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[module] Re-configure the motors...

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This commit is contained in:
Christophe De Wagter
2013-02-28 09:57:41 +01:00
parent 32a0cd8863
commit 45e07b1a94
3 changed files with 151 additions and 26 deletions
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conf/settings/modules/configure_mkk.xml
+11 -1
View File
@@ -2,9 +2,19 @@
<dl_settings>
<dl_settings NAME="mkk">
<dl_setting var="config_mkk.addr" min="0" step="1" max="3" module="modules/config/config_mkk" shortname="cmd" values="0x52|0x54|0x56|0x58" handler="SetCommand"/>
<dl_setting var="config_mkk.addr" min="0" step="1" max="3" module="modules/config/config_mkk" shortname="Get" values="0x52|0x54|0x56|0x58" handler="GetConfig"/>
<dl_setting var="config_mkk.addr" min="0" step="1" max="3" module="modules/config/config_mkk" shortname="Set" values="0x52|0x54|0x56|0x58" handler="SetConfig"/>
<dl_setting var="config_mkk.nb_err" min="0" step="1" max="3000" shortname="err" />
<dl_setting var="config_mkk_eeprom.revision" min="0" step="1" max="255" shortname="ee.rev" />
<dl_setting var="config_mkk_eeprom.SetMask" min="0" step="1" max="255" shortname="ee.set.msk" />
<dl_setting var="config_mkk_eeprom.PwmScaling" min="0" step="1" max="255" shortname="ee.pwm" />
<dl_setting var="config_mkk_eeprom.CurrentLimit" min="0" step="1" max="255" shortname="ee.amp.lim" />
<dl_setting var="config_mkk_eeprom.TempLimit" min="0" step="1" max="255" shortname="ee.tmp.lim" />
<dl_setting var="config_mkk_eeprom.CurrentScaling" min="0" step="1" max="255" shortname="ee.amp.scl" />
<dl_setting var="config_mkk_eeprom.BitConfig" min="0" step="1" max="255" shortname="ee.bit.msk" />
<dl_setting var="config_mkk_eeprom.crc" min="0" step="1" max="255" shortname="ee.crc" />
</dl_settings>
</dl_settings>
</settings>
sw/airborne/modules/config/config_mkk.c
+118 -21
View File
@@ -25,6 +25,11 @@
void config_mkk_read_eeprom(void);
void config_mkk_parse_eeprom(void);
uint8_t config_mkk_crc(uint8_t offset);
// Following 2 structs are known from: http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.88n/twimaster.h
@@ -43,9 +48,10 @@ typedef struct
extern MotorData_t Motor[MAX_MOTORS];
/*
typedef struct
{
uint8_t Revision; // must be BL_REVISION
uint8_t revision; // must be BL_revision
uint8_t SetMask; // settings mask
uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit
uint8_t CurrentLimit; // current limit in A
@@ -53,18 +59,29 @@ typedef struct
uint8_t CurrentScaling; // scaling factor for current measurement
uint8_t BitConfig; // see defines above
uint8_t crc; // checksum
} __attribute__((packed)) BLConfig_t;
} __attribute__((packed)) config_mkk_eeprom_t;
extern BLConfig_t BLConfig;
extern config_mkk_eeprom_t config_mkk_eeprom;
*/
uint8_t config_mkk_crc(uint8_t offset)
{
uint8_t crc = 0xaa;
for(int i=offset; i<(offset+7); i++)
{
crc += config_mkk.trans.buf[i];
}
return crc;
}
MotorData_t Motor[MAX_MOTORS];
BLConfig_t BLConfig;
config_mkk_eeprom_t config_mkk_eeprom;
#define BL_READMODE_CONFIG 16
#define BLCONFIG_REVISION 2
#define CONFIG_MKK_EEPROM_REVISION 2
#define MASK_SET_PWM_SCALING 0x01
#define MASK_SET_CURRENT_LIMIT 0x02
@@ -81,9 +98,8 @@ BLConfig_t BLConfig;
void init_config_mkk(void)
{
config_mkk.nb_err = 0;
config_mkk.read_config = 0;
config_mkk.trans.type = I2CTransRx;
config_mkk.trans.len_r = 3;
config_mkk.trans.status = I2CTransSuccess;
for(int i=0; i < MAX_MOTORS; i++)
@@ -107,29 +123,46 @@ void periodic_config_mkk_read_status(void)
switch (config_mkk.trans.status) {
case I2CTransFailed:
config_mkk.nb_err++;
config_mkk.trans.status = I2CTransDone;
break;
case I2CTransSuccess:
case I2CTransDone:
config_mkk.trans.status = I2CTransDone;
Motor[read_nr].Current = config_mkk.trans.buf[0];
Motor[read_nr].MaxPWM = config_mkk.trans.buf[1];
Motor[read_nr].Temperature = config_mkk.trans.buf[2];
if (config_mkk.trans.len_r == 3)
{
