Jon Freeman / Mbed 2 deprecated Brute_TS_Controller_2018_11

Touch screen drivers control dashboard for miniature locomotive. Features meters for speed, volts, power. Switches for lights, horns. Drives multiple STM3_ESC brushless motor controllers for complete brushless loco system as used in "The Brute" - www.jons-workshop.com

Dependencies:   TS_DISCO_F746NG mbed Servo LCD_DISCO_F746NG BSP_DISCO_F746NG QSPI_DISCO_F746NG AsyncSerial FastPWM

Electric_Loco.h@12:a25bdf135348, 2019-01-14 (annotated)

Committer:
JonFreeman
Date:
Mon Jan 14 16:39:41 2019 +0000
Revision:
12:a25bdf135348
Parent:
11:a573664b1a59
Child:
14:6bcec5ac21ca
Tidied, better documented, more OOP, interim release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 4:67478861c670 1 #include "mbed.h"
JonFreeman 12:a25bdf135348 2 #include "movingcoilmeter.h"
JonFreeman 12:a25bdf135348 3 #include <cctype>
JonFreeman 12:a25bdf135348 4 /* Updated January 2019
JonFreeman 4:67478861c670 5 Jon Freeman
JonFreeman 4:67478861c670 6
JonFreeman 4:67478861c670 7 5" and 7.25" gauge Electric Locomotive Controller - ST DISCO-F746NG
JonFreeman 4:67478861c670 8 Uses built in display and touch screen.
JonFreeman 4:67478861c670 9
JonFreeman 4:67478861c670 10 Display shows 'analogue' moving coil meter movements for :
JonFreeman 4:67478861c670 11 Locomotive speed Miles per Hour
JonFreeman 12:a25bdf135348 12 System voltage (range 10v - 63v or thereabouts)
JonFreeman 12:a25bdf135348 13 Power Watts delivered to drive motors or dumped.
JonFreeman 4:67478861c670 14
JonFreeman 12:a25bdf135348 15 Touch screen has three 'buttons', and are where the meter movements show.
JonFreeman 12:a25bdf135348 16 Two smaller meter buttons for two horns, larger speedo button currently unsused
JonFreeman 4:67478861c670 17
JonFreeman 4:67478861c670 18 Display has 'slider' touch control. This drives the loco.
JonFreeman 4:67478861c670 19 Control in central position when not driving or drfting.
JonFreeman 4:67478861c670 20 Moving towards bottom of screen applies regenerative braking - move further down applies harder braking.
JonFreeman 4:67478861c670 21 Moving towards top of screen powers drive motors, move further up applies more torque (current controller implemented)
JonFreeman 4:67478861c670 22 Take finger off and control drifts down to central 'neutral' position.
JonFreeman 4:67478861c670 23 */
JonFreeman 4:67478861c670 24
JonFreeman 4:67478861c670 25
JonFreeman 4:67478861c670 26 #define MAX_TOUCHES 6 // Touch screen can decode up to this many simultaneous finger press positions
JonFreeman 4:67478861c670 27 #define NEUTRAL_VAL 150 // Number of pixels
JonFreeman 4:67478861c670 28
JonFreeman 4:67478861c670 29 #define SLIDERX 418 // slider graphic x position
JonFreeman 4:67478861c670 30 #define SLIDERY 2 // slider graphic y position
JonFreeman 4:67478861c670 31 #define SLIDERW 50 // pixel width of slider
JonFreeman 4:67478861c670 32 #define SLIDERH 268 // pixel height of slider
