[module] MKK Configure Tool

conf/messages.xml

@@ -245,7 +245,13 @@
     <field name="utm_zone" type="uint8"/>
   </message>
 
-  <!-- 36 is free -->
+  <message name="MKK" id="36">
+    <field name="nr" type="int8" unit="mA"/>
+    <field name="rpm" type="uint8" unit="Poles/s"/>
+    <field name="current" type="int8" unit="mA"/>
+    <field name="temp" type="int8" unit="deg"/>
+  </message>
+
 
   <message name="ENERGY" id="37">
     <field name="bat"      type="float" unit="V"/>

conf/modules/configure_actuators_mkk.xml

@@ -0,0 +1,18 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="config">
+  <doc>
+    <description>Configure Mikrokopter MKK v1.0 and v2.0 BLDC motor controllers (requires subsystem actuators_mkk)</description>
+  </doc>
+  <header>
+    <file name="config_mkk.h"/>
+  </header>
+  <init fun="init_config_mkk()"/>
+  <periodic fun="periodic_config_mkk_read_status()" period="0.1" autorun="TRUE"/>
+  <periodic fun="periodic_config_mkk_telemetry()" period="1"  autorun="TRUE"/>
+  <makefile>
+    <define name="SOME_DEFINE" value="2"/>
+    <file name="config_mkk.c"/>
+  </makefile>
+</module>
+

conf/settings/modules/configure_mkk.xml

@@ -0,0 +1,10 @@
+<settings>
+  <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.nb_err" min="0" step="1" max="3000"  shortname="err" />
+    </dl_settings>
+
+  </dl_settings>
+</settings>

sw/airborne/modules/config/config_mkk.c

@@ -0,0 +1,155 @@
+/*
+ * Copyright (C) 2013  Christophe De Wagter
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#include "config_mkk.h"
+#include "generated/airframe.h"
+
+
+
+// Following 2 structs are known from:  http://mikrokopter.de/mikrosvn/FlightCtrl/tags/V0.88n/twimaster.h
+
+
+struct config_mkk_struct config_mkk;
+
+#define MAX_MOTORS ACTUATORS_MKK2_NB
+
+
+typedef struct
+{
+  uint8_t Version;
+  uint8_t Current;        // in 0.1 A steps, read back from BL
+  uint8_t MaxPWM;         // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
+  int8_t  Temperature;    // old BL-Ctrl will return a 255 here, the new version the temp. in °C
+} __attribute__((packed)) MotorData_t;
+
+extern MotorData_t Motor[MAX_MOTORS];
+
+typedef struct
+{
+  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;
+
+extern BLConfig_t BLConfig;
+
+
+MotorData_t Motor[MAX_MOTORS];
+BLConfig_t BLConfig;
+
+
+#define BL_READMODE_CONFIG	       16
+
+#define BLCONFIG_REVISION          2
+
+#define MASK_SET_PWM_SCALING       0x01
+#define MASK_SET_CURRENT_LIMIT     0x02
+#define MASK_SET_TEMP_LIMIT        0x04
+#define MASK_SET_CURRENT_SCALING   0x08
+#define MASK_SET_BITCONFIG         0x10
+#define MASK_RESET_CAPCOUNTER      0x20
+#define MASK_SET_DEFAULT_PARAMS    0x40
+#define MASK_SET_SAVE_EEPROM       0x80
+
+#define BITCONF_REVERSE_ROTATION   0x01
+
+
+void init_config_mkk(void)
+{
+  config_mkk.nb_err = 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++)
+  {
+    Motor[i].Version     = 0;
+    Motor[i].Current     = 0;
+    Motor[i].MaxPWM      = 0;
+    Motor[i].Temperature = 0;
+  }
+}
+
+#include "subsystems/actuators/actuators_mkk2.h"
+
+void periodic_config_mkk_read_status(void)
+{
+  static int read_nr = 0;
+
+  if (!actuators_mkk2.actuators_delay_done)
+    return;
+
+  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];
+      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);
+
+}
+
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+#include "mcu_periph/uart.h"
+#include "messages.h"
+#include "subsystems/datalink/downlink.h"
+
+
+void periodic_config_mkk_telemetry(void)
+{
+    static uint8_t send_nr = 0;
+
+    DOWNLINK_SEND_MKK(DefaultChannel, DefaultDevice, &send_nr, &Motor[send_nr].MaxPWM, &Motor[send_nr].Current, &Motor[send_nr].Temperature);
+
+    send_nr++;
+    if (send_nr >= MAX_MOTORS)
+      send_nr = 0;
+}
+
+

sw/airborne/modules/config/config_mkk.h

@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2013 Christophe De Wagter
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \file config_mkk.h
+ *
+ * Read Status and Config from MKK (Mikrokopter) BLDC motor controllers
+ */
+
+#ifndef CONFIG_MKK_MODULE_H
+#define CONFIG_MKK_MODULE_H
+
+#include "std.h"
+
+#include "mcu_periph/i2c.h"
+
+
+struct config_mkk_struct
+{
+    int addr;
+    int temp;
+    int current;
+
+    int nb_err;
+
+    uint8_t read_nr;
+    struct i2c_transaction trans;
+};
+
+extern struct config_mkk_struct config_mkk;
+
+#define config_mkk_SetCommand(_v) {   \
+    config_mkk.addr = _v;             \
+}
+
+
+
+
+
+void init_config_mkk(void);
+void periodic_config_mkk_read_status(void);
+void periodic_config_mkk_telemetry(void);
+
+
+#endif
+
+
+