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

error_handler.cpp@12:d1d21a2941ef, 2019-03-04 (annotated)

Committer:
JonFreeman
Date:
Mon Mar 04 17:51:08 2019 +0000
Revision:
12:d1d21a2941ef
Child:
13:ef7a06fa11de
STM3 ESC dual motor controller boards. Always 'Work In Progress', working snapshot March 2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 12:d1d21a2941ef 1 #include "mbed.h"
JonFreeman 12:d1d21a2941ef 2 #include "DualBLS.h"
JonFreeman 12:d1d21a2941ef 3 #include "BufferedSerial.h"
JonFreeman 12:d1d21a2941ef 4 extern BufferedSerial pc;
JonFreeman 12:d1d21a2941ef 5
JonFreeman 12:d1d21a2941ef 6 /*class error_handling_Jan_2019
JonFreeman 12:d1d21a2941ef 7 {
JonFreeman 12:d1d21a2941ef 8 int32_t TS_fault[NUMOF_REPORTABLE_TS_ERRORS] ; // Some number of reportable error codes, accessible through set and read members
JonFreeman 12:d1d21a2941ef 9 public:
JonFreeman 12:d1d21a2941ef 10 error_handling_Jan_2019 () { // default constructor
JonFreeman 12:d1d21a2941ef 11 for (int i = 0; i < (sizeof(TS_fault) / sizeof(int32_t)); i++)
JonFreeman 12:d1d21a2941ef 12 TS_fault[i] = 0;
JonFreeman 12:d1d21a2941ef 13 }
JonFreeman 12:d1d21a2941ef 14 void set (uint32_t, int32_t) ;
JonFreeman 12:d1d21a2941ef 15 uint32_t read (uint32_t) ;
JonFreeman 12:d1d21a2941ef 16 bool all_good () ;
JonFreeman 12:d1d21a2941ef 17 void report_any () ;
JonFreeman 12:d1d21a2941ef 18 } ;
JonFreeman 12:d1d21a2941ef 19 */
JonFreeman 12:d1d21a2941ef 20
JonFreeman 12:d1d21a2941ef 21 const char * FaultList[] = {
JonFreeman 12:d1d21a2941ef 22 /*
JonFreeman 12:d1d21a2941ef 23 FAULT_0,
JonFreeman 12:d1d21a2941ef 24 FAULT_EEPROM,
JonFreeman 12:d1d21a2941ef 25 FAULT_BOARD_ID,
JonFreeman 12:d1d21a2941ef 26 FAULT_COM_LINE_LEN,
JonFreeman 12:d1d21a2941ef 27 FAULT_COM_LINE_NOMATCH,
JonFreeman 12:d1d21a2941ef 28 FAULT_COM_LINE_LEN_PC,
JonFreeman 12:d1d21a2941ef 29 FAULT_COM_LINE_LEN_TS,
JonFreeman 12:d1d21a2941ef 30 FAULT_COM_LINE_NOMATCH_PC,
JonFreeman 12:d1d21a2941ef 31 FAULT_COM_LINE_NOMATCH_TS,
JonFreeman 12:d1d21a2941ef 32 FAULT_MAX,
JonFreeman 12:d1d21a2941ef 33 NUMOF_REPORTABLE_TS_ERRORS
JonFreeman 12:d1d21a2941ef 34 */
JonFreeman 12:d1d21a2941ef 35 "Zero",
JonFreeman 12:d1d21a2941ef 36 "EEPROM",
JonFreeman 12:d1d21a2941ef 37 "board ID",
JonFreeman 12:d1d21a2941ef 38 "com line len",
JonFreeman 12:d1d21a2941ef 39 "com line nomatch",
JonFreeman 12:d1d21a2941ef 40 "com line len",
JonFreeman 12:d1d21a2941ef 41 "com line len",
JonFreeman 12:d1d21a2941ef 42 "com no match",
JonFreeman 12:d1d21a2941ef 43 "com no match",
JonFreeman 12:d1d21a2941ef 44 "max",
JonFreeman 12:d1d21a2941ef 45 "endoflist",
JonFreeman 12:d1d21a2941ef 46 " ",
JonFreeman 12:d1d21a2941ef 47 } ;
JonFreeman 12:d1d21a2941ef 48
JonFreeman 12:d1d21a2941ef 49 bool error_handling_Jan_2019::all_good () {
JonFreeman 12:d1d21a2941ef 50 for (int i = 0; i < NUMOF_REPORTABLE_TS_ERRORS; i++)
JonFreeman 12:d1d21a2941ef 51 if (ESC_fault[i])
JonFreeman 12:d1d21a2941ef 52 return false;
JonFreeman 12:d1d21a2941ef 53 return true;
JonFreeman 12:d1d21a2941ef 54 }
JonFreeman 12:d1d21a2941ef 55
JonFreeman 12:d1d21a2941ef 56 /**void error_handling_Jan_2019::set (uint32_t err_no, int32_t bits_to_set) {
JonFreeman 12:d1d21a2941ef 57 Used to set bits in error int
JonFreeman 12:d1d21a2941ef 58 Uses OR to set new bits without clearing other bits set previously
JonFreeman 12:d1d21a2941ef 59 */
JonFreeman 12:d1d21a2941ef 60 void error_handling_Jan_2019::set (uint32_t err_no, int32_t bits_to_set) {
JonFreeman 12:d1d21a2941ef 61 if (bits_to_set) {
JonFreeman 12:d1d21a2941ef 62 pc.printf ("At Error.set, err_no %d, bits %lx\r\n", err_no, bits_to_set);
JonFreeman 12:d1d21a2941ef 63 ESC_fault[err_no] |= bits_to_set; // Uses OR to set new bits without clearing other bits set previously
JonFreeman 12:d1d21a2941ef 64 }
JonFreeman 12:d1d21a2941ef 65 }
JonFreeman 12:d1d21a2941ef 66
JonFreeman 12:d1d21a2941ef 67 /**void error_handling_Jan_2019::clr (uint32_t err_no) {
JonFreeman 12:d1d21a2941ef 68 Used to clear all bits in error int
JonFreeman 12:d1d21a2941ef 69 */
JonFreeman 12:d1d21a2941ef 70 void error_handling_Jan_2019::clr (uint32_t err_no) {
JonFreeman 12:d1d21a2941ef 71 ESC_fault[err_no] = 0;
JonFreeman 12:d1d21a2941ef 72 }
JonFreeman 12:d1d21a2941ef 73
JonFreeman 12:d1d21a2941ef 74 uint32_t error_handling_Jan_2019::read (uint32_t err_no) {
JonFreeman 12:d1d21a2941ef 75 return ESC_fault[err_no];
JonFreeman 12:d1d21a2941ef 76 }
JonFreeman 12:d1d21a2941ef 77
JonFreeman 12:d1d21a2941ef 78 void error_handling_Jan_2019::report_any (bool retain) {
JonFreeman 12:d1d21a2941ef 79 for (int i = 0; i < NUMOF_REPORTABLE_TS_ERRORS; i++) {
JonFreeman 12:d1d21a2941ef 80 if (ESC_fault[i]) {
JonFreeman 12:d1d21a2941ef 81 pc.printf ("Error report, number %d, value %d, %s\r\n", i, ESC_fault[i], FaultList[i]);
JonFreeman 12:d1d21a2941ef 82 if (!retain)
JonFreeman 12:d1d21a2941ef 83 ESC_fault[i] = 0;
JonFreeman 12:d1d21a2941ef 84 }
JonFreeman 12:d1d21a2941ef 85 }
JonFreeman 12:d1d21a2941ef 86 }
JonFreeman 12:d1d21a2941ef 87