JonFreeman 4:67478861c670 33
JonFreeman 12:a25bdf135348 34 #define VOLTMETER_X 68 // Voltmeter screen position
JonFreeman 12:a25bdf135348 35 #define VOLTMETER_Y 68
JonFreeman 12:a25bdf135348 36 #define AMMETER_X 68 // Ammeter screen position - Now replaced by Power meter
JonFreeman 12:a25bdf135348 37 #define AMMETER_Y 202
JonFreeman 12:a25bdf135348 38 #define SPEEDO_X 274 // Speedometer screen position
JonFreeman 12:a25bdf135348 39 #define SPEEDO_Y 135
JonFreeman 12:a25bdf135348 40 //#define V_A_SIZE 54 // Size of voltmeter and ammeter
JonFreeman 12:a25bdf135348 41 //#define SPEEDO_SIZE 112
JonFreeman 12:a25bdf135348 42
JonFreeman 12:a25bdf135348 43 #define V_A_SIZE 56 // Size of voltmeter and ammeter
JonFreeman 12:a25bdf135348 44 #define SPEEDO_SIZE 114
JonFreeman 4:67478861c670 45
JonFreeman 12:a25bdf135348 46 #define SPEEDO_BODY_COLOUR LCD_COLOR_BLACK
JonFreeman 12:a25bdf135348 47 #define SPEEDO_DIAL_COLOUR LCD_COLOR_WHITE
JonFreeman 12:a25bdf135348 48 #define SPEEDO_TEXT_COLOUR LCD_COLOR_BLUE
JonFreeman 12:a25bdf135348 49
JonFreeman 12:a25bdf135348 50 #define VMETER_BODY_COLOUR LCD_COLOR_BLACK
JonFreeman 12:a25bdf135348 51 #define VMETER_DIAL_COLOUR LCD_COLOR_WHITE
JonFreeman 12:a25bdf135348 52 #define VMETER_TEXT_COLOUR LCD_COLOR_BLUE
JonFreeman 12:a25bdf135348 53
JonFreeman 12:a25bdf135348 54 #define AMETER_BODY_COLOUR LCD_COLOR_BLACK
JonFreeman 12:a25bdf135348 55 #define AMETER_DIAL_COLOUR LCD_COLOR_WHITE
JonFreeman 12:a25bdf135348 56 #define AMETER_TEXT_COLOUR LCD_COLOR_BLUE
JonFreeman 4:67478861c670 57 const int
JonFreeman 4:67478861c670 58 BUTTON_RAD = (SLIDERW / 2) - 4, // radius of circular 'knob' in slider control
JonFreeman 4:67478861c670 59 MIN_POS = BUTTON_RAD + 5, // top of screen
JonFreeman 4:67478861c670 60 MAX_POS = SLIDERH - (BUTTON_RAD + 1), // bottom of screen
JonFreeman 12:a25bdf135348 61 CIRC_CTR = SLIDERX + BUTTON_RAD + 4;
JonFreeman 4:67478861c670 62
JonFreeman 12:a25bdf135348 63 static const double PI = 4.0 * atan(1.0);
JonFreeman 12:a25bdf135348 64 static const double TWO_PI = 8.0 * atan(1.0);
JonFreeman 4:67478861c670 65
JonFreeman 12:a25bdf135348 66 enum {HI_HORN, LO_HORN};
JonFreeman 4:67478861c670 67 enum {NO_DPS, ONE_DP};
JonFreeman 4:67478861c670 68 // Assign unique number to every button we may use, and keep count of total number of them
JonFreeman 12:a25bdf135348 69 enum {ENTER, SLIDER_BUTTON, SPEEDO_BUTTON, VMETER_BUTTON, AMETER_BUTTON,NUMOF_BUTTONS} ; // button names
JonFreeman 12:a25bdf135348 70 enum {STATES, RUN, NEUTRAL_DRIFT, REGEN_BRAKE, RUN_DOWN, INTO_RUN, INTO_REGEN_BRAKE, INTO_NEUTRAL_DRIFT};
JonFreeman 12:a25bdf135348 71 enum {SLIDER_PRESS, SLIDER_RELEASE, SLIDER_AUTOREP};
JonFreeman 4:67478861c670 72
JonFreeman 4:67478861c670 73 struct point { int x; int y; } ;
JonFreeman 12:a25bdf135348 74 struct keystr { int keynum; int x; int y; } ;
JonFreeman 12:a25bdf135348 75 struct ky_bd { int count, slider_y; keystr key[MAX_TOUCHES + 1]; bool sli; } ;
