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

brushless_motor.h@10:e40d8724268a, 2019-01-15 (annotated)

Committer:
JonFreeman
Date:
Tue Jan 15 09:03:57 2019 +0000
Revision:
10:e40d8724268a
Child:
11:bfb73f083009
Buggered serial comms to TS controller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 10:e40d8724268a 1 /* mbed brushless_motor library
JonFreeman 10:e40d8724268a 2 Jon Freeman
JonFreeman 10:e40d8724268a 3 December 2018
JonFreeman 10:e40d8724268a 4 */
JonFreeman 10:e40d8724268a 5 #ifndef MBED_BRUSHLESSMOTOR_H
JonFreeman 10:e40d8724268a 6 #define MBED_BRUSHLESSMOTOR_H
JonFreeman 10:e40d8724268a 7
JonFreeman 10:e40d8724268a 8 #include "mbed.h"
JonFreeman 10:e40d8724268a 9
JonFreeman 10:e40d8724268a 10 class brushless_motor
JonFreeman 10:e40d8724268a 11 {
JonFreeman 10:e40d8724268a 12 uint32_t Hall_total, visible_mode, inner_mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; // to contain one seconds worth
JonFreeman 10:e40d8724268a 13 uint32_t latest_pulses_per_sec, Hall_tab_ptr, direction, ppstmp;
JonFreeman 10:e40d8724268a 14 bool moving_flag;
JonFreeman 10:e40d8724268a 15 const uint16_t * lut;
JonFreeman 10:e40d8724268a 16 uint16_t ttabl[34];
JonFreeman 10:e40d8724268a 17 FastPWM * maxV, * maxI;
JonFreeman 10:e40d8724268a 18 PortOut * Motor_Port;
JonFreeman 10:e40d8724268a 19 InterruptIn * Hall1, * Hall2, * Hall3;
JonFreeman 10:e40d8724268a 20 public:
JonFreeman 10:e40d8724268a 21 bool dc_motor;
JonFreeman 10:e40d8724268a 22 struct currents {
JonFreeman 10:e40d8724268a 23 uint32_t max, min, ave;
JonFreeman 10:e40d8724268a 24 } I;
JonFreeman 10:e40d8724268a 25 int32_t angle_cnt;
JonFreeman 10:e40d8724268a 26 uint32_t current_samples[CURRENT_SAMPLES_AVERAGED]; // Circular buffer where latest current readings get stored
JonFreeman 10:e40d8724268a 27 uint32_t Hindex[2], tickleon, encoder_error_cnt;
JonFreeman 10:e40d8724268a 28 uint32_t RPM, PPS;
JonFreeman 10:e40d8724268a 29 double last_V, last_I;
JonFreeman 10:e40d8724268a 30 brushless_motor () {} ; // Default constructor
JonFreeman 10:e40d8724268a 31 /**
JonFreeman 10:e40d8724268a 32 brushless_motor (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **) ;
JonFreeman 10:e40d8724268a 33
JonFreeman 10:e40d8724268a 34 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
JonFreeman 10:e40d8724268a 35 PortOut MotA (PortA, PORT_A_MASK); // Activate output ports to motor drivers
JonFreeman 10:e40d8724268a 36
JonFreeman 10:e40d8724268a 37 FastPWM * are e.g. &A_MAX_V_PWM, &A_MAX_I_PWM
JonFreeman 10:e40d8724268a 38
JonFreeman 10:e40d8724268a 39 const uint16_t * is e.g. A_tabl defining which port bits set to which level
JonFreeman 10:e40d8724268a 40 const uint16_t A_tabl[] = { // Origial table
JonFreeman 10:e40d8724268a 41 0, 0, 0, 0, 0, 0, 0, 0, // Handbrake
JonFreeman 10:e40d8724268a 42 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
JonFreeman 10:e40d8724268a 43 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
JonFreeman 10:e40d8724268a 44 0, BRA,BRA,BRA,BRA,BRA,BRA,BRA, // Regenerative Braking
JonFreeman 10:e40d8724268a 45 KEEP_L_MASK_A, KEEP_H_MASK_A // [32 and 33]
JonFreeman 10:e40d8724268a 46 } ;
JonFreeman 10:e40d8724268a 47
JonFreeman 10:e40d8724268a 48 InterruptIn ** is e.g. AHarr pointer to array of addresses of InterruptIns connected to Hall sensors
JonFreeman 10:e40d8724268a 49 InterruptIn * AHarr[] = {
JonFreeman 10:e40d8724268a 50 &MAH1,
JonFreeman 10:e40d8724268a 51 &MAH2,
JonFreeman 10:e40d8724268a 52 &MAH3
JonFreeman 10:e40d8724268a 53 } ;
JonFreeman 10:e40d8724268a 54
JonFreeman 10:e40d8724268a 55 */
JonFreeman 10:e40d8724268a 56 brushless_motor (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **) ;
JonFreeman 10:e40d8724268a 57 void set_V_limit (double) ; // Sets max motor voltage
JonFreeman 10:e40d8724268a 58 void set_I_limit (double) ; // Sets max motor current
JonFreeman 10:e40d8724268a 59 void Hall_change () ; // Called in response to edge on Hall input pin
JonFreeman 10:e40d8724268a 60 void motor_set () ; // Energise Port with data determined by Hall sensors
JonFreeman 10:e40d8724268a 61 void direction_set (int) ; // sets 'direction' with bit pattern to eor with FORWARD or REVERSE in set_mode
JonFreeman 10:e40d8724268a 62 bool set_mode (int); // sets mode to HANDBRAKE, FORWARD, REVERSE or REGENBRAKE
JonFreeman 10:e40d8724268a 63 bool is_moving () ; // Returns true if one or more Hall transitions within last 31.25 milli secs
JonFreeman 10:e40d8724268a 64 void current_calc () ; // Updates 3 uint32_t I.min, I.ave, I.max
JonFreeman 10:e40d8724268a 65 uint32_t pulses_per_sec () ; // call this once per main loop pass to keep count = edges per sec
JonFreeman 10:e40d8724268a 66 int read_Halls () ; // Returns 3 bits of latest Hall sensor outputs
JonFreeman 10:e40d8724268a 67 bool motor_is_brushless ();
JonFreeman 10:e40d8724268a 68 void high_side_off () ;
JonFreeman 10:e40d8724268a 69 void low_side_on () ;
JonFreeman 10:e40d8724268a 70 void raw_V_pwm (int);
JonFreeman 10:e40d8724268a 71 } ; //MotorA, MotorB, or even Motor[2];
JonFreeman 10:e40d8724268a 72
JonFreeman 10:e40d8724268a 73 #endif