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:
- 2019-01-15
- Revision:
- 10:e40d8724268a
- Child:
- 11:bfb73f083009
File content as of revision 10:e40d8724268a:
/* mbed brushless_motor library Jon Freeman December 2018 */ #ifndef MBED_BRUSHLESSMOTOR_H #define MBED_BRUSHLESSMOTOR_H #include "mbed.h" class brushless_motor { uint32_t Hall_total, visible_mode, inner_mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; // to contain one seconds worth uint32_t latest_pulses_per_sec, Hall_tab_ptr, direction, ppstmp; bool moving_flag; const uint16_t * lut; uint16_t ttabl[34]; FastPWM * maxV, * maxI; PortOut * Motor_Port; InterruptIn * Hall1, * Hall2, * Hall3; public: bool dc_motor; struct currents { uint32_t max, min, ave; } I; int32_t angle_cnt; uint32_t current_samples[CURRENT_SAMPLES_AVERAGED]; // Circular buffer where latest current readings get stored uint32_t Hindex[2], tickleon, encoder_error_cnt; uint32_t RPM, PPS; double last_V, last_I; brushless_motor () {} ; // Default constructor /** brushless_motor (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **) ; PortOut * is &MotA where MotA has been declared as below where PORT_A_MASK identifies which 6 bits of 16 bit port are used to energise motor PortOut MotA (PortA, PORT_A_MASK); // Activate output ports to motor drivers FastPWM * are e.g. &A_MAX_V_PWM, &A_MAX_I_PWM const uint16_t * is e.g. A_tabl defining which port bits set to which level const uint16_t A_tabl[] = { // Origial table 0, 0, 0, 0, 0, 0, 0, 0, // Handbrake 0, AWV,AVU,AWU,AUW,AUV,AVW,AUW, // Forward 0, WV1, VU1, WU1, UW1, UV1, VW1, 0, // JP, FR, SG, PWM = 1 0 1 1 Forward1 0, AVW,AUV,AUW,AWU,AVU,AWV,AWU, // Reverse 0, VW1, UV1, UW1, WU1, VU1, WV1, 0, // JP, FR, SG, PWM = 1 1 0 1 Reverse1 0, BRA,BRA,BRA,BRA,BRA,BRA,BRA, // Regenerative Braking KEEP_L_MASK_A, KEEP_H_MASK_A // [32 and 33] } ; InterruptIn ** is e.g. AHarr pointer to array of addresses of InterruptIns connected to Hall sensors InterruptIn * AHarr[] = { &MAH1, &MAH2, &MAH3 } ; */ brushless_motor (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **) ; void set_V_limit (double) ; // Sets max motor voltage void set_I_limit (double) ; // Sets max motor current void Hall_change () ; // Called in response to edge on Hall input pin void motor_set () ; // Energise Port with data determined by Hall sensors void direction_set (int) ; // sets 'direction' with bit pattern to eor with FORWARD or REVERSE in set_mode bool set_mode (int); // sets mode to HANDBRAKE, FORWARD, REVERSE or REGENBRAKE bool is_moving () ; // Returns true if one or more Hall transitions within last 31.25 milli secs void current_calc () ; // Updates 3 uint32_t I.min, I.ave, I.max uint32_t pulses_per_sec () ; // call this once per main loop pass to keep count = edges per sec int read_Halls () ; // Returns 3 bits of latest Hall sensor outputs bool motor_is_brushless (); void high_side_off () ; void low_side_on () ; void raw_V_pwm (int); } ; //MotorA, MotorB, or even Motor[2]; #endif