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: Radio_Control_In.h

Revision:
16:d1e4b9ad3b8b
Parent:
12:d1d21a2941ef
--- a/Radio_Control_In.h	Sat Nov 30 18:40:30 2019 +0000
+++ b/Radio_Control_In.h	Tue Jun 09 09:20:19 2020 +0000
@@ -1,6 +1,8 @@
 #include "mbed.h"
 #ifndef MBED_JONS_RADIO_CONTROL_IN_H
 #define MBED_JONS_RADIO_CONTROL_IN_H
+#include    "brushless_motor.h"
+extern  const   uint32_t    MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE, MOTOR_REGENBRAKE;
 
 /**class   RControl_In
     Jon Freeman
@@ -13,26 +15,35 @@
 {
     InterruptIn pulse_in;
     Timer   t;
-    int32_t pulse_width_us, period_us, pulse_count;
-    double  lost_chan_return_value;
+    int32_t pulse_width_us, period_us, pulse_count, tmp;
+    uint32_t state, chan_mode, stick_sense;               //  New Dec 2019
+    double  norm, V, I, stick_deviation, stick_deviation_old;          //  New Dec 2019
+    double  lost_chan_return_value, brake_segment, effort, stick_attack;
+    double  range_offset;
     void    RadC_rise ();
     void    RadC_fall ();
 public:
-//    RControl_In   ()    ;       //  Default Constructor
-    RControl_In   (PinName inp) : pulse_in(inp)   {    //  Default Constructor
+    RControl_In   (PinName inp) : pulse_in(inp)   {    //  Constructor
         pulse_in.mode   (PullDown);
         pulse_in.rise(callback(this, &RControl_In::RadC_rise));     // Attach handler to the rising interruptIn edge
         pulse_in.fall(callback(this, &RControl_In::RadC_fall));     // Attach handler to the falling interruptIn edge
-        pulse_width_us = period_us = pulse_count = 0;
+        pulse_width_us = period_us = pulse_count = stick_sense = tmp = 0;
+        state = MOTOR_REGENBRAKE;   //  New Dec 2019
+        norm = V = I = stick_deviation = stick_deviation_old = 0.0;          //  New Dec 2019
         lost_chan_return_value = 0.0;
+        range_offset = 0.0;
+        stick_attack = 0.5;
     }   ;
     bool        validate_rx ()  ;   //  Informs whether signal being rx'd
-    void        reset   ()  ;
     void        set_lost_chan_return_value  (double)  ; //  set what 'normalised' returns when no signal
-    uint32_t    pulsecount  ()  ;     //  will count up at frame rate when radio control all working well
-    uint32_t    pulsewidth  ()  ;
-    uint32_t    period      ()  ;
-    double      normalised  ();   //  Returns 0.0 <= p <= 1.0 or something else when rc not active
+    void        set_offset  (signed char, char, char);  //  signed char offs, char brake_pcent, char attack
+    void        set_chanmode    (char, char);   //  1 Disable, Uni, Bi;    2 norm/rev
+    uint32_t    get_chanmode    ()  ;
+    uint32_t    pulsecount  ()  ;   //  will count up at frame rate when radio control all working well
+    uint32_t    pulsewidth  ()  ;   //  
+    uint32_t    period      ()  ;   //  checked for believable repetition rate
+    bool        read    (struct  RC_stick_info &)  ;
+    bool        energise    (struct  RC_stick_info &, struct brushless_motor &)  ;
 }   ;
 
 #endif