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
esc_comms.cpp
- Committer:
- JonFreeman
- Date:
- 2019-03-04
- Revision:
- 14:6bcec5ac21ca
- Parent:
- 12:a25bdf135348
File content as of revision 14:6bcec5ac21ca:
#include "mbed.h" #include "Electric_Loco.h" #include "AsyncSerial.hpp" extern Serial pc; extern AsyncSerial com2escs; extern error_handling_Jan_2019 Controller_Error ; // Provides array usable to store error codes. extern volatile bool trigger_32ms; extern command_line_interpreter_core pcli, ploco; // pcli handles comms with pc, ploco handles comms with STM3_ESC boards void STM3_ESC_Interface::message (int board, char * msg) // Send message to one individual STM3_ESC { if (!(isdigit(board))) { pc.printf ("Error in STM3_ESC_Interface::message, '%c' not valid board ID\r\n"); Controller_Error.set (FAULT_BOARD_ID_IN_MSG, -1); return ; } com2escs.putc (board); message (msg); } void STM3_ESC_Interface::message (char * msg) // Broadcast message to all STM3_ESCs { com2escs.printf (msg); } void STM3_ESC_Interface::set_V_limit (double p) // Sets max motor voltage { if (p < 0.0) p = 0.0; if (p > 1.0) p = 1.0; last_V = p; com2escs.printf ("v%d\r", (int)(last_V * 99.0)); } void STM3_ESC_Interface::set_I_limit (double p) // Sets max motor current { if (p < 0.0) p = 0.0; if (p > 1.0) p = 1.0; last_I = p; // New 30/4/2018 ; no use for this yet, included to be consistent with V com2escs.printf ("i%d\r", (int)(last_I * 99.0)); } void STM3_ESC_Interface::get_boards_list (int * dest) { for (int i = 0; i < MAX_ESCS; i++) dest[i] = board_IDs[i]; } void STM3_ESC_Interface::search_for_escs () { // Seek out all STM3_ESC boards connected to TS controller char whotxt[] = "0who\r\0"; for (int i = 0; i < MAX_ESCS; i++) board_IDs[i] = 0; board_count = 0; pc.printf ("Searching for connected STM3_ESC boards - "); while (!trigger_32ms) ploco.sniff (); // Allow any previous STM3_ESC comms opportunity to complete while (whotxt[0] <= '9') { // Sniff out system, discover motor controllers connected trigger_32ms = false; message (whotxt); // Issue '0who' etc whotxt[0]++; while (!trigger_32ms) { // Give time for STM3_ESC board to respond pcli.sniff (); // Check commands from pc also ploco.sniff (); // This is where responses to 'who' get picked up and dealt with } } // Completed quick sniff to identify all connected STM3 ESC boards if (board_count) { pc.printf ("Found %d boards, IDs ", board_count); for (int i = 0; i < board_count; i++) pc.printf ("%c ", board_IDs[i]); pc.printf ("\r\n"); } else pc.printf ("None found\r\n"); } void STM3_ESC_Interface::set_board_ID (int a) { // called in response to 'whon' coming back from a STM3_ESC board_count = 0; // reset and recalculate board_count while (board_IDs[board_count]) { if (board_IDs[board_count++] == a) { // pc.printf ("set_board_ID %c already listed\r\n", a); return; } } board_IDs[board_count++] = a; } bool STM3_ESC_Interface::request_mph () { // Issue "'n'mph\r" to BLDC board to request RPM 22/06/2018 if (board_IDs[0] == 0) return false; // No boards identified if (board_IDs[reqno] == 0) reqno = 0; message (board_IDs[reqno++], "mph\r"); return true; } //void STM3_ESC_Interface::mph_update(struct parameters & a) { // Puts new readings into mem 22/06/2018 void STM3_ESC_Interface::mph_update(double mph_reading) { // Puts new readings into mem 22/06/2018 static int identified_board = 0; esc_speeds[identified_board++] = mph_reading; // A single mph reading returned from one STM3ESC. a.dbl[0] gives esc number if (identified_board >= board_count) identified_board = 0; // Circular buffer for number of STM3ESC boards sniffed and found double temp = 0.0; for (int j = 0; j < board_count; j++) temp += esc_speeds[j]; if (board_count < 1) // Avoid possible DIV0 error mph = 0.0; else mph = temp / board_count; // Updated average of most recent mph readings recieved }