Jon Freeman / Mbed 2 deprecated Brushless_STM3_ESC_2019_10

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

F411RE.h@17:cc9b854295d6, 2020-08-16 (annotated)

Committer:
JonFreeman
Date:
Sun Aug 16 14:13:19 2020 +0000
Revision:
17:cc9b854295d6
Parent:
13:ef7a06fa11de 
August 2020. Checked Radio Control input ops.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 13:ef7a06fa11de 1 #include "STM3_ESC.h"
JonFreeman 13:ef7a06fa11de 2 // Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
JonFreeman 13:ef7a06fa11de 3
JonFreeman 13:ef7a06fa11de 4 // Jan 2019 Trying to add two Radio Control inputs on PC_14 and PC_15, previously connected to unused LF Xtal.
JonFreeman 13:ef7a06fa11de 5 // Problem - Appears to conflict with serial port used for comms with controller
JonFreeman 13:ef7a06fa11de 6 // Earlier efforts to use 'Servo' ports as 'you choose' between I/O failed as pins not capable of use as 'InterruptIn'
JonFreeman 13:ef7a06fa11de 7
JonFreeman 13:ef7a06fa11de 8 // CORRECTION Comms problem with Touch Screen was insufficient pull-up on STM3_ESC opto. Change R12 from 1k to 470R
JonFreeman 13:ef7a06fa11de 9
JonFreeman 13:ef7a06fa11de 10 // Experiment disabling RC inputs to see if clearing serial conflict is possible
JonFreeman 13:ef7a06fa11de 11
JonFreeman 13:ef7a06fa11de 12
JonFreeman 13:ef7a06fa11de 13 // Port A -> MotorA, Port B -> MotorB
JonFreeman 13:ef7a06fa11de 14 const uint16_t
JonFreeman 13:ef7a06fa11de 15 // This is where port bits get assigned to motor output phase switches.
JonFreeman 13:ef7a06fa11de 16 // Phases are U, V and W.
JonFreeman 13:ef7a06fa11de 17 // Each phase uses two bits, one for the low side switch, one for the high side switch.
JonFreeman 13:ef7a06fa11de 18 //MotorN_port_bits[] = {UL, VL, WL, UH, VH, WH}, // Order must be as shown - 3 low side switches U,V,W followed by 3 high side switches U,V,W
JonFreeman 13:ef7a06fa11de 19 MotorA_port_bits[] = {0, 6, 4, 1, 7, 8}, // List of port A bits used to drive motor A UL, VL, WL, UH, VH, WH
JonFreeman 13:ef7a06fa11de 20 MotorB_port_bits[] = {0, 1, 2, 10, 12, 13}, // List of port B bits used to drive motor B UL, VL, WL, UH, VH, WH
JonFreeman 13:ef7a06fa11de 21 // Using port bit info in the two lines above, the compiler sorts all this into creation of lookup table
JonFreeman 13:ef7a06fa11de 22 // to provide correct energisation sequencing as motors rotate.
JonFreeman 13:ef7a06fa11de 23 // You need concern yourself no further about any of this.
