OP-237 I2C ESC support. This _will_ require you to reconfigure your

ActuatorSettings although for PWM aircrafts it should be done exactly as before

Actuator: Store the update times and maximum update time

OP-14 I2C: Start tracking short history of events and states in driver for
logging
OP-237 Flight/Actuator: Support for I2C based ESCs

OP-237 MK_ESC: Send all four motors as one atomic transfer

OP-237 Flight/Actuator: Allow channels to be mapped to MK I2C interface.  Currently
mixer channels are either PWM or MK but in the future this will change to
support more than 8 channels.

OP-16 PiOS/I2C: Further work to try and make I2C more stable, mstly special case
handline in IRQ

OP-237 I2C ESC: Support for Astect 4 channel ESCs

OP-237: When the I2C Actuator write update fails track this

OP-237 Actuator Settings: Change the way motor types are selected to keep that
information more appropriately within ActuatorSettings instead of MixerSettings

Also make motors stay at or above neutral when armed and throttle > 0

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2366 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -235,6 +235,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_bmp085.c
+SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 #SRC += $(PIOSCOMMON)/pios_opahrs.c
 #SRC += $(PIOSCOMMON)/pios_opahrs_proto.c

flight/OpenPilot/Modules/Actuator/actuator.c

@@ -67,6 +67,8 @@ static void actuatorTask(void* parameters);
 static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
 static void setFailsafe();
 static float MixerCurve(const float throttle, const float* curve);
+static bool set_channel(uint8_t mixer_channel, uint16_t value);
+
 float ProcessMixer(const int index, const float curve1, const float curve2,
 		   MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
 		   const float period);
@@ -99,7 +101,6 @@ int32_t ActuatorInitialize()
 }
 
 
-
 /**
  * @brieft Main Actuator module task
  *
@@ -201,25 +202,42 @@ static void actuatorTask(void* parameters)
 					lastResult[ct] = 0;
 				}else
 				{
+					// For motors when armed keep above neutral
+					if((mixer[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) && (status[ct] < 0)) 
+						status[ct] = 0;
+						
 					command.Channel[ct] = scaleChannel(status[ct],
 									   settings.ChannelMax[ct],
-									   settings.ChannelMin[ct],
+									   settings.ChannelNeutral[ct],
 									   settings.ChannelNeutral[ct]);
 				}
 			}
 		}
 		MixerStatusSet(&mixerStatus);
 
+		// Store update time
+		command.UpdateTime = 10000*dT;
+		if(command.UpdateTime > command.MaxUpdateTime)
+			command.MaxUpdateTime = command.UpdateTime;
+		
 		// Update output object
 		ActuatorCommandSet(&command);
 		// Update in case read only (eg. during servo configuration)
 		ActuatorCommandGet(&command);
 
 		// Update servo outputs
+		bool success = true;
 		for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
 		{
-			PIOS_Servo_Set( n, command.Channel[n] );
+			success &= set_channel(n, command.Channel[n]);
 		}
+
+		if(!success) {
+			command.NumFailedUpdates++;
+			ActuatorCommandSet(&command);
+			AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL); 
+		}
+
 	}
 }
 
@@ -385,13 +403,47 @@ static void setFailsafe()
 	// Update servo outputs
 	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
 	{
-		PIOS_Servo_Set( n, command.Channel[n] );
+		set_channel(n, command.Channel[n]);
 	}
 
 	// Update output object
 	ActuatorCommandSet(&command);
 }
 
+static bool set_channel(uint8_t mixer_channel, uint16_t value) {
+	
+	ActuatorSettingsData settings;
+	ActuatorSettingsGet(&settings);
+		
+	switch(settings.ChannelType[mixer_channel]) {
+		case ACTUATORSETTINGS_CHANNELTYPE_PWM:
+			PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
+			return true;
+		case ACTUATORSETTINGS_CHANNELTYPE_MK: 
+		{
+			ManualControlCommandData manual;
+			ManualControlCommandGet(&manual);
+			/* Unfortunately MK controller take forever to start so keep */
+			/* them spinning when armed */			 
+			if(manual.Armed)
+				value = (value < 0) ? 1 : value;
+			else 
+				value = 0;
+
+			return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
+			break;
+		}
+		case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
+			return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
+			break;
+		default:
+			return false;
+	}			
+	
+	return false;
+	
+}
+
 
 /**
  * @}

flight/OpenPilot/System/inc/pios_config.h

@@ -58,7 +58,7 @@
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_WDG
-
+#define PIOS_INCLUDE_I2C_ESC
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"

flight/OpenPilot/UAVObjects/actuatorsettings.c

@@ -120,6 +120,22 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
 	data.ChannelMin[5] = 1000;
 	data.ChannelMin[6] = 1000;
 	data.ChannelMin[7] = 1000;
+	data.ChannelType[0] = 0;
+	data.ChannelType[1] = 0;
+	data.ChannelType[2] = 0;
+	data.ChannelType[3] = 0;
+	data.ChannelType[4] = 0;
+	data.ChannelType[5] = 0;
+	data.ChannelType[6] = 0;
+	data.ChannelType[7] = 0;
+	data.ChannelAddr[0] = 0;
+	data.ChannelAddr[1] = 1;
+	data.ChannelAddr[2] = 2;
+	data.ChannelAddr[3] = 3;
+	data.ChannelAddr[4] = 4;
+	data.ChannelAddr[5] = 5;
+	data.ChannelAddr[6] = 6;
+	data.ChannelAddr[7] = 7;
 
