Diff: STM3_ESC.h

Revision:

16:d1e4b9ad3b8b

Parent:

14:acaa1add097b

--- a/STM3_ESC.h	Sat Nov 30 18:40:30 2019 +0000
+++ b/STM3_ESC.h	Tue Jun 09 09:20:19 2020 +0000
@@ -1,48 +1,51 @@
 /*
     STM3_ESC    Electronic Speed Controller board, drives Two Brushless Motors, full Four Quadrant Control.
     Jon Freeman  B. Eng Hons
-    2015 - 2019
+    2015 - 2020
 */
 #include "mbed.h"
 
 #ifndef MBED_DUALBLS_H
 #define MBED_DUALBLS_H
 
-//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors - WARNING deprecated feature
+//#define USING_DC_MOTORS     //  NO LONGER SUPPORTED Uncomment this to play with Dinosaur DC motors - WARNING deprecated feature
 
 //#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,
-                MOTOR_FORWARD     = 8,
-                MOTOR_REVERSE     = 16,
-                MOTOR_REGENBRAKE  = 24;
+const   uint32_t    MOTOR_HANDBRAKE   = 0,
+                    MOTOR_FORWARD     = 8,
+                    MOTOR_REVERSE     = 16,
+                    MOTOR_REGENBRAKE  = 24;
 
-const   int     TIMEOUT_SECONDS = 2;
+const   uint32_t    TIMEOUT_SECONDS = 2,
 
 /*  Please Do Not Alter these */
-const   int     PWM_PRESECALER_DEFAULT      = 2,
+                PWM_PRESECALER_DEFAULT      = 2,
                 VOLTAGE_READ_INTERVAL_US    = 50,       //  Interrupts timed every 50 micro sec, runs around loop performing 1 A-D conversion per pass
                 MAIN_LOOP_REPEAT_TIME_US    = 31250,    //  31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second
                 MAIN_LOOP_ITERATION_Hz      = 1000000 / MAIN_LOOP_REPEAT_TIME_US,
-//                CURRENT_SAMPLES_AVERAGED    = 100,     //  Current is spikey. Reading smoothed by using average of this many latest current readings
                 PWM_HZ              = 15000,    //  chosen to be above cutoff frequency of average human ear
 //                PWM_HZ              = 8000,    //  chosen to be above cutoff frequency of average human ear - clearly audible annoying noise
                 MAX_PWM_TICKS       = (SystemCoreClock / (PWM_HZ * PWM_PRESECALER_DEFAULT)),
-                TICKLE_TIMES    =   100 ,
+//                TICKLE_TIMES    =   100 ,
+                TICKLE_TIMES    =   10 ,    //  Massively reduced May 2020 in connection with handbrake implementation.
                 WATCHDOG_RELOAD = (TIMEOUT_SECONDS * 8);    //  WatchDog counter ticked down in 8Hz loop
 
-/*  End of Please Do Not Alter these */
 const   double      PI      = 4.0 * atan(1.0),
                     TWOPI   = 8.0 * atan(1.0);
+/*  End of Please Do Not Alter these */
 
-enum    {COM_SOURCES, COM1, COM2, HAND, RC_IN1, RC_IN2,THEEND}  ;
+enum    {COM_SOURCES, COM1, COM2, HAND, RC_IN1, RC_IN2, RC_IN_BOTH, THEEND}  ;   //  RC_IN_BOTH new Dec 2019
 
-enum    {MOTADIR, MOTBDIR, MOTAPOLES, MOTBPOLES, ISHUNTA, ISHUNTB, SVO1, SVO2, RCIN1, RCIN2, 
+    //  List user settable firmware bytes in EEROM
+enum    {MOTADIR, MOTBDIR, MOTAPOLES, MOTBPOLES, ISHUNTA, ISHUNTB, POT_REGBRAKE_RANGE, SVO1, SVO2, RCIN1, RCIN2, 
             COMM_SRC, BOARD_ID, TOP_SPEED, WHEELDIA, MOTPIN, WHEELGEAR, 
-            FUT1, FUT2, FUT3, FUT4, FUT5}  ;  //  These represent address offsets in 24LC64 rom user settable firmware settings
+            RCI1_TRIM, RCI2_TRIM, RCIN_REGBRAKE_RANGE, RCIN_STICK_ATTACK,     //  RC in trims new Dec 2019
+            RCIN1REVERSE, RCIN2REVERSE, NOM_SYSTEM_VOLTS, BRAKE_EFFECTIVENESS, BAUD, FUT11,
+            FUT12, FUT13, FUT14, FUT16,}  ;  //  These represent byte address offsets in 24LC64 rom user settable firmware settings
 