JonFreeman 13:ef7a06fa11de 24
JonFreeman 13:ef7a06fa11de 25
JonFreeman 13:ef7a06fa11de 26 AUL = (1 << MotorA_port_bits[0]),
JonFreeman 13:ef7a06fa11de 27 AVL = (1 << MotorA_port_bits[1]), // These are which port bits connect to which mosfet driver
JonFreeman 13:ef7a06fa11de 28 AWL = (1 << MotorA_port_bits[2]),
JonFreeman 13:ef7a06fa11de 29
JonFreeman 13:ef7a06fa11de 30 AUH = (1 << MotorA_port_bits[3]),
JonFreeman 13:ef7a06fa11de 31 AVH = (1 << MotorA_port_bits[4]),
JonFreeman 13:ef7a06fa11de 32 AWH = (1 << MotorA_port_bits[5]),
JonFreeman 13:ef7a06fa11de 33
JonFreeman 13:ef7a06fa11de 34 AUHVL = AUH | AVL, // Each of 6 possible output energisations made up of one hi and one low
JonFreeman 13:ef7a06fa11de 35 AVHUL = AVH | AUL,
JonFreeman 13:ef7a06fa11de 36 AUHWL = AUH | AWL,
JonFreeman 13:ef7a06fa11de 37 AWHUL = AWH | AUL,
JonFreeman 13:ef7a06fa11de 38 AVHWL = AVH | AWL,
JonFreeman 13:ef7a06fa11de 39 AWHVL = AWH | AVL,
JonFreeman 13:ef7a06fa11de 40
JonFreeman 13:ef7a06fa11de 41 KEEP_L_MASK_A = AUL | AVL | AWL,
JonFreeman 13:ef7a06fa11de 42 KEEP_H_MASK_A = AUH | AVH | AWH,
JonFreeman 13:ef7a06fa11de 43
JonFreeman 13:ef7a06fa11de 44 BRA = AUL | AVL | AWL, // All low side switches on (and all high side off) for braking
JonFreeman 13:ef7a06fa11de 45
JonFreeman 13:ef7a06fa11de 46 BUL = (1 << MotorB_port_bits[0]), // Likewise for MotorB but different port bits on different port
JonFreeman 13:ef7a06fa11de 47 BVL = (1 << MotorB_port_bits[1]),
JonFreeman 13:ef7a06fa11de 48 BWL = (1 << MotorB_port_bits[2]),
JonFreeman 13:ef7a06fa11de 49
JonFreeman 13:ef7a06fa11de 50 BUH = (1 << MotorB_port_bits[3]),
JonFreeman 13:ef7a06fa11de 51 BVH = (1 << MotorB_port_bits[4]),
JonFreeman 13:ef7a06fa11de 52 BWH = (1 << MotorB_port_bits[5]),
JonFreeman 13:ef7a06fa11de 53
JonFreeman 13:ef7a06fa11de 54 BUHVL = BUH | BVL,
JonFreeman 13:ef7a06fa11de 55 BVHUL = BVH | BUL,
JonFreeman 13:ef7a06fa11de 56 BUHWL = BUH | BWL,
JonFreeman 13:ef7a06fa11de 57 BWHUL = BWH | BUL,
JonFreeman 13:ef7a06fa11de 58 BVHWL = BVH | BWL,
JonFreeman 13:ef7a06fa11de 59 BWHVL = BWH | BVL,
JonFreeman 13:ef7a06fa11de 60
JonFreeman 13:ef7a06fa11de 61 KEEP_L_MASK_B = BUL | BVL | BWL,
JonFreeman 13:ef7a06fa11de 62 KEEP_H_MASK_B = BUH | BVH | BWH,
JonFreeman 13:ef7a06fa11de 63
JonFreeman 13:ef7a06fa11de 64 BRB = BUL | BVL | BWL,
JonFreeman 13:ef7a06fa11de 65
JonFreeman 13:ef7a06fa11de 66 PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH, // NEW METHOD FOR DGD21032 MOSFET DRIVERS
JonFreeman 13:ef7a06fa11de 67 PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
JonFreeman 13:ef7a06fa11de 68
