Jon Freeman
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: cli_BLS_nortos.cpp
- Revision:
- 13:ef7a06fa11de
- Parent:
- 12:d1d21a2941ef
- Child:
- 14:acaa1add097b
--- a/cli_BLS_nortos.cpp Mon Mar 04 17:51:08 2019 +0000
+++ b/cli_BLS_nortos.cpp Sun Sep 29 16:34:37 2019 +0000
@@ -18,7 +18,7 @@
// Brushless_STM3_Ctrl_2018_11
#include "mbed.h"
#include "BufferedSerial.h"
-#include "DualBLS.h"
+#include "STM3_ESC.h"
#include "brushless_motor.h"
#include <cctype>
@@ -26,8 +26,8 @@
extern eeprom_settings mode ;
extern error_handling_Jan_2019 ESC_Error ; // Provides array usable to store error codes.
-extern int WatchDog;
-extern bool WatchDogEnable;
+extern int WatchDog; // from main
+extern bool WatchDogEnable; // from main
extern double rpm2mph ;
extern brushless_motor MotorA, MotorB; // Controlling two motors together or individually
@@ -202,9 +202,9 @@
break;
case 2: // MotorA_ current sense resistors [1 to 4], MotorB_ current sense resistors [1 to 4]
if (temps[1] > 0 && temps[1] < 5)
- mode.wr(temps[1], MOTADIR);
+ mode.wr(temps[1], ISHUNTA); // Corrected since published
if (temps[2] > 0 && temps[2] < 5)
- mode.wr(temps[2], MOTBDIR);
+ mode.wr(temps[2], ISHUNTB);
break;
case 3: // 2 Servo1 [0 or 1], Servo2 [0 or 1]
if (temps[1] == 0 || temps[1] == 1)
@@ -265,6 +265,16 @@
}
+
+void ssl_cmd (struct parameters & a) { // set speed limit NEW and untested July 2019
+ if (a.dbl[0] > 25.0) a.dbl[0] = 25.0;
+ if (a.dbl[0] < 1.0) a.dbl[0] = 1.0;
+ mode.wr((char)(a.dbl[0] * 10.0), TOP_SPEED);
+ mode.save ();
+}
+
+#ifdef TEMP_SENSOR_ENABLE
+
extern uint32_t last_temperature_count;
/**
* void temperature_cmd (struct parameters & a) {
@@ -275,6 +285,7 @@
a.com->printf ("tem%c %d\r\n", mode.rd(BOARD_ID), (last_temperature_count / 16) - 50);
}
}
+#endif
/**
*void rpm_cmd (struct parameters & a) // to report e.g. RPM 1000 1000 ; speed for both motors
@@ -352,6 +363,10 @@
/**
*void kd_cmd (struct parameters & a) // kick and enable the watch dog
*
+* Brute_TS_Controller or other external controller to issue regular 'kd\r' to come here.
+* WatchDog disabled by default, enabled on first call to here
+* This is where WatchDog timer is reset and reloaded.
+* Timeout may be detected and handled in 8Hz loop in main programme loop
*/
void kd_cmd (struct parameters & a) // kick the watchdog. Reached from TS or pc.
{
@@ -359,6 +374,10 @@
WatchDogEnable = true; // Receipt of this command sufficient to enable watchdog
}
+void wd_report (struct parameters & a) // Reachable always from pc. Only addressed board responds to TS
+{
+ pc.printf ("WatchDog %d\r\n", WatchDog);
+}
/**
*void who_cmd (struct parameters & a) // Reachable always from pc. Only addressed board responds to TS
*
@@ -386,16 +405,16 @@
{
switch ((int)a.dbl[0]) {
case 1:
- MotorA.s[1] = MotorB.s[1] = a.dbl[1];
+ MotorA.sdbl[1] = MotorB.sdbl[1] = a.dbl[1];
break;
case 2:
- MotorA.s[2] = MotorB.s[2] = a.dbl[1];
+ MotorA.sdbl[2] = MotorB.sdbl[2] = a.dbl[1];
break;
case 3:
- MotorA.s[3] = MotorB.s[3] = a.dbl[1];
+ MotorA.sdbl[3] = MotorB.sdbl[3] = a.dbl[1];
break;
case 4:
- MotorA.s[4] = MotorB.s[4] = a.dbl[1];
+ MotorA.sdbl[4] = MotorB.sdbl[4] = a.dbl[1];
break;
case 5:
MotorA.set_speed (a.dbl[1]);
@@ -404,11 +423,12 @@
default:
pc.printf ("Wrong use of scmd %f\r\n", a.dbl[0]);
}
+ pc.printf ("Filter Coefficient Fiddler - used in brushless_motor::speed_monitor_and_control ()");
pc.printf ("Filter Coeffs 1 to 4\r\n");
- pc.printf ("1 %.3f\tPscale 0.01-0.5\r\n", MotorA.s[1]);
- pc.printf ("2 %.3f\tP_gain 1.0-1000.0\r\n", MotorA.s[2]);
- pc.printf ("3 %.3f\tDscale 0.01-0.5\r\n", MotorA.s[3]);
- pc.printf ("4 %.3f\tD_gain 1.0-1000.0\r\n", MotorA.s[4]);
+ pc.printf ("1 %.3f\tPscale 0.01-0.5\r\n", MotorA.sdbl[1]);
+ pc.printf ("2 %.3f\tP_gain 1.0-1000.0\r\n", MotorA.sdbl[2]);
+ pc.printf ("3 %.3f\tDscale 0.01-0.5\r\n", MotorA.sdbl[3]);
+ pc.printf ("4 %.3f\tD_gain 1.0-1000.0\r\n", MotorA.sdbl[4]);
pc.printf ("5 Set target_speed\r\n");
}
@@ -456,8 +476,11 @@
{"?v", "Report system bus voltage", sysV_report},
{"?i", "Report motor both currents", sysI_report},
{"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd},
+#ifdef TEMP_SENSOR_ENABLE
{"tem", "report temperature", temperature_cmd},
+#endif
{"mph", "read loco speed miles per hour", mph_cmd},
+ {"ssl", "set speed limit e.g. 10.7", ssl_cmd}, // NEW July 2019
// {"rvi", "read most recent values sent to pwms", rvi_cmd},
// {"rdi", "read motor currents and power voltage", rdi_cmd},
// ***** Endof
@@ -474,7 +497,7 @@
#ifdef USING_DC_MOTORS
{"mtypes", "report types of motors found", mt_cmd},
#endif
- {"s","1-4, filter param", scmd},
+ {"s","1-4, RPM and speed filter param", scmd},
{"pot", "read drivers control pot", pot_cmd},
{"fw", "forward", fw_cmd},
{"re", "reverse", re_cmd},
@@ -485,10 +508,14 @@
{"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd},
{"?v", "Report system bus voltage", sysV_report},
{"?i", "Report motor both currents", sysI_report},
+ {"?w", "show WatchDog timer contents", wd_report},
{"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd},
{"mode", "read or set params in eeprom", mode19_cmd}, // Big change Jan 2019
+ {"ssl", "set speed limit e.g. 10.7", ssl_cmd}, // NEW July 2019 ONLY HERE FOR TEST, normal use is from Touch Screen only.
// {"erase", "set eeprom contents to all 0xff", erase_cmd},
+#ifdef TEMP_SENSOR_ENABLE
{"tem", "report temperature", temperature_cmd}, // Reports -50 when sensor not fitted
+#endif
{"kd", "kick the dog, reloads WatchDog", kd_cmd},
{"ver", "Version", ver_cmd},
{"rcin", "Report Radio Control Input stuff", rcin_pccmd},