SimonK_I2C_ESC.h

00001 //! SimonK I2C ESC Control Library
00002 /*!
00003 Title: Mbed I2C ESC Library
00004 Description: This library provide methods to control I2C capable ESCs
00005 using the Blue Robotics fork of the tgy firmware. It's designed for the
00006 "BlueESC" but will work with an tgy compatible ESC (this code was tested on the Afro nfet 30A).
00007 The code is designed for the Mbed boards.
00008 
00009 Inspired by the Arduino I2C library provided by the blue robotics team (https://github.com/bluerobotics/Arduino_I2C_ESC).
00010 -------------------------------
00011 The MIT License (MIT)
00012 Copyright (c) 2016 Daniel Knox.
00013 Permission is hereby granted, free of charge, to any person obtaining a copy
00014 of this software and associated documentation files (the "Software"), to deal
00015 in the Software without restriction, including without limitation the rights
00016 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00017 copies of the Software, and to permit persons to whom the Software is
00018 furnished to do so, subject to the following conditions:
00019 The above copyright notice and this permission notice shall be included in
00020 all copies or substantial portions of the Software.
00021 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00022 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00023 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00024 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00025 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00026 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00027 THE SOFTWARE.
00028 -------------------------------*/ 
00029 
00030 #ifndef SimonK_I2C_ESC_H
00031 #define SimonK_I2C_ESC_H
00032 
00033 #include "SimonK_I2C_ESC.h"
00034 
00035 #define MAX_ESCS 16
00036 
00037 // THERMISTOR SPECIFICATIONS
00038 // resistance at 25 degrees C
00039 #define THERMISTORNOMINAL 10000      
00040 // temp. for nominal resistance (almost always 25 C)
00041 #define TEMPERATURENOMINAL 25   
00042 // The beta coefficient of the thermistor (usually 3000-4000)
00043 #define BCOEFFICIENT 3900
00044 // the value of the 'other' resistor
00045 #define SERIESRESISTOR 3300 
00046 
00047 #include "mbed.h"
00048 
00049 class SimonK_I2C_ESC {
00050 public:
00051     /** Constructor for ESC instance. Requires input of I2C address (ESC 0,1...16 is address
00052      * 0x29,0x2A...0x39). Optionally accepts pole count for RPM measurements. T100 is 6 and 
00053      * T200 is 7. */
00054     SimonK_I2C_ESC(I2C &_i2c, char address, char poleCount = 6);
00055 
00056     /** Sends updated throttle setting for the motor. Throttle input range is 16 bit
00057      * (-32767 to +32767). */
00058     void set(short throttle);
00059 
00060     /** Alternate function to set throttle using standard servo pulse range (1100-1900) */
00061     void setPWM(short pwm);
00062 
00063     /** The update function reads new data from the ESC. */
00064     void update();
00065 
00066     /** Returns true if the ESC is connected */
00067     bool isAlive();
00068 
00069     /** Returns voltage measured by the ESC in volts */
00070     float voltage();
00071 
00072     /** Returns current measured by the ESC in amps */
00073     float current();
00074 
00075     /** Returns temperature measured by the ESC in degree Celsius */
00076     float temperature();
00077 
00078     /** Returns RPM of the motor. Note that this measurement will be
00079      * more accurate if the I2C data is read slowly. */
00080     short rpm();
00081 
00082 private:
00083     I2C _i2c;
00084     char _address;
00085     unsigned short _voltage_raw, _current_raw, _temp_raw;
00086     short _rpm;
00087     int _rpmTimer;
00088     Timer mbed_rpm_timer;
00089     char _identifier;
00090     char _poleCount;
00091 
00092     void readBuffer(char buffer[]);
00093 
00094     void readSensors(char address, unsigned short *rpm, unsigned short *vbat, unsigned short *temp, unsigned short *curr);
00095 };
00096 
00097 #endif