JonFreeman 13:ef7a06fa11de 69 //PortOut MotA (PortA, PORT_A_MASK); // Activate output ports to motor drivers
JonFreeman 13:ef7a06fa11de 70 //PortOut MotB (PortB, PORT_B_MASK);
JonFreeman 13:ef7a06fa11de 71
JonFreeman 13:ef7a06fa11de 72 // Pin 1 VBAT NET +3V3
JonFreeman 13:ef7a06fa11de 73
JonFreeman 13:ef7a06fa11de 74 //DigitalIn J3 (PC_13, PullUp);// Pin 2 Jumper pulls to GND, R floats Hi
JonFreeman 13:ef7a06fa11de 75 #ifdef TEMP_SENSOR_ENABLE
JonFreeman 13:ef7a06fa11de 76 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 13:ef7a06fa11de 77 #endif
JonFreeman 13:ef7a06fa11de 78
JonFreeman 13:ef7a06fa11de 79 // Pin 3 PC14-OSC32_IN NET O32I Xtal chucked off these pins, now needed for RC inputs
JonFreeman 13:ef7a06fa11de 80 // Pin 4 PC15-OSC32_OUT NET O32O
JonFreeman 13:ef7a06fa11de 81 // Pin 5 PH0-OSC_IN NET PH1
JonFreeman 13:ef7a06fa11de 82 // Pin 6 PH1-OSC_OUT NET PH1
JonFreeman 13:ef7a06fa11de 83 // Pin 7 NRST NET NRST
JonFreeman 13:ef7a06fa11de 84 AnalogIn Ain_DriverPot (PC_0); // Pin 8 Spare Analogue in, net SAIN fitted with external pull-down
JonFreeman 13:ef7a06fa11de 85 AnalogIn Ain_SystemVolts (PC_1); // Pin 9
JonFreeman 13:ef7a06fa11de 86 #define MOT_A_I_ADC PC_2
JonFreeman 13:ef7a06fa11de 87 #define MOT_B_I_ADC PC_3
JonFreeman 13:ef7a06fa11de 88 //AnalogIn Motor_A_Current (PC_2); // Pin 10
JonFreeman 13:ef7a06fa11de 89 //AnalogIn Motor_B_Current (PC_3); // Pin 11
JonFreeman 13:ef7a06fa11de 90 // Pin 12 VSSA/VREF- NET GND
JonFreeman 13:ef7a06fa11de 91 // Pin 13 VDDA/VREF+ NET +3V3
JonFreeman 13:ef7a06fa11de 92 // Pin 14 Port_A AUL
JonFreeman 13:ef7a06fa11de 93 // Pin 15 Port_A AUH
JonFreeman 13:ef7a06fa11de 94 // Pins 16, 17 BufferedSerial pc
JonFreeman 13:ef7a06fa11de 95 BufferedSerial pc (PA_2, PA_3, 2048, 4, NULL); // Pins 16, 17 tx, rx to pc via usb lead
JonFreeman 13:ef7a06fa11de 96 // Pin 18 VSS NET GND
JonFreeman 13:ef7a06fa11de 97 // Pin 19 VDD NET +3V3
JonFreeman 13:ef7a06fa11de 98 // Pin 20 Port_A AWL
JonFreeman 13:ef7a06fa11de 99 // Pin 21 DigitalOut led1(LED1);
JonFreeman 13:ef7a06fa11de 100 DigitalOut LED (PA_5); // Pin 21
JonFreeman 13:ef7a06fa11de 101 // Pin 22 Port_A AVL
JonFreeman 13:ef7a06fa11de 102 // Pin 23 Port_A AVH
JonFreeman 13:ef7a06fa11de 103 //InterruptIn MBH2 (PC_4); // Pin 24
JonFreeman 13:ef7a06fa11de 104 //InterruptIn MBH3 (PC_5); // Pin 25
JonFreeman 13:ef7a06fa11de 105 #define _MBH2 PC_4
JonFreeman 13:ef7a06fa11de 106 #define _MBH3 PC_5
JonFreeman 13:ef7a06fa11de 107 // Pin 26 Port_B BUL
JonFreeman 13:ef7a06fa11de 108 // Pin 27 Port_B BVL
JonFreeman 13:ef7a06fa11de 109 // Pin 28 Port_B BWL
