Diff: brushless_motor.h

Revision:

11:bfb73f083009

Parent:

10:e40d8724268a

Child:

12:d1d21a2941ef

--- a/brushless_motor.h	Tue Jan 15 09:03:57 2019 +0000
+++ b/brushless_motor.h	Sat Jan 19 11:45:01 2019 +0000
@@ -6,68 +6,50 @@
 #define MBED_BRUSHLESSMOTOR_H
 
 #include "mbed.h"
+#include "DualBLS.h"
 
 class   brushless_motor
 {
+    int32_t     angle_cnt;
+    uint32_t    Hall_index[2], encoder_error_cnt;
     uint32_t    Hall_total, visible_mode, inner_mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; //  to contain one seconds worth
     uint32_t    latest_pulses_per_sec, Hall_tab_ptr, direction, ppstmp;
     bool    moving_flag;
     const   uint16_t * lut;
     uint16_t    ttabl[34];
-    FastPWM * maxV, * maxI;
-    PortOut * Motor_Port;
-    InterruptIn * Hall1, * Hall2, * Hall3;
+    FastPWM maxV;
+    FastPWM maxI;
+    InterruptIn H1;
+    InterruptIn H2;
+    InterruptIn H3;
+    PortOut     OP;
+    AnalogIn    Motor_I;
+    void    Hall_change ()  ;
+    int     read_Halls  ()  ;           //  Returns 3 bits of latest Hall sensor outputs
 public:
     bool    dc_motor;
     struct  currents    {
         uint32_t    max, min, ave;
     }  I;
-    int32_t     angle_cnt;
     uint32_t    current_samples[CURRENT_SAMPLES_AVERAGED];  //  Circular buffer where latest current readings get stored
-    uint32_t    Hindex[2], tickleon, encoder_error_cnt;
-    uint32_t    RPM, PPS;
+    uint32_t    cs_ptr;
+    uint32_t    RPM, PPS, tickleon;
     double      last_V, last_I;
-    brushless_motor   ()  {}  ;   //  Default constructor
-/**
-    brushless_motor   (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **)  ;
-    
-    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
-    PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
-    
-    FastPWM * are e.g. &A_MAX_V_PWM, &A_MAX_I_PWM
-    
-    const uint16_t * is e.g. A_tabl defining which port bits set to which level 
-const   uint16_t    A_tabl[] = {  //  Origial table
-    0,  0,  0,  0,  0,  0,  0,  0,  //  Handbrake
-    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
-    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
-    0,  BRA,BRA,BRA,BRA,BRA,BRA,BRA,   //  Regenerative Braking
-    KEEP_L_MASK_A, KEEP_H_MASK_A   //  [32 and 33]
-}   ;
-
-InterruptIn ** is e.g. AHarr pointer to array of addresses of InterruptIns connected to Hall sensors
-InterruptIn * AHarr[] = {
-    &MAH1,
-    &MAH2,
-    &MAH3
-}   ;
-
-*/
-    brushless_motor   (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **)  ;
+//    brushless_motor   ()  {}   ;  //  can not use this with exotic elements PortOut, FastPWM etc
+    brushless_motor   (PinName iadc, PinName pwv, PinName pwi, const uint16_t *, PinName h1, PinName h2, PinName h3, PortName, int)   ;   //  Constructor
     void    set_V_limit (double)    ;  //  Sets max motor voltage
     void    set_I_limit (double)    ;  //  Sets max motor current
-    void    Hall_change ()  ;           //  Called in response to edge on Hall input pin
     void    motor_set   ()  ;           //  Energise Port with data determined by Hall sensors
     void    direction_set   (int)  ;    //  sets 'direction' with bit pattern to eor with FORWARD or REVERSE in set_mode
     bool    set_mode    (int);          //  sets mode to HANDBRAKE, FORWARD, REVERSE or REGENBRAKE
     bool    is_moving   ()  ;           //  Returns true if one or more Hall transitions within last 31.25 milli secs
     void    current_calc    ()  ;       //  Updates 3 uint32_t I.min, I.ave, I.max
     uint32_t    pulses_per_sec   ()  ;  //  call this once per main loop pass to keep count = edges per sec
-    int     read_Halls  ()  ;           //  Returns 3 bits of latest Hall sensor outputs
     bool    motor_is_brushless  ();
     void    high_side_off   ()  ;
     void    low_side_on     ()  ;
     void    raw_V_pwm   (int);
+    void    sniff_current   ()  ;
 }   ;   //MotorA, MotorB, or even Motor[2];
 
 #endif