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
- Committer:
- JonFreeman
- Date:
- 2020-08-16
- Revision:
- 17:cc9b854295d6
- Parent:
- 16:d1e4b9ad3b8b
File content as of revision 17:cc9b854295d6:
/* mbed brushless_motor library Jon Freeman December 2018 */ #ifndef MBED_BRUSHLESSMOTOR_H #define MBED_BRUSHLESSMOTOR_H #include "mbed.h" #include "STM3_ESC.h" #include "FastPWM.h" class brushless_motor { int32_t angle_cnt; uint32_t Hall_index[2], encoder_error_cnt, motor_poles, current_sense_rs_offset; uint32_t Hall_total, // Incremented on every Hall sensor transition Hall_previous, visible_mode, // One of MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE, MOTOR_REGENBRAKE inner_mode; uint32_t direction; double RPM_filter; //, dv_by_dt; bool moving_flag; const uint16_t * lut; AnalogIn Motor_I; FastPWM maxV, maxI; InterruptIn H1, H2, H3; // Inputs for motor Hall sensors PortOut OP; void motor_voltage_refresh () ; void Hall_change () ; uint32_t read_Halls () ; // Returns 3 bits of latest Hall sensor outputs // uint32_t max_rpm ; double V_clamp ; // Used to limit top speed // double numof_current_sense_rs; double last_V, last_I, current_scale; public: uint32_t tickleon; double Idbl; double dRPM, dMPH; // brushless_motor () {} ; // can not use this with exotic elements PortOut, FastPWM etc 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 bool poles (uint32_t) ; // Set number of motor poles - 4, 6, or 8 void set_V_limit (double) ; // Sets max motor voltage void set_I_limit (double) ; // Sets max motor current void motor_set () ; // Energise Port with data determined by Hall sensors void set_direction (uint32_t) ; // sets 'direction' with bit pattern to eor with MOTOR_FORWARD or MOTOR_REVERSE in set_mode void brake (double brake_effort) ; // uint32_t get_direction () ; bool set_mode (uint32_t); // sets mode to MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE or MOTOR_REGENBRAKE uint32_t get_mode () ; bool is_moving () ; // Returns true if one or more Hall transitions within last 31.25 milli secs void speed_monitor_and_control () ; // call this once per main loop pass (32Hz) to keep count = edges per sec void high_side_off () ; // void low_side_on () ; void sniff_current () ; // Call this every 200us to update Idbl void I_scale (double); bool exists () ; // New May 2020 - reports presence or absence of motor } ; //MotorA, MotorB, or even Motor[2]; #endif