JonFreeman 13:ef7a06fa11de 110 // Pin 29 Port_B BUH
JonFreeman 13:ef7a06fa11de 111 // Pin 30 VCAP1
JonFreeman 13:ef7a06fa11de 112 // Pin 31 VSS
JonFreeman 13:ef7a06fa11de 113 // Pin 32 VDD
JonFreeman 13:ef7a06fa11de 114 // Pin 33 Port_B BVH
JonFreeman 13:ef7a06fa11de 115 // Pin 34 Port_B BWH
JonFreeman 13:ef7a06fa11de 116 DigitalOut T4 (PB_14); // Pin 35
JonFreeman 13:ef7a06fa11de 117 DigitalOut T3 (PB_15); // Pin 36
JonFreeman 13:ef7a06fa11de 118 // BufferedSerial com2 pins 37 Tx, 38 Rx
JonFreeman 13:ef7a06fa11de 119 BufferedSerial com2 (PC_6, PC_7); // Pins 37, 38 tx, rx to Touch Screen Controller
JonFreeman 13:ef7a06fa11de 120 #define APWMV PC_8
JonFreeman 13:ef7a06fa11de 121 #define APWMI PC_9
JonFreeman 13:ef7a06fa11de 122 //FastPWM A_MAX_V_PWM (PC_8, PWM_PRESECALER_DEFAULT), // Pin 39 pwm3/3
JonFreeman 13:ef7a06fa11de 123 // A_MAX_I_PWM (PC_9, PWM_PRESECALER_DEFAULT); // pin 40, prescaler value pwm3/4
JonFreeman 13:ef7a06fa11de 124 //InterruptIn MotB_Hall (PA_8); // Pin 41
JonFreeman 13:ef7a06fa11de 125 // Pin 41 Port_A AWH
JonFreeman 13:ef7a06fa11de 126 // BufferedSerial com3 pins 42 Tx, 43 Rx
JonFreeman 13:ef7a06fa11de 127 //InterruptIn tryseredge (PA_9);
JonFreeman 13:ef7a06fa11de 128 BufferedSerial com3 (PA_9, PA_10); // Pins 42, 43 tx, rx to any aux module
JonFreeman 13:ef7a06fa11de 129 // 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 13:ef7a06fa11de 130 // No.
JonFreeman 13:ef7a06fa11de 131
JonFreeman 13:ef7a06fa11de 132 // Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses
JonFreeman 13:ef7a06fa11de 133 //BufferedSerial extra_ser (PA_11, PA_12); // Pins 44, 45 tx, rx to XBee module
JonFreeman 13:ef7a06fa11de 134 DigitalOut T2 (PA_11); // Pin 44
JonFreeman 13:ef7a06fa11de 135 // was DigitalOut T1 (PA_12); // Pin 45
JonFreeman 13:ef7a06fa11de 136
JonFreeman 13:ef7a06fa11de 137
JonFreeman 13:ef7a06fa11de 138 //InterruptIn T1 (PA_12); // Pin 45 now input counting pulses from LMT01 temperature sensor
JonFreeman 13:ef7a06fa11de 139 // InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13
JonFreeman 13:ef7a06fa11de 140 DigitalIn T1 (PA_12);
JonFreeman 13:ef7a06fa11de 141 ////InterruptIn T1 (PC_13); // Pin 45 now input counting pulses from LMT01 temperature sensor
JonFreeman 13:ef7a06fa11de 142
JonFreeman 13:ef7a06fa11de 143
JonFreeman 13:ef7a06fa11de 144
JonFreeman 13:ef7a06fa11de 145 // Pin 46 SWDIO
JonFreeman 13:ef7a06fa11de 146 // Pin 47 VSS
JonFreeman 13:ef7a06fa11de 147 // Pin 48 VDD
JonFreeman 13:ef7a06fa11de 148 // Pin 49 SWCLK
JonFreeman 13:ef7a06fa11de 149
