Diff: STM3_ESC.h

Revision:

13:ef7a06fa11de

Parent:

12:d1d21a2941ef

Child:

14:acaa1add097b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/STM3_ESC.h	Sun Sep 29 16:34:37 2019 +0000
@@ -0,0 +1,127 @@
+#include "mbed.h"
+
+#ifndef MBED_DUALBLS_H
+#define MBED_DUALBLS_H
+
+//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors
+
+//#define TEMP_SENSOR_ENABLE    //  
+
+#include "BufferedSerial.h"
+const   int     MOTOR_HANDBRAKE   = 0,
+                MOTOR_FORWARD     = 8,
+                MOTOR_REVERSE     = 16,
+                MOTOR_REGENBRAKE  = 24;
+
+const   int     TIMEOUT_SECONDS = 2;
+
+/*  Please Do Not Alter these */
+const   int     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 ,
+                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);
+
+enum    {COM_SOURCES, COM1, COM2, HAND, RC_IN1, RC_IN2,THEEND}  ;
+
+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}  ;  //  
+
+enum    {
+    FAULT_0,
+    FAULT_EEPROM,
+    FAULT_BOARD_ID,
+    FAULT_COM_LINE_LEN,
+    FAULT_COM_LINE_NOMATCH,
+    FAULT_COM_LINE_LEN_PC,
+    FAULT_COM_LINE_LEN_TS,
+    FAULT_COM_LINE_NOMATCH_PC,
+    FAULT_COM_LINE_NOMATCH_TS,
+    FAULT_UNRECOGNISED_STATE,
+    FAULT_MAX,
+    NUMOF_REPORTABLE_TS_ERRORS
+    }  ;
+
+class   error_handling_Jan_2019
+{
+    int32_t    ESC_fault[NUMOF_REPORTABLE_TS_ERRORS]    ;   //  Some number of reportable error codes, accessible through set and read members
+    public:
+    error_handling_Jan_2019 ()  {   //  default constructor
+        for (int i = 0; i < (sizeof(ESC_fault) / sizeof(int32_t)); i++)
+            ESC_fault[i] = 0;
+    }
+    void        set   (uint32_t, int32_t)   ;
+    void        clr     (uint32_t)  ;
+    uint32_t    read  (uint32_t)   ;
+    bool        all_good    ()  ;
+    void        report_any  (bool)  ;   //  retain ? true or false
+}   ;
+
+enum    {SOURCE_PC, SOURCE_TS}  ;
+const int   BROADCAST   = '\r';
+const   int MAX_PARAMS = 20;
+const   int MAX_CMD_LEN = 220;
+
+struct  parameters  {
+    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];
+    bool    respond, resp_always;
+}   ;
+
+class   cli_2019    {
+    struct  kb_command const * commandlist ;
+    int     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)  {
+        a.com           = comport ;
+        a.command_list = commandlist  = list  ;
+        a.numof_menu_items  = list_len  ;
+        a.source        = source    ;
+        cmdline_ptr = cmdline;
+        clindex    = 0;
+        if  (source == SOURCE_PC)
+            a.resp_always = true;
+        else
+            a.resp_always = false;
+    }  ;
+    void    core   ()  ;
+    void    test   ()  ;
+}   ;
+
+class   eeprom_settings {
+    I2C i2c;
+    uint32_t    errors;
+    char        settings    [36];
+    bool        rd_24LC64  (int start_addr, char * dest, int length)    ;
+    bool        wr_24LC64  (int start_addr, char * dest, int length)    ;
+    bool        set_24LC64_internal_address (int    start_addr) ;
+    bool        ack_poll    ()  ;
+  public:
+    eeprom_settings (PinName sda, PinName scl); //  Constructor
+    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
+    bool        set_defaults    ();         //  Put default settings into EEPROM and local buffer
+    uint32_t    errs    ()  ;               //  Return errors
+}   ;
+
+
+
+
+#endif
+