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@13:ef7a06fa11de, 2019-09-29 (annotated)

Committer:
JonFreeman
Date:
Sun Sep 29 16:34:37 2019 +0000
Revision:
13:ef7a06fa11de
Parent:
12:d1d21a2941ef
Child:
14:acaa1add097b
Stable code as at end of 2019 running season

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 13:ef7a06fa11de 9 #include "STM3_ESC.h"
JonFreeman 12:d1d21a2941ef 10 #include "FastPWM.h"
JonFreeman 10:e40d8724268a 11
JonFreeman 10:e40d8724268a 12 class brushless_motor
JonFreeman 10:e40d8724268a 13 {
JonFreeman 11:bfb73f083009 14 int32_t angle_cnt;
JonFreeman 12:d1d21a2941ef 15 uint32_t Hall_index[2], encoder_error_cnt, motor_poles, current_sense_rs_offset;
JonFreeman 12:d1d21a2941ef 16 uint32_t Hall_total, // Incremented on every Hall sensor transition
JonFreeman 12:d1d21a2941ef 17 Hall_previous,
JonFreeman 13:ef7a06fa11de 18 visible_mode, // One of MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE, MOTOR_REGENBRAKE
JonFreeman 12:d1d21a2941ef 19 inner_mode;
JonFreeman 12:d1d21a2941ef 20 uint32_t direction;
JonFreeman 12:d1d21a2941ef 21 int temp_tick;
JonFreeman 12:d1d21a2941ef 22 double RPM_filter, dv_by_dt;
JonFreeman 12:d1d21a2941ef 23 double target_speed;
JonFreeman 12:d1d21a2941ef 24 bool moving_flag;
JonFreeman 12:d1d21a2941ef 25 const uint16_t * lut;
JonFreeman 11:bfb73f083009 26 AnalogIn Motor_I;
JonFreeman 12:d1d21a2941ef 27 FastPWM maxV, maxI;
JonFreeman 12:d1d21a2941ef 28 InterruptIn H1, H2, H3; // Inputs for motor Hall sensors
JonFreeman 12:d1d21a2941ef 29 PortOut OP;
JonFreeman 12:d1d21a2941ef 30 void Hall_change () ;
JonFreeman 12:d1d21a2941ef 31 int read_Halls () ; // Returns 3 bits of latest Hall sensor outputs
JonFreeman 12:d1d21a2941ef 32 uint32_t max_rpm ;
JonFreeman 12:d1d21a2941ef 33 double V_clamp ; // Used to limit top speed
JonFreeman 12:d1d21a2941ef 34 double numof_current_sense_rs;
JonFreeman 10:e40d8724268a 35 public:
JonFreeman 12:d1d21a2941ef 36 #ifdef USING_DC_MOTORS
JonFreeman 10:e40d8724268a 37 bool dc_motor;
JonFreeman 12:d1d21a2941ef 38 #endif
JonFreeman 12:d1d21a2941ef 39 uint32_t tickleon;
JonFreeman 12:d1d21a2941ef 40 double Idbl;
JonFreeman 10:e40d8724268a 41 double last_V, last_I;
JonFreeman 13:ef7a06fa11de 42 double dRPM, dMPH,
JonFreeman 13:ef7a06fa11de 43 sdbl[8]; // Filter coefficients for filtering RPM and MPH reading stuff, I think!
JonFreeman 13:ef7a06fa11de 44 // Used in brushless_motor::speed_monitor_and_control ()
JonFreeman 13:ef7a06fa11de 45
JonFreeman 11:bfb73f083009 46 // brushless_motor () {} ; // can not use this with exotic elements PortOut, FastPWM etc
JonFreeman 12:d1d21a2941ef 47 brushless_motor (PinName iadc, PinName pwv, PinName pwi, const uint16_t *, PinName h1, PinName h2, PinName h3, PortName, int, uint32_t) ; // Constructor
JonFreeman 12:d1d21a2941ef 48 bool poles (int) ; // Set number of motor poles - 4, 6, or 8
JonFreeman 12:d1d21a2941ef 49 void set_speed (double) ; // Sets target_speed
JonFreeman 10:e40d8724268a 50 void set_V_limit (double) ; // Sets max motor voltage
JonFreeman 10:e40d8724268a 51 void set_I_limit (double) ; // Sets max motor current
JonFreeman 10:e40d8724268a 52 void motor_set () ; // Energise Port with data determined by Hall sensors
JonFreeman 12:d1d21a2941ef 53 void direction_set (int) ; // sets 'direction' with bit pattern to eor with MOTOR_FORWARD or MOTOR_REVERSE in set_mode
JonFreeman 12:d1d21a2941ef 54 bool set_mode (int); // sets mode to MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE or MOTOR_REGENBRAKE
JonFreeman 10:e40d8724268a 55 bool is_moving () ; // Returns true if one or more Hall transitions within last 31.25 milli secs
JonFreeman 12:d1d21a2941ef 56 void speed_monitor_and_control () ; // call this once per main loop pass (32Hz) to keep count = edges per sec
JonFreeman 10:e40d8724268a 57 void high_side_off () ;
JonFreeman 12:d1d21a2941ef 58 // void low_side_on () ;
JonFreeman 12:d1d21a2941ef 59 void sniff_current () ; // Call this every 200us to update Idbl
JonFreeman 10:e40d8724268a 60 } ; //MotorA, MotorB, or even Motor[2];
JonFreeman 10:e40d8724268a 61
JonFreeman 10:e40d8724268a 62 #endif