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
24LC64_eeprom.cpp
- Committer:
- JonFreeman
- Date:
- 2020-08-16
- Revision:
- 17:cc9b854295d6
- Parent:
- 16:d1e4b9ad3b8b
File content as of revision 17:cc9b854295d6:
#include "mbed.h" #include "STM3_ESC.h" #include "BufferedSerial.h" extern BufferedSerial pc; extern error_handling_Jan_2019 ESC_Error ; // Provides array usable to store error codes. // Code for 24LC64 8k x 8 bit eeprom // Code based on earlier work using memory FM24W256, also at i2c address 0xa0; const int addr_rd = 0xa1; // set bit 0 for read, clear bit 0 for write 24LC64 const int addr_wr = 0xa0; // set bit 0 for read, clear bit 0 for write 24LC64 const int ACK = 1; /*struct optpar { int min, max, de_fault; // min, max, default const char * txt; // description } ; */ struct optpar option_list[] = { {0, 1, 1, "MotorA direction [0 or 1]"}, // MOTADIR {0, 1, 0, "MotorB direction [0 or 1]"}, // MOTBDIR {4, 8, 8, "MotorA poles 4 or 6 or 8"}, // MOTAPOLES {4, 8, 8, "MotorB poles 4 or 6 or 8"}, // MOTBPOLES {1, 4, 1, "MotorA 0R05 shunt Rs 1 to 4"}, // ISHUNTB {1, 4, 1, "MotorB 0R05 shunt Rs 1 to 4"}, // ISHUNTB {10, 50, 20, "POT_REGBRAKE_RANGE percentage 10 to 50"}, // POT_REGBRAKE_RANGE {0, 1, 0, "Servo1 out 0 = Disabled, 1= Output enabled"}, // SVO1 {0, 1, 0, "Servo2 out 0 = Disabled, 1= Output enabled"}, // SVO2 {0, 2, 0, "RC Input1 0 = Not used, 1= Uni_dir, 2= Bi_dir"}, // RCIN1 {0, 2, 0, "RC Input2 0 = Not used, 1= Uni_dir, 2= Bi_dir"}, // RCIN2 {2, 6, 2, "Command source 2= COM2 (Touch Screen), 3= Pot, 4= RCIn1, 5= RCIn2, 6=RCin_both"}, // COMM_SRC {'1', '9', '0', "Alternative ID ascii '1' to '9'"}, // BOARD_ID defaults to '0' before eerom setup for first time {10, 250, 60, "Top speed MPH, range 1.0 to 25.0"}, // New Jan 2019 TOP_SPEED {50, 253, 98, "Wheel diameter mm"}, // New 01/06/2018 {10, 253, 27, "Motor pinion"}, // New 01/06/2018 {50, 253, 85, "Wheel gear"}, // New 01/06/2018 ** NOTE this and above two used to calculate RPM to MPH ** {0, 255, 12, "RC in 1 trim"}, // New Dec 2019 RCI1_TRIM read as 2's complement (-128 to +127), user enters -128 to +127 {0, 255, 12, "RC in 2 trim"}, // New Dec 2019 RCI2_TRIM read as 2's complement (-128 to +127), user enters -128 to +127 {10, 50, 20, "RCIN_REGBRAKE_RANGE stick range percent 10 to 50"}, // RCIN_REGBRAKE_RANGE {10, 90, 50, "RCIN_STICK_ATTACK rate percent 10 to 90"}, // RCIN_STICK_ATTACK {0, 1, 0, "RCIN1 direction swap 0 normal, 1 reverse"}, // RCIN1REVERSE {0, 1, 0, "RCIN2 direction swap 0 normal, 1 reverse"}, // RCIN2REVERSE {11, 63, 48, "Nominal system voltage, used to calculate current scaling"}, // NOM_SYSTEM_VOLTS {5, 91, 90, "Brake Effectiveness percentage"}, {1, 5, 1, "Baud rate, [1=9k6, 2=19k2, 3=38k4, 4=78k6, 5=115k2] = "}, // BAUD 1=9k6, 2=19k2, 3=38k4, 4=78k6, 5=115k2 {0, 100, 0, "Future 11"}, {0, 100, 0, "Future 12"}, {0, 100, 0, "Future 13"}, {0, 100, 0, "Future 14"}, {0, 100, 0, "Future 15"}, {0, 100, 0, "Future 16"}, } ; const int numof_eeprom_options = sizeof(option_list) / sizeof (struct optpar); /* class eeprom_settings { I2C i2c; uint32_t errors; uint32_t i2c_device_count; uint32_t i2c_device_list[12]; // max 12 i2c devices char settings [36]; double rpm2mphdbl, user_brake_rangedbl, Vnomdbl; bool rd_24LC64 (uint32_t start_addr, char * dest, uint32_t length) ; bool wr_24LC64 (uint32_t start_addr, char * dest, uint32_t length) ; bool set_24LC64_internal_address (int start_addr) ; bool ack_poll () ; public: eeprom_settings (PinName