Diff: SimonK_I2C_ESC.h

Revision:

0:41ddae212f64

Child:

2:8adc426cbe31

diff -r 000000000000 -r 41ddae212f64 SimonK_I2C_ESC.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SimonK_I2C_ESC.h	Fri Apr 01 06:45:10 2016 +0000
@@ -0,0 +1,98 @@
+/* SimonK I2C ESC Control Library
+------------------------------------------------
+ 
+Title: Mbed I2C ESC Library
+Description: This library provide methods to control I2C capable ESCs
+using the Blue Robotics fork of the tgy firmware. It's designed for the
+"BlueESC" but will work with an tgy compatible ESC (this code was tested on the Afro nfet 30A).
+The code is designed for the Mbed boards.
+
+Inspired by the Arduino I2C library provided by the blue robotics team (https://github.com/bluerobotics/Arduino_I2C_ESC).
+-------------------------------
+The MIT License (MIT)
+Copyright (c) 2016 Daniel Knox.
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+-------------------------------*/ 
+
+#ifndef SimonK_I2C_ESC_H
+#define SimonK_I2C_ESC_H
+
+#include "SimonK_I2C_ESC.h"
+
+#define MAX_ESCS 16
+
+// THERMISTOR SPECIFICATIONS
+// resistance at 25 degrees C
+#define THERMISTORNOMINAL 10000      
+// temp. for nominal resistance (almost always 25 C)
+#define TEMPERATURENOMINAL 25   
+// The beta coefficient of the thermistor (usually 3000-4000)
+#define BCOEFFICIENT 3900
+// the value of the 'other' resistor
+#define SERIESRESISTOR 3300 
+
+#include "mbed.h"
+
+class SimonK_I2C_ESC {
+public:
+    /* Constructor for ESC instance. Requires input of I2C address (ESC 0,1...16 is address
+     * 0x29,0x2A...0x39). Optionally accepts pole count for RPM measurements. T100 is 6 and 
+     * T200 is 7. */
+    SimonK_I2C_ESC(I2C &_i2c, char address, char poleCount = 6);
+
+    /* Sends updated throttle setting for the motor. Throttle input range is 16 bit
+     * (-32767 to +32767). */
+    void set(short throttle);
+
+    /* Alternate function to set throttle using standard servo pulse range (1100-1900) */
+    void setPWM(short pwm);
+
+    /* The update function reads new data from the ESC. */
+    void update();
+
+    /* Returns true if the ESC is connected */
+    bool isAlive();
+
+    /* Returns voltage measured by the ESC in volts */
+    float voltage();
+
+    /* Returns current measured by the ESC in amps */
+    float current();
+
+    /* Returns temperature measured by the ESC in degree Celsius */
+    float temperature();
+
+    /* Returns RPM of the motor. Note that this measurement will be
+     * more accurate if the I2C data is read slowly. */
+    short rpm();
+
+private:
+    I2C _i2c;
+    char _address;
+    unsigned short _voltage_raw, _current_raw, _temp_raw;
+    short _rpm;
+    unsigned short _rpmTimer;
+    Timer mbed_rpm_timer;
+    char _identifier;
+    char _poleCount;
+
+    void readBuffer(char buffer[]);
+
+    void readSensors(char address, unsigned short *rpm, unsigned short *vbat, unsigned short *temp, unsigned short *curr);
+};
+
+#endif
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