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: STM3_ESC.h

Revision:
14:acaa1add097b
Parent:
13:ef7a06fa11de
Child:
16:d1e4b9ad3b8b
--- a/STM3_ESC.h	Sun Sep 29 16:34:37 2019 +0000
+++ b/STM3_ESC.h	Sat Nov 30 16:34:58 2019 +0000
@@ -1,11 +1,16 @@
+/*
+    STM3_ESC    Electronic Speed Controller board, drives Two Brushless Motors, full Four Quadrant Control.
+    Jon Freeman  B. Eng Hons
+    2015 - 2019
+*/
 #include "mbed.h"
 
 #ifndef MBED_DUALBLS_H
 #define MBED_DUALBLS_H
 
-//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors
+//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors - WARNING deprecated feature
 
-//#define TEMP_SENSOR_ENABLE    //  
+//#define TEMP_SENSOR_ENABLE    //   - WARNING deprecated feature, sensor chosen imposed heavy burden on cpu, future looks to simpler analogue type
 
 #include "BufferedSerial.h"
 const   int     MOTOR_HANDBRAKE   = 0,
@@ -35,7 +40,7 @@
 
 enum    {MOTADIR, MOTBDIR, MOTAPOLES, MOTBPOLES, ISHUNTA, ISHUNTB, SVO1, SVO2, RCIN1, RCIN2, 
             COMM_SRC, BOARD_ID, TOP_SPEED, WHEELDIA, MOTPIN, WHEELGEAR, 
-            FUT1, FUT2, FUT3, FUT4, FUT5}  ;  //  
+            FUT1, FUT2, FUT3, FUT4, FUT5}  ;  //  These represent address offsets in 24LC64 rom user settable firmware settings
 
 enum    {
     FAULT_0,
@@ -50,7 +55,7 @@
     FAULT_UNRECOGNISED_STATE,
     FAULT_MAX,
     NUMOF_REPORTABLE_TS_ERRORS
-    }  ;
+    }  ;    //  List of fault numbers currently dealt with by error handler
 
 class   error_handling_Jan_2019
 {
@@ -72,7 +77,7 @@
 const   int MAX_PARAMS = 20;
 const   int MAX_CMD_LEN = 220;
 
-struct  parameters  {
+struct  parameters  {   //  Used in serial comms with pc and other controller (e.g. touch-screen)
     struct kb_command const * command_list;
     BufferedSerial * com;   //  pc or com2
     int32_t position_in_list, numof_dbls, target_unit, source, numof_menu_items;
@@ -80,7 +85,7 @@
     bool    respond, resp_always;
 }   ;
 
-class   cli_2019    {
+class   cli_2019    {   //  cli Command Line Interpreter, two off, 1 for pc comms, other touch-screen controller comms
     struct  kb_command const * commandlist ;
     int     clindex;
     char    cmdline[MAX_CMD_LEN + 8];
@@ -106,6 +111,8 @@
 class   eeprom_settings {
     I2C i2c;
     uint32_t    errors;
+    uint32_t    i2c_device_count;
+    uint32_t    i2c_device_list[12];    //  max 12 i2c devices
     char        settings    [36];
     bool        rd_24LC64  (int start_addr, char * dest, int length)    ;
     bool        wr_24LC64  (int start_addr, char * dest, int length)    ;
@@ -113,6 +120,7 @@
     bool        ack_poll    ()  ;
   public:
     eeprom_settings (PinName sda, PinName scl); //  Constructor
+    bool        do_we_have_i2c  (uint32_t x)    ;
     char        rd  (uint32_t)  ;           //  Read one setup char value from private buffer 'settings'
     bool        wr  (char, uint32_t)  ;     //  Write one setup char value to private buffer 'settings'
     bool        save    ()  ;               //  Write 'settings' buffer to EEPROM