STM3 ESC dual brushless motor controller. 10-60v, motor power rating tiny to kW. Ganged or independent motor control As used in 'The Brute' locomotive - www.jons-workshop.com
Dependencies: mbed BufferedSerial Servo FastPWM
F446ZE.h
- Committer:
- JonFreeman
- Date:
- 2019-03-04
- Revision:
- 12:d1d21a2941ef
- Parent:
- 8:93203f473f6e
File content as of revision 12:d1d21a2941ef:
// 5TH JUNE 2018 NONE OF THIS IS RIGHT YET !! // Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out // Port A -> MotorA, Port B -> MotorB const uint16_t AUL = 1 << 1, // Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers AVL = 1 << 2, // These are which port bits connect to which mosfet driver AWL = 1 << 3, AUH = 1 << 4, AVH = 1 << 5, AWH = 1 << 6, AUV = AUH | AVL, // Each of 6 possible output energisations made up of one hi and one low AVU = AVH | AUL, AUW = AUH | AWL, AWU = AWH | AUL, AVW = AVH | AWL, AWV = AWH | AVL, KEEP_L_MASK_A = AUL | AVL | AWL, KEEP_H_MASK_A = AUH | AVH | AWH, BRA = AUL | AVL | AWL, // All low side switches on (and all high side off) for braking BUL = 1 << 0, // Likewise for MotorB but different port bits on different port BVL = 1 << 1, BWL = 1 << 2, BUH = 1 << 10, BVH = 1 << 11, BWH = 1 << 3, BUV = BUH | BVL, BVU = BVH | BUL, BUW = BUH | BWL, BWU = BWH | BUL, BVW = BVH | BWL, BWV = BWH | BVL, KEEP_L_MASK_B = BUL | BVL | BWL, KEEP_H_MASK_B = BUH | BVH | BWH, BRB = BUL | BVL | BWL, PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH, // NEW METHOD FOR DGD21032 MOSFET DRIVERS PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH; // Use Ports E and G - best first guess July 2018 PortOut MotA (PortE, PORT_A_MASK); // Activate output ports to motor drivers PortOut MotB (PortG, PORT_B_MASK); // Pin 1 VBAT NET +3V3 //DigitalIn J3 (PC_13, PullUp);// Pin 2 Jumper pulls to GND, R floats Hi InterruptIn Temperature_pin (PD_7);// Pin ?? June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn // Pin 3 PC14-OSC32_IN NET O32I // Pin 4 PC15-OSC32_OUT NET O32O // Pin 5 PH0-OSC_IN NET PH1 // Pin 6 PH1-OSC_OUT NET PH1 // Pin 7 NRST NET NRST AnalogIn Ain_DriverPot (PC_0); // Pin 8 Spare Analogue in, net SAIN fitted with external pull-down AnalogIn Ain_SystemVolts (PC_1); // Pin 9 AnalogIn Motor_A_Current (PC_2); // Pin 10 AnalogIn Motor_B_Current (PC_3); // Pin 11 // Pin 12 VSSA/VREF- NET GND // Pin 13 VDDA/VREF+ NET +3V3 // Pin 14 Port_A AUL // Pin 15 Port_A AUH // Pins 16, 17 BufferedSerial pc BufferedSerial pc (PD_8, PD_9, 512, 4, NULL); // Pins 16, 17 tx, rx to pc via usb lead // Pin 18 VSS NET GND // Pin 19 VDD NET +3V3 // Pin 20 Port_A AWL // Pin 21 DigitalOut led1(LED1); DigitalOut LED (PB_0); // Pin ?? as fitted to Nucleo board. Other leds use PB_7 and PB_14 // Pin 22 Port_A AVL // Pin 23 Port_A AVH InterruptIn MBH2 (PD_1); // Pin ?? InterruptIn MBH3 (PD_3); // Pin ?? // Pin 26 Port_B BUL // Pin 27 Port_B BVL // Pin 28 Port_B BWL // Pin 29 Port_B BUH // Pin 30 VCAP1 // Pin 31 VSS // Pin 32 VDD // Pin 33 Port_B BVH // Pin 34 Port_B BWH //DigitalOut T4 (PB_14); // Pin ** //DigitalOut T3 (PB_15); // Pin ** // BufferedSerial com2 pins 37 Tx, 38 Rx BufferedSerial com2 (PC_10, PC_11); // Pins 37, 38 tx, rx to XBee module FastPWM A_MAX_V_PWM (PC_8, PWM_PRESECALER_DEFAULT), // Pin 39 pwm3/3 A_MAX_I_PWM (PC_9, PWM_PRESECALER_DEFAULT); // pin 40, prescaler value pwm3/4 //InterruptIn MotB_Hall (PA_8); // Pin 41 // Pin 41 Port_A AWH // BufferedSerial com3 pins 42 Tx, 43 Rx //InterruptIn tryseredge (PA_9); BufferedSerial com3 (PC_12, PD_2); // Pins 42, 43 tx, rx to any aux module // PA_9 is Tx. I wonder, can we also use InterruptIn on this pin to generate interrupts on tx bit transitions ? Let's find out ! // No. // Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses //BufferedSerial extra_ser (PA_11, PA_12); // Pins 44, 45 tx, rx to XBee module DigitalOut T2 (PA_11); // Pin 44 // was DigitalOut T1 (PA_12); // Pin 45 //InterruptIn T1 (PA_12); // Pin 45 now input counting pulses from LMT01 temperature sensor // InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13 //DigitalIn T1 (PA_12); ////InterruptIn T1 (PC_13); // Pin 45 now input counting pulses from LMT01 temperature sensor // Pin 46 SWDIO // Pin 47 VSS // Pin 48 VDD // Pin 49 SWCLK //Was DigitalOut T5 (PA_15); // Pin 50 DigitalIn T5 (PA_15); // Pin 50 now fwd/rev from remote control box if fitted InterruptIn MAH1 (PD_4); // Pin 51 InterruptIn MAH2 (PD_5); // Pin 52 InterruptIn MAH3 (PD_6); // Pin 53 InterruptIn MBH1 (PD_0); // Pin 54 DigitalOut T6 (PB_3); // Pin 55 FastPWM B_MAX_V_PWM (PE_13, PWM_PRESECALER_DEFAULT), // Pin 56 pwm3/3 B_MAX_I_PWM (PE_14, PWM_PRESECALER_DEFAULT); // pin 57, prescaler value pwm3/4 I2C i2c (PB_9, PB_8); // Pins 58, 59 For 24LC64 eeprom // Pin 60 BOOT0 // Servo pins, 2 off. Configured as Input to read radio control receiver // If used as servo output, code gives pin to 'Servo' - seems to work InterruptIn Servo1_i (PF_14); // Pin 61 to read output from rc rx InterruptIn Servo2_i (PF_15); // Pin 62 to read output from rc rx // Pin 63 VSS // Pin 64 VDD // SYSTEM CONSTANTS