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

Diff: main.cpp

Revision:
15:2591e2008323
Parent:
13:ef7a06fa11de
Child:
16:d1e4b9ad3b8b
--- a/main.cpp	Sat Nov 30 16:34:58 2019 +0000
+++ b/main.cpp	Sat Nov 30 18:40:30 2019 +0000
@@ -52,10 +52,10 @@
 */
 
 #if defined (TARGET_NUCLEO_F401RE)  //  CPU in 64 pin LQFP
-#include    "F401RE.h"  //  See here for warnings about Servo InterruptIn not working
+#include    "F401RE.h"
 #endif
 #if defined (TARGET_NUCLEO_F411RE)  //  CPU in 64 pin LQFP
-#include    "F411RE.h"  //  See here for warnings about Servo InterruptIn not working
+#include    "F411RE.h"
 #endif
 #if defined (TARGET_NUCLEO_F446ZE)  //  CPU in 144 pin LQFP
 #include    "F446ZE.h"              //  A thought for future version
@@ -566,9 +566,6 @@
         }                       //  32Hz original setting for loop repeat rate
         loop_flag = false;              //  Clear flag set by ticker interrupt handler. WHEN LAST CHECKED this was about every 32ms
 
-        RC_chan_1.validate_rx();   //  Tests for pulse width and repetition rates being believable signal from radio control
-        RC_chan_2.validate_rx();    //  bool return values not noted here, these 2 lines are pointless.
-
         switch  (mode.rd(COMM_SRC))  {   //  Look to selected source of driving command, act on commands from wherever
             case    0:  //  Invalid
                 break;
@@ -612,6 +609,28 @@
             motors_restore.attach_us    (&restorer, 25);
         }
 #endif
+#define SERVO_OUT_TEST
+#ifdef  SERVO_OUT_TEST
+//    static double  servo_angle = 0.0;  //  For testing servo outs
+        //  servo out test here     December 2018
+
+        //  Tests for pulse width and repetition rates being believable signal from radio control
+        if  (RC_chan_1.validate_rx())   
+            Servo1 = RC_chan_1.normalised();
+        if  (RC_chan_2.validate_rx())   
+            Servo2 = RC_chan_2.normalised();
+//            RC_chan_2.validate_rx();
+
+
+/*
+        servo_angle += 0.01;
+        if  (servo_angle > TWOPI)
+            servo_angle -= TWOPI;
+        Servo1 = ((sin(servo_angle)+1.0) / 2.0);
+        Servo2 = ((cos(servo_angle)+1.0) / 2.0);
+*/
+        //  Yep!    Both servo outs work lovely December 2018
+#endif
 
         if  (flag_8Hz)  {   //  do slower stuff
             flag_8Hz    = false;
@@ -637,17 +656,6 @@
                                     pc.printf   ("Temp %.2f\r\n", tmprt);
                                 }*/
             }
-//#define SERVO_OUT_TEST
-#ifdef  SERVO_OUT_TEST
-    static double  servo_angle = 0.0;  //  For testing servo outs
-            //  servo out test here     December 2018
-            servo_angle += 0.01;
-            if  (servo_angle > TWOPI)
-                servo_angle -= TWOPI;
-            Servo1 = ((sin(servo_angle)+1.0) / 2.0);
-            Servo2 = ((cos(servo_angle)+1.0) / 2.0);
-            //  Yep!    Both servo outs work lovely December 2018
-#endif
         }   //  End of if(flag_8Hz)
     }       //  End of main programme loop
 }