sda, PinName scl); // Constructor bool do_we_have_i2c (uint32_t x) ; char rd (uint32_t) ; // Read one setup char value from private buffer 'settings' bool wr (char, uint32_t) ; // Write one setup char value to private buffer 'settings' bool save () ; // Write 'settings' buffer to EEPROM bool set_defaults (); // Put default settings into EEPROM and local buffer uint32_t errs () ; // Return errors const char * t (uint32_t); int min (uint32_t) ; int max (uint32_t) ; int def (uint32_t) ; bool in_range (char val, uint32_t p) ; void edit (double * dbl, uint32_t numof_dbls) ; double user_brake_range () ; double top_speed () ; double rpm2mph () ; double rpm2mph (double) ; } ; */ uint32_t eeprom_settings::baud () { const uint32_t brates[] = {0, 9600, 19200, 38400, 76800, 11520}; return brates[settings[BAUD]]; } double eeprom_settings::top_speed () { return top_speeddbl; } double eeprom_settings::brake_effectiveness () { return brake_eff; } double eeprom_settings::user_brake_range () { return user_brake_rangedbl; } double eeprom_settings::Vnom () { return Vnomdbl; } double eeprom_settings::rpm2mph () { return rpm2mphdbl; } double eeprom_settings::rpm2mph (double rpm) { return rpm2mphdbl * rpm; } void eeprom_settings::edit (double * dbl, uint32_t numof_dbls) { extern void set_RCIN_offsets () ; const char* labs[3] = {"Disabled","Uni_directional","Bi_directional"}; char temps[MAX_CLI_PARAMS+1]; // max num of parameters entered from pc terminal uint32_t i; double user_scratch; double topspeed; // New Jan 2019 - set max loco speed pc.printf ("\r\nus - User Settings data in EEPROM\r\nSyntax 'us' with no parameters lists current state.\r\n"); if (numof_dbls > 0) { // If more than 0 parameters supplied if (numof_dbls > MAX_CLI_PARAMS) numof_dbls = MAX_CLI_PARAMS; for (i = 0; i < numof_dbls; i++) temps[i] = (char)dbl[i]; // recast doubles to char while (MAX_CLI_PARAMS > i) temps[i++] = 0; i = temps[0]; switch (i) { // First number read from user response after "mode" case 11: // MotorA_dir [0 or 1], MotorB_dir [0 or 1] wr(temps[1], MOTADIR); wr(temps[2], MOTBDIR); break; case 12: // MotorA_poles [4,6,8], MotorB_poles [4,6,8] if (temps[1] == 4 || temps[1] == 6 || temps[1] == 8) wr(temps[1], MOTAPOLES); if (temps[2] == 4 || temps[2] == 6 || temps[2] == 8) wr(temps[2], MOTBPOLES); break; case 13: // MotorA_ current sense resistors [1 to 4], MotorB_ current sense resistors [1 to 4] wr(temps[1], ISHUNTA); // Corrected since published wr(temps[2], ISHUNTB); break; case 14: wr(temps[1], BRAKE_EFFECTIVENESS); break; case 15: pc.printf ("POT_REGBRAKE_RANGE value entered = %d\r\n", temps[1]); if (!in_range(temps[1], POT_REGBRAKE_RANGE)) temps[1] = def(POT_REGBRAKE_RANGE); wr (temps[1], POT_REGBRAKE_RANGE); break; case 16: // 2 Servo1 [0 or 1], Servo2 [0 or 1] wr(temps[1], SVO1); wr(temps[2], SVO2); break; case 17: // 3 RCIn1 [0 or 1], RCIn2 [0 or 1] wr(temps[1], RCIN1); wr(temps[2], RCIN2); break; case 18: wr(temps[1], RCIN1REVERSE); break; case 19: wr(temps[1], RCIN2REVERSE); break; /* case 33: // Not shown in menu, just to test stuff searching for strtod bug, to be deleted later pc.printf ("Testing to fix strtod bug, "); i = 0; while (numof_dbls--) pc.printf ("%.3f, ", dbl[i++]); pc.printf ("TheEnd\r\n"); break;*/ case 21: // 3 RCIn1 trim [-128 to +127] case 22: // 3 RCIn2 trim [-128 to +127] user_scratch = dbl[1]; if (user_scratch > 127.0) user_scratch = 127.0; if (user_scratch < -128.0) user_scratch = -128.0; wr (((signed char) user_scratch), i == 21 ? RCI1_TRIM : RCI2_TRIM); set_RCIN_offsets () ; break; case 23: // RCIN_REGBRAKE_RANGE wr (temps[1], RCIN_REGBRAKE_RANGE); break; case 24: // RCIN_STICK_ATTACK wr (temps[1], RCIN_STICK_ATTACK); break; case 25: // 4 Board ID '0' to '9' if (temps[1] <= 9) // pointless to compare unsigned integer with zero wr('0' | temps[1], BOARD_ID); break; case 26: // TOP_SPEED topspeed = dbl[1]; if (topspeed > 25.0) topspeed = 25.0; if (topspeed < 1.0) topspeed = 1.0; wr((char)(topspeed * 10.0), TOP_SPEED); break; case 27: // 5 Wheel dia mm, Motor pinion teeth, Wheel gear teeth wr(temps[1], WHEELDIA); wr(temps[2], MOTPIN); wr(temps[3], WHEELGEAR); break; case 28: // {2, 5, 2, "Command source 2= COM2 (Touch Screen), 3= Pot, 4= RC Input1, 5= RC Input2, 6=RC1+2 Robot"}, if (temps[1] > 1 && temps[1] <= 6) wr(temps[1], COMM_SRC); break; case 29: // Nominal System Voltage wr (temps[1], NOM_SYSTEM_VOLTS); break; case 83: // set to defaults set_defaults (); break; case 30: // BAUD wr (temps[1], BAUD); break; /* case 9: // 9 Save settings save (); pc.printf ("Saving settings to EEPROM\r\n"); break;*/ default: pc.printf ("Not found - user setting %d\r\n", i); i = 0; break; } // endof switch if (i) { save (); pc.printf ("Saving settings to EEPROM\r\n"); } } // endof // If more than 0 parameters supplied else { // command was just "mode" on its own pc.printf ("No Changes\r\n"); } pc.printf ("us 11\t%s = %d, %s = %d\r\n", t(MOTADIR), settings[MOTADIR], t(MOTBDIR), settings[MOTBDIR]); pc.printf ("us 12\t%s = %d, %s = %d\r\n", t(MOTAPOLES), settings[MOTAPOLES], t(MOTBPOLES), settings[MOTBPOLES]); pc.printf ("us 13\tNumof motor current shunt resistors [%d to %d], MotorA = %d, MotorB = %d\r\n", min(ISHUNTA), max(ISHUNTA), settings[ISHUNTA], settings[ISHUNTB]); pc.printf ("us 14\t%s [min %d, max %d] = %d\r\n", t(BRAKE_EFFECTIVENESS), min(BRAKE_EFFECTIVENESS), max(BRAKE_EFFECTIVENESS), settings[BRAKE_EFFECTIVENESS]); pc.printf ("us 15\t%s[%d to %d] = %d\r\n", t(POT_REGBRAKE_RANGE), min(POT_REGBRAKE_RANGE), max(POT_REGBRAKE_RANGE), settings[POT_REGBRAKE_RANGE]); pc.printf ("us 16\tServo1 [0 or 1] = %d %s, Servo2 [0 or 1] = %d %s\r\n", settings[SVO1], settings[SVO1] == 0 ? "Disabled":"Enabled", settings[SVO2], settings[SVO2] == 0 ? "Disabled":"Enabled"); pc.printf ("us 17\tRCIn1 [0 disable, 1 Uni_dir, 2 Bi_dir] = %d, %s\r\n\tRCIn2 [0 disable, 1 Uni_dir, 2 Bi_dir] = %d, %s\r\n", settings[RCIN1], labs[settings[RCIN1]], settings[RCIN2], labs[rd(RCIN2)]); pc.printf ("us 18\t%s RCIN1 = %d, %s\r\n", t(RCIN1REVERSE), settings[RCIN1REVERSE], settings[RCIN1REVERSE] == 0 ? "NORMAL":"REVERSE"); pc.printf ("us 19\t%s RCIN2 = %d, %s\r\n", t(RCIN2REVERSE), settings[RCIN2REVERSE], settings[RCIN2REVERSE] == 0 ? "NORMAL":"REVERSE"); pc.printf ("us 21\tRCIn1 two's comp trim, [-128 to +127] = %d\r\n", (signed char) settings[RCI1_TRIM]); pc.printf ("us 22\tRCIn2 two's comp trim, [-128 to +127] = %d\r\n", (signed char) settings[RCI2_TRIM]); pc.printf ("us 23\tRCIn Regen braking uses this pcntage of movement range, [%d to %d] = %d\r\n",min(RCIN_REGBRAKE_RANGE), max(RCIN_REGBRAKE_RANGE), settings[RCIN_REGBRAKE_RANGE]); pc.printf ("us 24\tRCIn Stick move Attack rate, [%d to %d] = %d\r\n",min(RCIN_STICK_ATTACK), max(RCIN_STICK_ATTACK), settings[RCIN_STICK_ATTACK]); pc.printf ("us 25\tBoard ID ['0' to '9'] = '%c'\r\n", settings[BOARD_ID]); pc.printf ("us 26\t%s = %.1f\r\n", t(TOP_SPEED), double(settings[TOP_SPEED]) / 10.0); // WHEELDIA, MOTPIN, WHEELGEAR, used in converting RPM to MPH pc.printf ("us 27\t%s = %d, %s = %d, %s = %d\r\n", t(WHEELDIA), settings[WHEELDIA], t(MOTPIN), settings[MOTPIN], t(WHEELGEAR), settings[WHEELGEAR]); pc.printf ("us 28\tCommand Src [%d] - 2=COM2 (Touch Screen), 3=Pot, 4=RC In1, 5=RC In2, 6=RC1+2\r\n", settings[COMM_SRC]); pc.printf ("us 29\t%s = %d\r\n", t(NOM_SYSTEM_VOLTS), settings[NOM_SYSTEM_VOLTS]); pc.printf ("us 30\t%s %d\r\n", t(BAUD), settings[BAUD]); pc.printf ("us 83\tSet to defaults\r\n"); // pc.printf ("us 9\tSave settings\r\r\n"); } bool eeprom_settings::in_range (char val, uint32_t p) { if ((val >= option_list[p].min) && (val <= option_list[p].max)) return true; return false; } uint32_t eeprom_settings::min (uint32_t i) { if (i >= numof_eeprom_options) i = numof_eeprom_options - 1; return option_list[i].min; } uint32_t eeprom_settings::max (uint32_t i) { if (i >= numof_eeprom_options) i = numof_eeprom_options - 1; return option_list[i].max; } uint32_t eeprom_settings::def (uint32_t i) { if (i >= numof_eeprom_options) i = numof_eeprom_options - 1; return option_list[i].de_fault; } const char * eeprom_settings::t (uint32_t i) { if (i >= numof_eeprom_options) i = numof_eeprom_options - 1; return option_list[i].txt; } bool eeprom_settings::set_defaults () { // Put default settings into EEPROM and local buffer for (int i = 0; i < numof_eeprom_options; i++) settings[i] = option_list[i].de_fault; // Load defaults and 'Save Settings' return save (); } uint32_t eeprom_settings::errs () { return errors; } bool eeprom_settings::do_we_have_i2c (uint32_t x) { for (int i = 0; i < i2c_device_count; i++) { if (i2c_device_list[i] == x) return true; } return false; } // Use : eeprom_settings (SDA_PIN, SCL_PIN); eeprom_settings::eeprom_settings (PinName sda, PinName scl) : i2c(sda, scl) // Constructor { errors = i2c_device_count = 0; for (int i = 0; i < 36; i++) settings[i] = 0; for (int i = 0; i < MAX_I2C_DEVICES; i++) i2c_device_list[i] = 0; i2c.frequency(400000); // Speed 400000 max. int q; for (int i = 0; i < 255; i += 2) { // Search for devices at all possible i2c addresses i2c.start(); q = i2c.write(i); // may return error code 2 when no start issued switch (q) { case ACK: i2c_device_list[i2c_device_count++] = i; if (i2c_device_count >= MAX_I2C_DEVICES) { i = 300; // break out pc.printf ("Too many i2c devices %d\r\n", i2c_device_count); } case 2: // Device not seen at this address break; default: pc.printf ("Unknown error %d from i2c.write while looking for i2c devices\r\n", q); errors |= 512; break; } } i2c.stop(); if (errors || !do_we_have_i2c(0xa0)) { pc.printf ("Error - EEPROM not seen %d\r\n", errors); errors |= 0xa0; ESC_Error.set (FAULT_EEPROM, errors); // Set FAULT_EEPROM bits if 24LC64 problem } else { // Found 24LC64 memory on I2C. Attempt to load settings from EEPROM errors = 0; if (!rd_24LC64 (0, settings, 32)) ESC_Error.set (FAULT_EEPROM, 2); // Set FAULT_EEPROM bit 1 if 24LC64 problem for (int i = 0; i < numof_eeprom_options; i++) { if ((settings[i] < option_list[i].min) || (settings[i] > option_list[i].max)) { pc.printf ("EEROM error with %s\r\n", option_list[i].txt); settings[i] = option_list[i].de_fault; // Load default for faulty entry errors++; } } } ESC_Error.set (FAULT_EEPROM, errors); // sets nothing if 0 // if (errors > 1) { ??why > 1 ? if (errors > 0) { // pc.printf ("Bad settings found at startup. Restoring defaults\r\n"); // for (int i = 0; i < numof_eeprom_options2; i++) // settings[i] = option_list[i].de_fault; // Load defaults and 'Save Settings' if (!wr_24LC64 (0, settings, 32)) // Save settings pc.printf ("Error saving EEPROM in user_settings19\r\n"); } rpm2mphdbl = 60.0 // to Motor Revs per hour; * ((double)settings[MOTPIN] / (double)settings[WHEELGEAR]) // Wheel revs per hour * PI * ((double)settings[WHEELDIA] / 1000.0) // metres per hour * 39.37 / (1760.0 * 36.0); // miles per hour update_dbls (); // else // 0 or 1 error max found // pc.printf ("At startup, settings errors = %d\r\n", errors); } // endof constructor void eeprom_settings::update_dbls () { user_brake_rangedbl = (double)settings[POT_REGBRAKE_RANGE] / 100.0; Vnomdbl = (double)settings[NOM_SYSTEM_VOLTS]; brake_eff = (double)settings[BRAKE_EFFECTIVENESS] / 100.0; top_speeddbl = (double)settings[TOP_SPEED] / 10.0; } bool eeprom_settings::ack_poll () { // wait short while for any previous memory operation to complete const int poll_tries = 40; int poll_count = 0; bool i2cfree = false; while (poll_count++ < poll_tries && !i2cfree) { i2c.start (); if (i2c.write(addr_wr) == ACK) i2cfree = true; else wait_us (1000); // June 2020 changed from wait_ms as now deprecated } return i2cfree; } bool eeprom_settings::set_24LC64_internal_address (int start_addr) { if (!ack_poll()) { pc.printf ("Err in set_24LC64_internal_address, no ACK writing device address byte\r\n"); i2c.stop(); return false; } int err = 0; if (i2c.write(start_addr >> 8) != ACK) err++; if (i2c.write(start_addr & 0xff) != ACK) err++; if (err) { pc.printf ("In set_24LC64_internal_address, Believe Device present, failed in writing 2 mem addr bytes %d\r\n", err); i2c.stop(); return false; } return true; } bool eeprom_settings::rd_24LC64 (uint32_t start_addr, char * dest, uint32_t length) { int acknak = ACK; if(length < 1) return false; if (!set_24LC64_internal_address (start_addr)) { pc.printf ("In rd_24LC64, failed to set_ramaddr\r\n"); return false; } i2c.start(); if (i2c.write(addr_rd) != ACK) { pc.printf ("Errors in rd_24LC64 sending addr_rd\r\n"); return false; } while(length--) { if(length == 0) acknak = 0; *dest++ = i2c.read(acknak); } i2c.stop(); return true; } bool eeprom_settings::wr_24LC64 (uint32_t start_addr, char * source, uint32_t length) { int err = 0; if(length < 1 || length > 32) { pc.printf ("Length out of range %d in wr_24LC64\r\n", length); return false; } ack_poll (); if (!set_24LC64_internal_address (start_addr)) { pc.printf ("In wr_24LC64, Believe Device present, failed in writing 2 mem addr bytes %d\r\n", err); return false; } while(length--) err += ACK - i2c.write(*source++); i2c.stop(); if (err) { pc.printf ("in wr_24LC64, device thought good, mem addr write worked, failed writing string\r\n"); return false; } // pc.printf ("In wr_24LC64 No Errors Found!\r\n"); return true; } char eeprom_settings::rd (uint32_t i) { // Read one setup char value from private buffer 'settings' if (i > 31) { pc.printf ("ERROR Attempt to read setting %d\r\n", i); return 0; } return settings[i]; } /* bool eeprom_settings::in_range (char val, uint32_t p) { if ((val >= option_list[p].min) && (val <= option_list[p].max)) return true; return false; } */ bool eeprom_settings::wr (char val, uint32_t p) { // Write one setup char value to private buffer 'settings' if (p > 31) return false; if ((val >= min(p)) && (val <= max(p))) { settings[p] = val; return true; } settings[p] = def(p); // pc.printf ("Wrong in wr, %s\r\n", t(p)); return false; } bool eeprom_settings::save () { // Write 'settings' buffer to EEPROM update_dbls (); return wr_24LC64 (0, settings, 32); }