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[module] Re-configure the motors...
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@dewagter
dewagter committed Mar 1, 2013
1 parent 97f30b0 commit 07495d3
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Showing 3 changed files with 151 additions and 26 deletions.
12 changes: 11 additions & 1 deletion conf/settings/modules/configure_mkk.xml
View file
Expand Up @@ -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>

139 changes: 118 additions & 21 deletions sw/airborne/modules/config/config_mkk.c
View file
Expand Up @@ -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


Expand All @@ -43,28 +48,40 @@ 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
uint8_t TempLimit; // in °C
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 config_mkk_eeprom_t config_mkk_eeprom;
*/

extern BLConfig_t BLConfig;
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
Expand All @@ -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++)
Expand All @@ -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];
}


}

Expand All @@ -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);

}

26 changes: 22 additions & 4 deletions sw/airborne/modules/config/config_mkk.h
View file
Expand Up @@ -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;

Expand All @@ -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; \
}



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