Revision 14:acaa1add097b, committed 2019-11-30

Comitter:

JonFreeman

Date:

Sat Nov 30 16:34:58 2019 +0000

Parent:

13:ef7a06fa11de

Child:

15:2591e2008323

Commit message:

Proved inverter board for radio control inputs work.

Changed in this revision

--- a/24LC64_eeprom.cpp	Sun Sep 29 16:34:37 2019 +0000
+++ b/24LC64_eeprom.cpp	Sat Nov 30 16:34:58 2019 +0000
@@ -6,8 +6,8 @@
     //  Code for 24LC64 8k x 8 bit eeprom
     //  Code based on earlier work using memory FM24W256, also at i2c address 0xa0;
 
-const int addr_rd = 0xa1;  //  set bit 0 for read, clear bit 0 for write
-const int addr_wr = 0xa0;  //  set bit 0 for read, clear bit 0 for write
+const int addr_rd = 0xa1;  //  set bit 0 for read, clear bit 0 for write 24LC64
+const int addr_wr = 0xa0;  //  set bit 0 for read, clear bit 0 for write 24LC64
 const int ACK     = 1;
 
 struct  optpar  {
@@ -47,6 +47,8 @@
 class   eeprom_settings {
     I2C i2c;
     uint32_t    errors;
+    uint32_t    i2c_device_count;
+    uint32_t    i2c_device_list[12];    //  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)    ;
@@ -54,6 +56,7 @@
     bool        ack_poll    ()  ;
   public:
     eeprom_settings (PinName sda, PinName scl); //  Constructor
+    bool        do_we_have_i2c  (uint32_t x)    ;
     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
@@ -71,31 +74,44 @@
     return  errors;
 }
 
+bool    eeprom_settings::do_we_have_i2c  (uint32_t x)    {
+    for (int i = 0; i < i2c_device_count; i++)  {
+        if  (i2c_device_list[i] == x)
+            return  true;
+    }
+    return  false;
+}
+
 //  Use :   eeprom_settings (SDA_PIN, SCL_PIN);
 eeprom_settings::eeprom_settings    (PinName sda, PinName scl) : i2c(sda, scl)  //  Constructor
 {
-    errors = 0;
+    errors = i2c_device_count = 0;
     for (int i = 0; i < 36; i++)
         settings[i] = 0;
+    for (int i = 0; i < 12; i++)
+        i2c_device_list[i] = 0;
     i2c.frequency(400000);      //  Speed 400000 max.
-    int last_found = 0, q;      //  Note address bits 3-1 to match addr pins on device
+//    int last_found = 0, q;      //  Note address bits 3-1 to match addr pins on device
+    int q;
     for (int i = 0; i < 255; i += 2)    {   //  Search for devices at all possible i2c addresses
         i2c.start();
         q = i2c.write(i);   //  may return error code 2 when no start issued
         switch  (q) {
             case    ACK:
                 pc.printf   ("I2C device found at 0x%x\r\n", i);
-                last_found = i;
+//                last_found = i;
+                i2c_device_list[i2c_device_count++] = i;
             case    2:      //  Device not seen at this address
             break;
             default:
-                pc.printf   ("Unknown error %d in check_24LC64\r\n", q);
+                pc.printf   ("Unknown error %d from i2c.write while looking for i2c devices\r\n", q);
                 errors |= 512;
             break;
         }
     }
     i2c.stop();
-    if  (errors || last_found != 0xa0)    {
+//    if  (errors || last_found != 0xa0)    {
+    if  (errors || !do_we_have_i2c(0xa0))    {
         pc.printf   ("Error - EEPROM not seen %d\r\n", errors);
         errors |= 0xa0;
         ESC_Error.set   (FAULT_EEPROM, errors);                      //  Set FAULT_EEPROM bits if 24LC64 problem

--- a/Radio_Control_In.cpp	Sun Sep 29 16:34:37 2019 +0000
+++ b/Radio_Control_In.cpp	Sat Nov 30 16:34:58 2019 +0000
@@ -64,14 +64,14 @@
     return  norm;
 }
 
-void    RControl_In::RadC_rise    ()     //  December 2018 - Could not make Servo port bidirectional, fix by using PC_14 and 15 as inputs
-{                                   
+void    RControl_In::RadC_fall    ()     //  December 2018 - Could not make Servo port bidirectional, fix by using PC_14 and 15 as inputs
+{                                       //  30th November 2019 - Swapped _rise and _fall as now using Schmitt inverters on input    
     period_us = t.read_us    ();
     t.reset ();
     t.start ();
 }
 
-void    RControl_In::RadC_fall    ()
+void    RControl_In::RadC_rise    ()
 {
     pulse_width_us = t.read_us   ();
     pulse_count++;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SB1602E.lib	Sat Nov 30 16:34:58 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/okano/code/SB1602E/#baf578069dfc

--- a/STM3_ESC.h	Sun Sep 29 16:34:37 2019 +0000
+++ b/STM3_ESC.h	Sat Nov 30 16:34:58 2019 +0000
@@ -1,11 +1,16 @@
+/*
+    STM3_ESC    Electronic Speed Controller board, drives Two Brushless Motors, full Four Quadrant Control.
+    Jon Freeman  B. Eng Hons
+    2015 - 2019
+*/
 #include "mbed.h"
 