JonFreeman 4:67478861c670 76
JonFreeman 12:a25bdf135348 77 class screen_touch_handler
JonFreeman 12:a25bdf135348 78 {
JonFreeman 12:a25bdf135348 79 ky_bd kybd_a, kybd_b; // alternating present - previous keyboard structures
JonFreeman 12:a25bdf135348 80 ky_bd * present_kybd, * previous_kybd; // pointers
JonFreeman 12:a25bdf135348 81 bool in_list (struct ky_bd & , int ) ;
JonFreeman 12:a25bdf135348 82 void motor_power () ;
JonFreeman 12:a25bdf135348 83 void flush () ;
JonFreeman 12:a25bdf135348 84 int viscous_drag (int, double, double) ;
JonFreeman 12:a25bdf135348 85 int position;
JonFreeman 12:a25bdf135348 86 int oldpos;
JonFreeman 12:a25bdf135348 87 int next_state;
JonFreeman 12:a25bdf135348 88 public:
JonFreeman 12:a25bdf135348 89 int direction;
JonFreeman 12:a25bdf135348 90 void DrawSlider () ;
JonFreeman 12:a25bdf135348 91 void HandleFingerInput () ;
JonFreeman 12:a25bdf135348 92 screen_touch_handler () ; // default constructor
JonFreeman 12:a25bdf135348 93 } ;
JonFreeman 12:a25bdf135348 94
JonFreeman 12:a25bdf135348 95 const int MAX_PARAMS = 30;
JonFreeman 12:a25bdf135348 96 const int MAX_CMD_LINE_LEN = 180;
JonFreeman 12:a25bdf135348 97 const int MAX_ESCS = 12;
JonFreeman 12:a25bdf135348 98
JonFreeman 5:21a8ac83142c 99 struct parameters {
JonFreeman 12:a25bdf135348 100 int32_t numof_menu_items, numof_cl_values_read;
JonFreeman 5:21a8ac83142c 101 double dbl[MAX_PARAMS];
JonFreeman 5:21a8ac83142c 102 } ;
JonFreeman 5:21a8ac83142c 103
JonFreeman 12:a25bdf135348 104 enum {
JonFreeman 12:a25bdf135348 105 FAULT_0,
JonFreeman 12:a25bdf135348 106 FAULT_BOARD_ID_IN_MSG,
JonFreeman 12:a25bdf135348 107 FAULT_TS,
JonFreeman 12:a25bdf135348 108 FAULT_PC,
JonFreeman 12:a25bdf135348 109 FAULT_COM,
JonFreeman 12:a25bdf135348 110 FAULT_COM_NO_MATCH,
JonFreeman 12:a25bdf135348 111 FAULT_COM_LINE_LEN,
JonFreeman 12:a25bdf135348 112 FAULT_QSPI,
JonFreeman 12:a25bdf135348 113 FAULT_ODOMETER,
JonFreeman 12:a25bdf135348 114 FAULT_MAX,
JonFreeman 12:a25bdf135348 115 NUMOF_REPORTABLE_TS_ERRORS
JonFreeman 12:a25bdf135348 116 } ;
JonFreeman 12:a25bdf135348 117
JonFreeman 12:a25bdf135348 118 class error_handling_Jan_2019
JonFreeman 12:a25bdf135348 119 {
JonFreeman 12:a25bdf135348 120 int32_t TS_fault[NUMOF_REPORTABLE_TS_ERRORS] ; // Some number of reportable error codes, accessible through set and read members
JonFreeman 11:a573664b1a59 121 public:
JonFreeman 12:a25bdf135348 122 error_handling_Jan_2019 () { // default constructor
JonFreeman 12:a25bdf135348 123 for (int i = 0; i < (sizeof(TS_fault) / sizeof(int32_t)); i++)
JonFreeman 12:a25bdf135348 124 TS_fault[i] = 0;
JonFreeman 12:a25bdf135348 125 }
JonFreeman 12:a25bdf135348 126 void set (uint32_t, int32_t) ;
JonFreeman 12:a25bdf135348 127 void clr (uint32_t) ;
JonFreeman 12:a25bdf135348 128 uint32_t read (uint32_t) ;
JonFreeman 12:a25bdf135348 129 bool all_good () ;
JonFreeman 12:a25bdf135348 130 void report_any () ;
JonFreeman 12:a25bdf135348 131 } ;
JonFreeman 12:a25bdf135348 132
