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This commit is contained in:
Antoine Drouin
2008-04-03 09:18:02 +00:00
parent 7d57ab577b
commit 0b91bb42e7
4 changed files with 54 additions and 11 deletions
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conf/airframes/motor_bench.xml
+9 -7
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@@ -6,23 +6,24 @@ ARCHI=arm7
FLASH_MODE = IAP
MB=motor_bench
main.ARCHDIR = $(ARCHI)
main.ARCH = arm7tdmi
main.TARGET = mb1
main.TARGETDIR = mb1
main.TARGET = mb
main.TARGETDIR = mb
main.CFLAGS += -DCONFIG=\"conf_motor_bench.h\"
main.srcs = main_motor_bench.c
main.CFLAGS += -DCONFIG=\"conf_motor_bench.h\" -I$(MB)
main.srcs = $(MB)/main_motor_bench.c
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)'
main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./250.)'
main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main.CFLAGS += -DLED
main.srcs += $(SRC_ARCH)/armVIC.c
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
main.srcs += $(SRC_ARCH)/uart_hw.c
main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
@@ -32,9 +33,10 @@ main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
main.srcs += $(SRC_ARCH)/mb_servo.c
main.CFLAGS += -DUSE_TWI_CONTROLLER
main.CFLAGS += -DI2C_SCLL=100 -DI2C_SCLH=100
#main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(SRC_ARCH)/mb_twi_controller.c
main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(SRC_ARCH)/mb_buss_twi_controller.c
main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_asctech.c
main.CFLAGS += -DMB_TACHO
main.srcs += $(SRC_ARCH)/mb_tacho.c
conf/settings/motor_bench_settings.xml
+7
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@@ -5,5 +5,12 @@
<dl_settings name="trim">
<dl_setting var="mb_modes_mode" min="0" step="1" max="4" module="mb_modes" handler="SetMode"/>
</dl_settings>
<dl_settings name="twi_asctech">
<dl_setting var="mb_twi_controller_asctech_command_type" min="0" step="1" max="3"
module="mb_twi_controller_asctech" handler="SetCommand"/>
<dl_setting var="mb_twi_controller_asctech_addr" min="0" step="1" max="4"
module="mb_twi_controller_asctech" handler="SetAddr"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/motor_bench/mb_twi_controller_asctech.c
+22 -4
View File
@@ -1,14 +1,11 @@
#include "mb_twi_controller.h"
#include "mb_twi_controller_asctech.h"
#include "i2c.h"
#include "led.h"
bool_t mb_twi_controller_asctech_command;
#define MB_TWI_CONTROLLER_COMMAND_NONE 0
#define MB_TWI_CONTROLLER_COMMAND_SET_ADDR 1
#define MB_TWI_CONTROLLER_COMMAND_TEST 2
#define MB_TWI_CONTROLLER_COMMAND_REVERSE 3
uint8_t mb_twi_controller_asctech_command_type;
#define MB_TWI_CONTROLLER_ASCTECH_ADDR_FRONT 0
@@ -16,6 +13,7 @@ uint8_t mb_twi_controller_asctech_command_type;
#define MB_TWI_CONTROLLER_ASCTECH_ADDR_LEFT 2
#define MB_TWI_CONTROLLER_ASCTECH_ADDR_RIGHT 3
uint8_t mb_twi_controller_asctech_addr;
uint8_t mb_twi_controller_asctech_new_addr;
uint8_t mb_twi_nb_overun;
uint8_t mb_twi_i2c_done;
@@ -37,6 +35,15 @@ void mb_twi_controller_set( float throttle ) {
if (mb_twi_controller_asctech_command) {
mb_twi_controller_asctech_command = FALSE;
switch (mb_twi_controller_asctech_command_type) {
case MB_TWI_CONTROLLER_COMMAND_TEST :
i2c_buf[0] = 251;
i2c_buf[1] = mb_twi_controller_asctech_addr;
i2c_buf[2] = 0;
i2c_buf[3] = 231 + mb_twi_controller_asctech_addr;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
case MB_TWI_CONTROLLER_COMMAND_REVERSE :
i2c_buf[0] = 254;
i2c_buf[1] = mb_twi_controller_asctech_addr;
@@ -44,6 +51,17 @@ void mb_twi_controller_set( float throttle ) {
i2c_buf[3] = 234 + mb_twi_controller_asctech_addr;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
case MB_TWI_CONTROLLER_COMMAND_SET_ADDR :
i2c_buf[0] = 250;
i2c_buf[1] = mb_twi_controller_asctech_addr;
i2c_buf[2] = mb_twi_controller_asctech_new_addr;
i2c_buf[3] = 230 + mb_twi_controller_asctech_addr +
mb_twi_controller_asctech_new_addr;
mb_twi_controller_asctech_addr = mb_twi_controller_asctech_new_addr;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
}
}
else {
sw/airborne/motor_bench/mb_twi_controller_asctech.h
+16
View File
@@ -1,12 +1,28 @@
#ifndef MB_TWI_CONTROLLER_ASCTECH_H
#define MB_TWI_CONTROLLER_ASCTECH_H
#define MB_TWI_CONTROLLER_COMMAND_NONE 0
#define MB_TWI_CONTROLLER_COMMAND_TEST 1
#define MB_TWI_CONTROLLER_COMMAND_REVERSE 2
#define MB_TWI_CONTROLLER_COMMAND_SET_ADDR 3
extern bool_t mb_twi_controller_asctech_command;
extern uint8_t mb_twi_controller_asctech_command_type;
extern uint8_t mb_twi_controller_asctech_addr;
extern uint8_t mb_twi_controller_asctech_new_addr;
#define mb_twi_controller_asctech_SetCommand(value) { \
mb_twi_controller_asctech_command = TRUE; \
mb_twi_controller_asctech_command_type = value; \
}
#define mb_twi_controller_asctech_SetAddr(value) { \
mb_twi_controller_asctech_command = TRUE; \
mb_twi_controller_asctech_command_type = MB_TWI_CONTROLLER_COMMAND_SET_ADDR; \
mb_twi_controller_asctech_new_addr = value; \
}
#endif /* MB_TWI_CONTROLLER_ASCTECH_H */