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

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

Committer:
JonFreeman
Date:
Sun Aug 16 14:13:19 2020 +0000
Revision:
17:cc9b854295d6
Parent:
16:d1e4b9ad3b8b 
August 2020. Checked Radio Control input ops.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 10:e40d8724268a 1 /* mbed brushless_motor library
JonFreeman 10:e40d8724268a 2 Jon Freeman
JonFreeman 10:e40d8724268a 3 December 2018
JonFreeman 10:e40d8724268a 4 */
JonFreeman 10:e40d8724268a 5 #ifndef MBED_BRUSHLESSMOTOR_H
JonFreeman 10:e40d8724268a 6 #define MBED_BRUSHLESSMOTOR_H
JonFreeman 10:e40d8724268a 7
JonFreeman 10:e40d8724268a 8 #include "mbed.h"
JonFreeman 13:ef7a06fa11de 9 #include "STM3_ESC.h"
JonFreeman 12:d1d21a2941ef 10 #include "FastPWM.h"
JonFreeman 10:e40d8724268a 11
JonFreeman 10:e40d8724268a 12 class brushless_motor
JonFreeman 10:e40d8724268a 13 {
JonFreeman 11:bfb73f083009 14 int32_t angle_cnt;
JonFreeman 12:d1d21a2941ef 15 uint32_t Hall_index[2], encoder_error_cnt, motor_poles, current_sense_rs_offset;
JonFreeman 12:d1d21a2941ef 16 uint32_t Hall_total, // Incremented on every Hall sensor transition
JonFreeman 12:d1d21a2941ef 17 Hall_previous,
JonFreeman 13:ef7a06fa11de 18 visible_mode, // One of MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE, MOTOR_REGENBRAKE
JonFreeman 12:d1d21a2941ef 19 inner_mode;
JonFreeman 12:d1d21a2941ef 20 uint32_t direction;
JonFreeman 16:d1e4b9ad3b8b 21 double RPM_filter; //, dv_by_dt;
JonFreeman 12:d1d21a2941ef 22 bool moving_flag;
JonFreeman 12:d1d21a2941ef 23 const uint16_t * lut;
JonFreeman 11:bfb73f083009 24 AnalogIn Motor_I;
JonFreeman 12:d1d21a2941ef 25 FastPWM maxV, maxI;
JonFreeman 12:d1d21a2941ef 26 InterruptIn H1, H2, H3; // Inputs for motor Hall sensors
JonFreeman 12:d1d21a2941ef 27 PortOut OP;
JonFreeman 16:d1e4b9ad3b8b 28 void motor_voltage_refresh () ;
JonFreeman 12:d1d21a2941ef 29 void Hall_change () ;
JonFreeman 16:d1e4b9ad3b8b 30 uint32_t read_Halls () ; // Returns 3 bits of latest Hall sensor outputs
JonFreeman 16:d1e4b9ad3b8b 31 // uint32_t max_rpm ;
JonFreeman 12:d1d21a2941ef 32 double V_clamp ; // Used to limit top speed
JonFreeman 16:d1e4b9ad3b8b 33 // double numof_current_sense_rs;
JonFreeman 16:d1e4b9ad3b8b 34 double last_V, last_I, current_scale;
JonFreeman 10:e40d8724268a 35 public:
JonFreeman 12:d1d21a2941ef 36 uint32_t tickleon;
JonFreeman 12:d1d21a2941ef 37 double Idbl;
JonFreeman 16:d1e4b9ad3b8b 38 double dRPM, dMPH;
JonFreeman 13:ef7a06fa11de 39
JonFreeman 11:bfb73f083009 40 // brushless_motor () {} ; // can not use this with exotic elements PortOut, FastPWM etc
JonFreeman 17:cc9b854295d6 41 brushless_motor (PinName iadc, PinName pwv, PinName pwi, const uint16_t *, PinName h1, PinName h2, PinName h3, PortName, const uint16_t, const uint32_t) ; // Constructor
JonFreeman 16:d1e4b9ad3b8b 42 bool poles (uint32_t) ; // Set number of motor poles - 4, 6, or 8
JonFreeman 16:d1e4b9ad3b8b 43 void set_V_limit (double) ; // Sets max motor voltage
JonFreeman 16:d1e4b9ad3b8b 44 void set_I_limit (double) ; // Sets max motor current
JonFreeman 16:d1e4b9ad3b8b 45 void motor_set () ; // Energise Port with data determined by Hall sensors
JonFreeman 16:d1e4b9ad3b8b 46 void set_direction (uint32_t) ; // sets 'direction' with bit pattern to eor with MOTOR_FORWARD or MOTOR_REVERSE in set_mode
JonFreeman 16:d1e4b9ad3b8b 47 void brake (double brake_effort) ;
JonFreeman 16:d1e4b9ad3b8b 48 // uint32_t get_direction () ;
JonFreeman 16:d1e4b9ad3b8b 49 bool set_mode (uint32_t); // sets mode to MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE or MOTOR_REGENBRAKE
JonFreeman 16:d1e4b9ad3b8b 50 uint32_t get_mode () ;
JonFreeman 16:d1e4b9ad3b8b 51 bool is_moving () ; // Returns true if one or more Hall transitions within last 31.25 milli secs
JonFreeman 16:d1e4b9ad3b8b 52 void speed_monitor_and_control () ; // call this once per main loop pass (32Hz) to keep count = edges per sec
JonFreeman 16:d1e4b9ad3b8b 53 void high_side_off () ;
JonFreeman 12:d1d21a2941ef 54 // void low_side_on () ;
JonFreeman 16:d1e4b9ad3b8b 55 void sniff_current () ; // Call this every 200us to update Idbl
JonFreeman 16:d1e4b9ad3b8b 56 void I_scale (double);
JonFreeman 16:d1e4b9ad3b8b 57 bool exists () ; // New May 2020 - reports presence or absence of motor
JonFreeman 10:e40d8724268a 58 } ; //MotorA, MotorB, or even Motor[2];
JonFreeman 10:e40d8724268a 59
JonFreeman 10:e40d8724268a 60 #endif