JonFreeman 12:a25bdf135348 133 class command_line_interpreter_core {
JonFreeman 12:a25bdf135348 134 parameters a ; // as opposed to clicore(&parameters)
JonFreeman 12:a25bdf135348 135 struct kb_command const * clist;
JonFreeman 12:a25bdf135348 136 int32_t portio, cl_index, target_unit;
JonFreeman 12:a25bdf135348 137 char cmd_line[MAX_CMD_LINE_LEN];
JonFreeman 12:a25bdf135348 138 char * cmd_line_ptr;
JonFreeman 12:a25bdf135348 139 int clreadable ();
JonFreeman 12:a25bdf135348 140 int clgetc ();
JonFreeman 12:a25bdf135348 141 void clputc (int);
JonFreeman 12:a25bdf135348 142 public:
JonFreeman 12:a25bdf135348 143 command_line_interpreter_core () {}; // default constructor
JonFreeman 12:a25bdf135348 144 command_line_interpreter_core (int, int, struct kb_command const * ) ; //{ // constructor including io port id value
JonFreeman 12:a25bdf135348 145 void sniff () ; // The function to call often to sniff out commands from command line and act upon them
JonFreeman 12:a25bdf135348 146 } ;
JonFreeman 12:a25bdf135348 147
JonFreeman 12:a25bdf135348 148 class STM3_ESC_Interface
JonFreeman 12:a25bdf135348 149 {
JonFreeman 12:a25bdf135348 150 int board_IDs [MAX_ESCS], // allow up to 4 boards in practical system, size for 10+ as 10 discrete ID nums exist
JonFreeman 12:a25bdf135348 151 board_count,
JonFreeman 12:a25bdf135348 152 reqno;
JonFreeman 12:a25bdf135348 153 public:
JonFreeman 12:a25bdf135348 154 double last_V, last_I, mph, esc_speeds[MAX_ESCS];
JonFreeman 12:a25bdf135348 155 STM3_ESC_Interface () { // Constructor
JonFreeman 12:a25bdf135348 156 board_count = 0;
JonFreeman 12:a25bdf135348 157 reqno = 0;
JonFreeman 12:a25bdf135348 158 last_V = last_I = mph = 0.0;
JonFreeman 12:a25bdf135348 159 for (int i = 0; i < MAX_ESCS; i++) {
JonFreeman 12:a25bdf135348 160 board_IDs[i] = 0;
JonFreeman 12:a25bdf135348 161 esc_speeds[i] = 0.0;
JonFreeman 12:a25bdf135348 162 }
JonFreeman 12:a25bdf135348 163 }
JonFreeman 12:a25bdf135348 164 bool request_mph () ; // Issue "'n'mph\r" to one particular STM3_ESC board to request RPM 22/06/2018
JonFreeman 12:a25bdf135348 165 void mph_update (double) ; // touched 08/01/2019
JonFreeman 12:a25bdf135348 166 void set_board_ID (int) ; // called in response to 'whon' coming back from a STM3_ESC
JonFreeman 12:a25bdf135348 167 void search_for_escs () ; // one-off call during startup to identify all connected STM3_ESCs
JonFreeman 12:a25bdf135348 168 void get_boards_list (int *) ; // copies board list
JonFreeman 12:a25bdf135348 169 void set_V_limit (double) ; // Set max motor voltage
JonFreeman 12:a25bdf135348 170 void set_I_limit (double) ; // Set max motor current
JonFreeman 12:a25bdf135348 171 void message (char *) ; // Broadcast message to all STM3_ESCs
JonFreeman 12:a25bdf135348 172 void message (int, char *) ; // Send message to one individual STM3_ESC
JonFreeman 11:a573664b1a59 173 } ;
JonFreeman 5:21a8ac83142c 174
JonFreeman 11:a573664b1a59 175
JonFreeman 12:a25bdf135348 176