 #ifndef MBED_DUALBLS_H
 #define MBED_DUALBLS_H
 
-//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors
+//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors - WARNING deprecated feature
 
-//#define TEMP_SENSOR_ENABLE    //  
+//#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,
@@ -35,7 +40,7 @@
 
 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}  ;  //  
+            FUT1, FUT2, FUT3, FUT4, FUT5}  ;  //  These represent address offsets in 24LC64 rom user settable firmware settings
 
 enum    {
     FAULT_0,
@@ -50,7 +55,7 @@
     FAULT_UNRECOGNISED_STATE,
     FAULT_MAX,
     NUMOF_REPORTABLE_TS_ERRORS
-    }  ;
+    }  ;    //  List of fault numbers currently dealt with by error handler
 
 class   error_handling_Jan_2019
 {
@@ -72,7 +77,7 @@
 const   int MAX_PARAMS = 20;
 const   int MAX_CMD_LEN = 220;
 
-struct  parameters  {
+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;
@@ -80,7 +85,7 @@
     bool    respond, resp_always;
 }   ;
 
-class   cli_2019    {
+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];
@@ -106,6 +111,8 @@
 class   eeprom_settings {
     I2C i2c;
     uint32_t    errors;
+    uint32_t    i2c_device_count;
+    uint32_t    i2c_device_list[12];    //  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)    ;
@@ -113,6 +120,7 @@
     bool        ack_poll    ()  ;
   public:
     eeprom_settings (PinName sda, PinName scl); //  Constructor
+    bool        do_we_have_i2c  (uint32_t x)    ;
     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

--- a/brushless_motor.cpp	Sun Sep 29 16:34:37 2019 +0000
+++ b/brushless_motor.cpp	Sat Nov 30 16:34:58 2019 +0000
@@ -1,4 +1,8 @@
-//  Cloned from 'DualBLS2018_06' on 23 November 2018
+/*
+    STM3_ESC    Electronic Speed Controller board, drives Two Brushless Motors, full Four Quadrant Control.
+    Jon Freeman  B. Eng Hons
+    2015 - 2019
+*/
 #include "mbed.h"
 //#include    "users/mbed_official/code/mbed-dev/file/707f6e361f3e/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/stm32f401xe.h"
 //#include    "stm32f401xe.h"
@@ -61,7 +65,7 @@
 }
 
 /**
-*   void    brushless_motor::sniff_current   ()  {          //  Initiate ADC current reading
+*   void    brushless_motor::sniff_current   ()  {          //  Initiate ADC current reading of approx motor average current
 *       This to be called in response to ticker timebase interrupt.
 *       As designed, called at 200 micro second intervals (Feb 2019)
 *       Updates double I.dbl current measured in milliamps
@@ -235,7 +239,7 @@
 */
 void    brushless_motor::speed_monitor_and_control   ()       //  call this once per 'MAIN_LOOP_REPEAT_TIME_US= 31250' main loop pass to keep count = edges per sec
 {
-#ifdef  USING_DC_MOTORS
+#ifdef  USING_DC_MOTORS     //  deprecated
     if  (dc_motor)
         return  0;
 #endif

--- a/brushless_motor.h	Sun Sep 29 16:34:37 2019 +0000
+++ b/brushless_motor.h	Sat Nov 30 16:34:58 2019 +0000
@@ -33,7 +33,7 @@
     double      V_clamp ;   //  Used to limit top speed
     double      numof_current_sense_rs;
 public:
-#ifdef  USING_DC_MOTORS
+#ifdef  USING_DC_MOTORS     //  deprecated
     bool    dc_motor;
 #endif
     uint32_t    tickleon;

--- a/cli_BLS_nortos.cpp	Sun Sep 29 16:34:37 2019 +0000
+++ b/cli_BLS_nortos.cpp	Sat Nov 30 16:34:58 2019 +0000
@@ -446,7 +446,7 @@
 void    menucmd (struct parameters & a)
 {
     if  (a.respond) {
-        a.com->printf("\r\n\nDual BLDC ESC type STM3 2018\r\nAt menucmd function - listing commands, source %s:-\r\n", a.source == SOURCE_PC ? "PC" : "TS");
+        a.com->printf("\r\n\nDual BLDC ESC type STM3 2018-20, Ver %s\r\nAt menucmd function - listing commands, source %s:-\r\n", const_version_string, a.source == SOURCE_PC ? "PC" : "TS");
         for(int i = 0; i < a.numof_menu_items; i++)
             a.com->printf("[%s]\t\t%s\r\n", a.command_list[i].cmd_word, a.command_list[i].explan);
         a.com->printf("End of List of Commands\r\n");

--- a/error_handler.cpp	Sun Sep 29 16:34:37 2019 +0000
+++ b/error_handler.cpp	Sat Nov 30 16:34:58 2019 +0000
@@ -1,3 +1,8 @@
+/*
+    STM3_ESC    Electronic Speed Controller board, drives Two Brushless Motors, full Four Quadrant Control.
+    Jon Freeman  B. Eng Hons
+    2015 - 2019
+*/
 #include "mbed.h"
 #include "STM3_ESC.h"
 #include "BufferedSerial.h"