Motor[read_nr].Current = config_mkk.trans.buf[0];
Motor[read_nr].MaxPWM = config_mkk.trans.buf[1];
Motor[read_nr].Temperature = config_mkk.trans.buf[2];
}
else if (config_mkk.trans.len_r == 8)
{
config_mkk_parse_eeprom();
}
break;
default:
config_mkk.nb_err++;
return;
}
read_nr++;
if (read_nr >= MAX_MOTORS)
read_nr = 0;
const uint8_t actuators_addr[ACTUATORS_MKK2_NB] = ACTUATORS_MKK2_ADDR;
//Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request
config_mkk.trans.slave_addr = actuators_addr[read_nr];
i2c_submit(&ACTUATORS_MKK2_DEVICE, &config_mkk.trans);
// Read Config
if (config_mkk.read_config > 0)
{
config_mkk.read_config = 0;
config_mkk_read_eeprom();
i2c_submit(&ACTUATORS_MKK2_DEVICE, &config_mkk.trans);
}
// Read Status
else
{
read_nr++;
if (read_nr >= MAX_MOTORS)
read_nr = 0;
const uint8_t actuators_addr[ACTUATORS_MKK2_NB] = ACTUATORS_MKK2_ADDR;
config_mkk.trans.type = I2CTransRx;
config_mkk.trans.len_r = 3;
config_mkk.trans.slave_addr = actuators_addr[read_nr];
}
}
@@ -153,3 +186,67 @@ void periodic_config_mkk_telemetry(void)
}
#define RETURN_IF_NOT_KILLMODE() {}
void config_mkk_read_eeprom(void)
{
// Do not read config while running
RETURN_IF_NOT_KILLMODE();
// New I2C Write/Read Transaction
config_mkk.trans.type = I2CTransTxRx;
config_mkk.trans.slave_addr = 0x52 + config_mkk.addr * 2;
config_mkk.trans.len_w = 2;
config_mkk.trans.buf[0] = 0;
config_mkk.trans.buf[1] = (BL_READMODE_CONFIG<<3);
config_mkk.trans.len_r = 8;
}
void config_mkk_parse_eeprom(void)
{
config_mkk_eeprom.crc = config_mkk.trans.buf[7]; // checksum
if (config_mkk_crc(0) != config_mkk_eeprom.crc)
{
config_mkk.nb_err++;
}
else
{
config_mkk_eeprom.revision = config_mkk.trans.buf[0]; // must be BL_revision
config_mkk_eeprom.SetMask = config_mkk.trans.buf[1]; // settings mask
config_mkk_eeprom.PwmScaling = config_mkk.trans.buf[2]; // maximum value of control pwm, acts like a thrust limit
config_mkk_eeprom.CurrentLimit = config_mkk.trans.buf[3]; // current limit in A
config_mkk_eeprom.TempLimit = config_mkk.trans.buf[4]; // in °C
config_mkk_eeprom.CurrentScaling = config_mkk.trans.buf[5]; // scaling factor for current measurement
config_mkk_eeprom.BitConfig = config_mkk.trans.buf[6]; // see defines above
}
}
void config_mkk_send_eeprom(void)
{
// Do not upload while running
RETURN_IF_NOT_KILLMODE();
// Do not upload bad data:
if (config_mkk_eeprom.revision != CONFIG_MKK_EEPROM_REVISION)
return;
// New I2C Write Transaction
config_mkk.trans.type = I2CTransTx;
config_mkk.trans.slave_addr = 0x52 + config_mkk.addr * 2;
config_mkk.trans.len_w = 10;
config_mkk.trans.buf[0] = 0;
config_mkk.trans.buf[1] = (BL_READMODE_CONFIG<<3);
config_mkk.trans.buf[2] = config_mkk_eeprom.revision;
config_mkk.trans.buf[3] = config_mkk_eeprom.SetMask;
config_mkk.trans.buf[4] = config_mkk_eeprom.PwmScaling;
config_mkk.trans.buf[5] = config_mkk_eeprom.CurrentLimit;
config_mkk.trans.buf[6] = config_mkk_eeprom.TempLimit;
config_mkk.trans.buf[7] = config_mkk_eeprom.CurrentScaling;
config_mkk.trans.buf[8] = config_mkk_eeprom.BitConfig;
config_mkk.trans.buf[9] = config_mkk_crc(2);
i2c_submit(&ACTUATORS_MKK2_DEVICE, &config_mkk.trans);
}
sw/airborne/modules/config/config_mkk.h
+22 -4
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@@ -32,12 +32,24 @@
#include "mcu_periph/i2c.h"
typedef struct
{
uint8_t revision;
uint8_t SetMask;
uint8_t PwmScaling;
uint8_t CurrentLimit;
uint8_t TempLimit;
uint8_t CurrentScaling;
uint8_t BitConfig;
uint8_t crc;
} config_mkk_eeprom_t;
extern config_mkk_eeprom_t config_mkk_eeprom;
struct config_mkk_struct
{
int read_config;
int addr;
int temp;
int current;
int nb_err;
@@ -47,11 +59,17 @@ struct config_mkk_struct
extern struct config_mkk_struct config_mkk;
#define config_mkk_SetCommand(_v) { \
extern void config_mkk_send_eeprom(void);
#define config_mkk_SetConfig(_v) { \
config_mkk.addr = _v; \
config_mkk_send_eeprom(); \
}
#define config_mkk_GetConfig(_v) { \
config_mkk.addr = _v; \
config_mkk.read_config = 1; \
}