 |
JonFreeman | 7:6deaeace9a3e | 130 | DigitalOut T6 (PB_3); // Pin 55 |
JonFreeman | 7:6deaeace9a3e | 131 | FastPWM B_MAX_V_PWM (PB_4, 1), // Pin 56 pwm3/3 |
JonFreeman | 7:6deaeace9a3e | 132 | B_MAX_I_PWM (PB_5, 1); // pin 57, prescaler value pwm3/4 |
JonFreeman | 7:6deaeace9a3e | 133 | |
JonFreeman | 7:6deaeace9a3e | 134 | I2C i2c (PB_7, PB_6); // Pins 58, 59 For 24LC64 eeprom |
JonFreeman | 7:6deaeace9a3e | 135 | // Pin 60 BOOT0 |
JonFreeman | 7:6deaeace9a3e | 136 | |
JonFreeman | 7:6deaeace9a3e | 137 | // Servo pins, 2 off. Configured as Input to read radio control receiver |
JonFreeman | 7:6deaeace9a3e | 138 | // If used as servo output, code gives pin to 'Servo' - seems to work |
JonFreeman | 7:6deaeace9a3e | 139 | InterruptIn Servo1_i (PB_8); // Pin 61 to read output from rc rx |
JonFreeman | 7:6deaeace9a3e | 140 | InterruptIn Servo2_i (PB_9); // Pin 62 to read output from rc rx |
JonFreeman | 7:6deaeace9a3e | 141 | |
JonFreeman | 7:6deaeace9a3e | 142 | // Pin 63 VSS |
JonFreeman | 7:6deaeace9a3e | 143 | // Pin 64 VDD |
JonFreeman | 7:6deaeace9a3e | 144 | // SYSTEM CONSTANTS |
JonFreeman | 7:6deaeace9a3e | 145 |