-enum    {
+enum    {    //  List of fault numbers currently dealt with by error handler
     FAULT_0,
     FAULT_EEPROM,
     FAULT_BOARD_ID,
@@ -73,26 +76,45 @@
 }   ;
 
 enum    {SOURCE_PC, SOURCE_TS}  ;
-const int   BROADCAST   = '\r';
-const   int MAX_PARAMS = 20;
+const   int BROADCAST   = '\r';
+const   int MAX_CLI_PARAMS = 12;
 const   int MAX_CMD_LEN = 220;
 
 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;
-    double  dbl[MAX_PARAMS];
+    double  dbl[MAX_CLI_PARAMS];
     bool    respond, resp_always;
 }   ;
 
+enum    {ZONE_BRAKE, ZONE_COAST, ZONE_DRIVE}  ;
+class  RC_stick_info   {   //  info read concerning stick positions
+public:
+    double  raw,            //  range 0.0 to 1.0 after clipping and correction
+            deflection;     //  how far from centre or min positon
+    double  brake_effort,   //  braking effort
+            drive_effort;   //  driving effort
+    uint32_t    zone;       //  in drive, coast or braking zone (if drive, direction in 'stick_implied_motor_direction')
+    uint32_t    chan_mode;
+    int32_t     stick_implied_motor_direction;  //  -1, 0, +1 but could be in drive, coast or brake regions
+    bool    active;
+    RC_stick_info   ()  {
+        active = false;
+        chan_mode = 0;
+        zone = ZONE_COAST;
+        drive_effort = brake_effort = 0.0;
+    }
+}   ;
+
 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];
-    char    * cmdline_ptr;
+    uint32_t    clindex;
+    char        cmdline[MAX_CMD_LEN + 8];
+    char        * cmdline_ptr;
     parameters  a   ;
 public:
-    cli_2019    (BufferedSerial * comport, kb_command const * list, int list_len, int source)  {
+    cli_2019    (BufferedSerial * comport, kb_command const * list, uint32_t    list_len, uint32_t  source)  {
         a.com           = comport ;
         a.command_list = commandlist  = list  ;
         a.numof_menu_items  = list_len  ;
@@ -104,20 +126,24 @@
         else
             a.resp_always = false;
     }  ;
-    void    core   ()  ;
-    void    test   ()  ;
+    void    core    ()  ;
+    void    flush   ()  ;   //  Used to clear startup transient garbage
 }   ;
 
+const uint32_t  MAX_I2C_DEVICES = 6;
+
 class   eeprom_settings {
     I2C i2c;
     uint32_t    errors;
     uint32_t    i2c_device_count;
-    uint32_t    i2c_device_list[12];    //  max 12 i2c devices
+    uint32_t    i2c_device_list[MAX_I2C_DEVICES+1];    //  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)    ;
+    double      rpm2mphdbl, user_brake_rangedbl, Vnomdbl, brake_eff, top_speeddbl;
+    bool        rd_24LC64  (uint32_t start_addr, char * dest, uint32_t length)    ;
+    bool        wr_24LC64  (uint32_t start_addr, char * dest, uint32_t length)    ;
     bool        set_24LC64_internal_address (int    start_addr) ;
     bool        ack_poll    ()  ;
+    void        update_dbls ()  ;
   public:
     eeprom_settings (PinName sda, PinName scl); //  Constructor
     bool        do_we_have_i2c  (uint32_t x)    ;
@@ -126,10 +152,24 @@
     bool        save    ()  ;               //  Write 'settings' buffer to EEPROM
     bool        set_defaults    ();         //  Put default settings into EEPROM and local buffer
     uint32_t    errs    ()  ;               //  Return errors
+    const char *      t   (uint32_t);
+    uint32_t    min (uint32_t)   ;
+    uint32_t    max (uint32_t)   ;
+    uint32_t    def (uint32_t)   ;
+    bool        in_range   (char val, uint32_t p)  ;
+    void        edit   (double * dbl, uint32_t numof_dbls)    ;
+    double      user_brake_range ()  ;
+    double      brake_effectiveness ()  ;
+    double      top_speed ()  ;
+    double      Vnom ()  ;
+    double      rpm2mph ()  ;
+    double      rpm2mph (double)  ;
+    uint32_t    baud    ();
 }   ;
 
-
-
+struct  optpar  {
+    int32_t min, max, de_fault;  //  min, max, default
+    const char * txt;     //  description
+}   ;
 
 #endif
-