From 28e813ac07fd1ac4ed9ddbffa8273c6f98be1460 Mon Sep 17 00:00:00 2001 From: Christophe De Wagter Date: Wed, 27 Feb 2013 01:50:36 +0100 Subject: [PATCH] [module] MKK Configure Tool --- conf/messages.xml | 8 +- conf/modules/configure_actuators_mkk.xml | 18 +++ conf/settings/modules/configure_mkk.xml | 10 ++ sw/airborne/modules/config/config_mkk.c | 155 +++++++++++++++++++++++ sw/airborne/modules/config/config_mkk.h | 66 ++++++++++ 5 files changed, 256 insertions(+), 1 deletion(-) create mode 100644 conf/modules/configure_actuators_mkk.xml create mode 100644 conf/settings/modules/configure_mkk.xml create mode 100644 sw/airborne/modules/config/config_mkk.c create mode 100644 sw/airborne/modules/config/config_mkk.h diff --git a/conf/messages.xml b/conf/messages.xml index d189eb6c171..b6ce932e591 100644 --- a/conf/messages.xml +++ b/conf/messages.xml @@ -245,7 +245,13 @@ - + + + + + + + diff --git a/conf/modules/configure_actuators_mkk.xml b/conf/modules/configure_actuators_mkk.xml new file mode 100644 index 00000000000..bac54bd12c1 --- /dev/null +++ b/conf/modules/configure_actuators_mkk.xml @@ -0,0 +1,18 @@ + + + + + Configure Mikrokopter MKK v1.0 and v2.0 BLDC motor controllers (requires subsystem actuators_mkk) + +
+ +
+ + + + + + + + + diff --git a/conf/settings/modules/configure_mkk.xml b/conf/settings/modules/configure_mkk.xml new file mode 100644 index 00000000000..66af5fb8529 --- /dev/null +++ b/conf/settings/modules/configure_mkk.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/sw/airborne/modules/config/config_mkk.c b/sw/airborne/modules/config/config_mkk.c new file mode 100644 index 00000000000..7b6a2abb3f1 --- /dev/null +++ b/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; +} + + diff --git a/sw/airborne/modules/config/config_mkk.h b/sw/airborne/modules/config/config_mkk.h new file mode 100644 index 00000000000..97b81486ddd --- /dev/null +++ b/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 + + +