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

Radio_Control_In.h@16:d1e4b9ad3b8b, 2020-06-09 (annotated)

Committer:
JonFreeman
Date:
Tue Jun 09 09:20:19 2020 +0000
Revision:
16:d1e4b9ad3b8b
Parent:
12:d1d21a2941ef 
About to tidy i2c stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 11:bfb73f083009 1 #include "mbed.h"
JonFreeman 11:bfb73f083009 2 #ifndef MBED_JONS_RADIO_CONTROL_IN_H
JonFreeman 11:bfb73f083009 3 #define MBED_JONS_RADIO_CONTROL_IN_H
JonFreeman 16:d1e4b9ad3b8b 4 #include "brushless_motor.h"
JonFreeman 16:d1e4b9ad3b8b 5 extern const uint32_t MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE, MOTOR_REGENBRAKE;
JonFreeman 11:bfb73f083009 6
JonFreeman 11:bfb73f083009 7 /**class RControl_In
JonFreeman 11:bfb73f083009 8 Jon Freeman
JonFreeman 11:bfb73f083009 9 Jan 2019
JonFreeman 11:bfb73f083009 10
JonFreeman 11:bfb73f083009 11 Checks for __-__ duration 800-2200us
JonFreeman 11:bfb73f083009 12 Checks repetition rate in range 5-25ms
JonFreeman 11:bfb73f083009 13 */
JonFreeman 11:bfb73f083009 14 class RControl_In // Class to Read servo style pwm input _____-_____
JonFreeman 11:bfb73f083009 15 {
JonFreeman 11:bfb73f083009 16 InterruptIn pulse_in;
JonFreeman 11:bfb73f083009 17 Timer t;
JonFreeman 16:d1e4b9ad3b8b 18 int32_t pulse_width_us, period_us, pulse_count, tmp;
JonFreeman 16:d1e4b9ad3b8b 19 uint32_t state, chan_mode, stick_sense; // New Dec 2019
JonFreeman 16:d1e4b9ad3b8b 20 double norm, V, I, stick_deviation, stick_deviation_old; // New Dec 2019
JonFreeman 16:d1e4b9ad3b8b 21 double lost_chan_return_value, brake_segment, effort, stick_attack;
JonFreeman 16:d1e4b9ad3b8b 22 double range_offset;
JonFreeman 11:bfb73f083009 23 void RadC_rise ();
JonFreeman 11:bfb73f083009 24 void RadC_fall ();
JonFreeman 11:bfb73f083009 25 public:
JonFreeman 16:d1e4b9ad3b8b 26 RControl_In (PinName inp) : pulse_in(inp) { // Constructor
JonFreeman 11:bfb73f083009 27 pulse_in.mode (PullDown);
JonFreeman 11:bfb73f083009 28 pulse_in.rise(callback(this, &RControl_In::RadC_rise)); // Attach handler to the rising interruptIn edge
JonFreeman 11:bfb73f083009 29 pulse_in.fall(callback(this, &RControl_In::RadC_fall)); // Attach handler to the falling interruptIn edge
JonFreeman 16:d1e4b9ad3b8b 30 pulse_width_us = period_us = pulse_count = stick_sense = tmp = 0;
JonFreeman 16:d1e4b9ad3b8b 31 state = MOTOR_REGENBRAKE; // New Dec 2019
JonFreeman 16:d1e4b9ad3b8b 32 norm = V = I = stick_deviation = stick_deviation_old = 0.0; // New Dec 2019
JonFreeman 11:bfb73f083009 33 lost_chan_return_value = 0.0;
JonFreeman 16:d1e4b9ad3b8b 34 range_offset = 0.0;
JonFreeman 16:d1e4b9ad3b8b 35 stick_attack = 0.5;
JonFreeman 11:bfb73f083009 36 } ;
JonFreeman 11:bfb73f083009 37 bool validate_rx () ; // Informs whether signal being rx'd
JonFreeman 11:bfb73f083009 38 void set_lost_chan_return_value (double) ; // set what 'normalised' returns when no signal
JonFreeman 16:d1e4b9ad3b8b 39 void set_offset (signed char, char, char); // signed char offs, char brake_pcent, char attack
JonFreeman 16:d1e4b9ad3b8b 40 void set_chanmode (char, char); // 1 Disable, Uni, Bi; 2 norm/rev
JonFreeman 16:d1e4b9ad3b8b 41 uint32_t get_chanmode () ;
JonFreeman 16:d1e4b9ad3b8b 42 uint32_t pulsecount () ; // will count up at frame rate when radio control all working well
JonFreeman 16:d1e4b9ad3b8b 43 uint32_t pulsewidth () ; //
JonFreeman 16:d1e4b9ad3b8b 44 uint32_t period () ; // checked for believable repetition rate
JonFreeman 16:d1e4b9ad3b8b 45 bool read (struct RC_stick_info &) ;
JonFreeman 16:d1e4b9ad3b8b 46 bool energise (struct RC_stick_info &, struct brushless_motor &) ;
JonFreeman 11:bfb73f083009 47 } ;
JonFreeman 11:bfb73f083009 48
JonFreeman 11:bfb73f083009 49 #endif