JonFreeman 13:ef7a06fa11de 150 //Was DigitalOut T5 (PA_15); // Pin 50
JonFreeman 13:ef7a06fa11de 151 DigitalIn T5 (PA_15); // Pin 50 now fwd/rev from remote control box if fitted
JonFreeman 13:ef7a06fa11de 152 #define _MAH1 PC_10 // Pin 51
JonFreeman 13:ef7a06fa11de 153 #define _MAH2 PC_11 // Pin 52
JonFreeman 13:ef7a06fa11de 154 #define _MAH3 PC_12 // Pin 53
JonFreeman 13:ef7a06fa11de 155 //InterruptIn MBH1 (PD_2); // Pin 54
JonFreeman 13:ef7a06fa11de 156 #define _MBH1 PD_2
JonFreeman 13:ef7a06fa11de 157 DigitalOut T6 (PB_3); // Pin 55
JonFreeman 13:ef7a06fa11de 158 #define BPWMV PB_4
JonFreeman 13:ef7a06fa11de 159 #define BPWMI PB_5
JonFreeman 13:ef7a06fa11de 160 //FastPWM B_MAX_V_PWM (PB_4, PWM_PRESECALER_DEFAULT), // Pin 56 pwm3/3
JonFreeman 13:ef7a06fa11de 161 // B_MAX_I_PWM (PB_5, PWM_PRESECALER_DEFAULT); // pin 57, prescaler value pwm3/4
JonFreeman 13:ef7a06fa11de 162
JonFreeman 13:ef7a06fa11de 163 //I2C i2c (PB_7, PB_6); // Pins 58, 59 For 24LC64 eeprom
JonFreeman 13:ef7a06fa11de 164 #define SDA_PIN PB_7
JonFreeman 13:ef7a06fa11de 165 #define SCL_PIN PB_6
JonFreeman 13:ef7a06fa11de 166 // Pin 60 BOOT0
JonFreeman 13:ef7a06fa11de 167
JonFreeman 13:ef7a06fa11de 168 // Servo pins, 2 off. Configured as Input to read radio control receiver
JonFreeman 13:ef7a06fa11de 169 // ** Update December 2018 **
JonFreeman 13:ef7a06fa11de 170 // These pins can not be used as InterruptIn.
JonFreeman 13:ef7a06fa11de 171 // Can be used as outputs by 'Servo'
JonFreeman 13:ef7a06fa11de 172 // If used as servo output, code gives pin to 'Servo' - seems to work
JonFreeman 13:ef7a06fa11de 173 //InterruptIn Servo1_i (PB_8); // Pin 61 to read output from rc rx
JonFreeman 13:ef7a06fa11de 174 //InterruptIn Servo2_i (PB_9); // Pin 62 to read output from rc rx
JonFreeman 13:ef7a06fa11de 175 // *** NOTE *** Above InterruptIn Servo using PB pins seems not to work, probably due to other Port B pins used as PortOut (try PortInOut?)
JonFreeman 13:ef7a06fa11de 176 // Nov 2018 - Yet to try using PC14, PC15, free now as 32k768 xtal not fitted
JonFreeman 13:ef7a06fa11de 177
JonFreeman 13:ef7a06fa11de 178
JonFreeman 13:ef7a06fa11de 179 // Pin 63 VSS
JonFreeman 13:ef7a06fa11de 180 // Pin 64 VDD
JonFreeman 13:ef7a06fa11de 181 // SYSTEM CONSTANTS
JonFreeman 13:ef7a06fa11de 182 // December 2018 ** NEED TO PROVE SERVO OUT WORKS ** YES, DONE.
JonFreeman 13:ef7a06fa11de 183 Servo Servo1 (PB_8) ;
JonFreeman 13:ef7a06fa11de 184 // Servos[0] = & Servo1;
JonFreeman 13:ef7a06fa11de 185 Servo Servo2 (PB_9) ;
JonFreeman 13:ef7a06fa11de 186 // Servos[1] = & Servo2;
JonFreeman 13:ef7a06fa11de 187