 	UAVObjSetInstanceData(obj, instId, &data);
 

flight/OpenPilot/UAVObjects/inc/actuatorcommand.h

@@ -41,7 +41,7 @@
 #define ACTUATORCOMMAND_H
 
 // Object constants
-#define ACTUATORCOMMAND_OBJID 3909877022U
+#define ACTUATORCOMMAND_OBJID 3907024856U
 #define ACTUATORCOMMAND_NAME "ActuatorCommand"
 #define ACTUATORCOMMAND_METANAME "ActuatorCommandMeta"
 #define ACTUATORCOMMAND_ISSINGLEINST 1
@@ -72,6 +72,9 @@
 // Object data
 typedef struct {
     int16_t Channel[8];
+    uint8_t UpdateTime;
+    uint8_t MaxUpdateTime;
+    uint8_t NumFailedUpdates;
 
 } __attribute__((packed)) ActuatorCommandData;
 
@@ -79,6 +82,9 @@ typedef struct {
 // Field Channel information
 /* Number of elements for field Channel */
 #define ACTUATORCOMMAND_CHANNEL_NUMELEM 8
+// Field UpdateTime information
+// Field MaxUpdateTime information
+// Field NumFailedUpdates information
 
 
 // Generic interface functions

flight/OpenPilot/UAVObjects/inc/actuatorsettings.h

@@ -41,7 +41,7 @@
 #define ACTUATORSETTINGS_H
 
 // Object constants
-#define ACTUATORSETTINGS_OBJID 3054509114U
+#define ACTUATORSETTINGS_OBJID 844831578U
 #define ACTUATORSETTINGS_NAME "ActuatorSettings"
 #define ACTUATORSETTINGS_METANAME "ActuatorSettingsMeta"
 #define ACTUATORSETTINGS_ISSINGLEINST 1
@@ -89,6 +89,8 @@ typedef struct {
     int16_t ChannelMax[8];
     int16_t ChannelNeutral[8];
     int16_t ChannelMin[8];
+    uint8_t ChannelType[8];
+    uint8_t ChannelAddr[8];
 
 } __attribute__((packed)) ActuatorSettingsData;
 
@@ -147,6 +149,14 @@ typedef enum { ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOT
 // Field ChannelMin information
 /* Number of elements for field ChannelMin */
 #define ACTUATORSETTINGS_CHANNELMIN_NUMELEM 8
+// Field ChannelType information
+/* Enumeration options for field ChannelType */
+typedef enum { ACTUATORSETTINGS_CHANNELTYPE_PWM=0, ACTUATORSETTINGS_CHANNELTYPE_MK=1, ACTUATORSETTINGS_CHANNELTYPE_ASTEC4=2 } ActuatorSettingsChannelTypeOptions;
+/* Number of elements for field ChannelType */
+#define ACTUATORSETTINGS_CHANNELTYPE_NUMELEM 8
+// Field ChannelAddr information
+/* Number of elements for field ChannelAddr */
+#define ACTUATORSETTINGS_CHANNELADDR_NUMELEM 8
 
 
 // Generic interface functions

flight/PiOS/Common/pios_i2c_esc.c

@@ -0,0 +1,172 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_I2C_ESC Code for controlling I2C based ESCs
+ * @brief Deals with the hardware interface to the magnetometers
+ * @{
+ *
+ * @file       pios_i2c_esc.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      HMC5843 Magnetic Sensor Functions from AHRS
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ ******************************************************************************
+ */
+/* 
+ * This program 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 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_I2C_ESC)
+
+/* HMC5843 Addresses */
+#define MK_I2C_ADDR			        0x29
+#define ASTEC4_I2C_ADDR                         0x02
+
+bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed);
+
+uint8_t base_address = MK_I2C_ADDR;
+uint8_t valid_motors = 0;
+bool PIOS_I2C_ESC_Config()
+{
+	base_address = MK_I2C_ADDR;
+	valid_motors = 0;
+	for(uint8_t i = 0; i < 4; i ++)
+		if(PIOS_SetMKSpeed(i, 0)) 
+			valid_motors |= (1 << i);
+		
+	return true;
+}
+
+bool PIOS_I2C_ESC_SetSpeed(uint8_t speed[4])
+{
+	/*bool success = true;
+	for(uint8_t i = 0; i < 4; i++) {
+		//if(valid_motors & (1 << i))
+			success &= PIOS_SetMKSpeed(i, speed[i]);
+	}
+	return success; */
+	
+	const struct pios_i2c_txn txn_list[] = {
+		{
+			.info = __func__,
+			.addr = MK_I2C_ADDR + 0,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = sizeof(speed[0]),
+			.buf = &speed[0],
+		} ,
+		{
+			.info = __func__,
+			.addr = MK_I2C_ADDR + 1,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = sizeof(speed[1]),
+			.buf = &speed[1],
+		}, 
+		{
+			.info = __func__,
+			.addr = MK_I2C_ADDR + 2,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = sizeof(speed[2]),
+			.buf = &speed[2],
+		},
+		{
+			.info = __func__,
+			.addr = MK_I2C_ADDR + 3,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = sizeof(speed[3]),
+			.buf = &speed[3],
+		} 
+	};
+	
+	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));	
+}
+
+bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed) {
+	static uint8_t speeds[4] = {0,0,0,0};
+	
+	if(motornum >= 4) 
+		return false;
+	
+	if(speeds[motornum] == speed)
+		return true;
+	
+	const struct pios_i2c_txn txn_list[] = {
+		{
+			.info = __func__,
+			.addr = MK_I2C_ADDR + motornum,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = sizeof(speed),
+			.buf = &speed,
+		} 
+	};
+	
+	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
+}
+
+bool PIOS_SetAstec4Address(uint8_t new_address) {
+	if((new_address < 0) || (new_address > 4)) 
+		return false;
+	
+	uint8_t data[4] = {250, 0, new_address, 230+new_address};
+	
+	const struct pios_i2c_txn txn_list[] = {
+		{
+			.info = __func__,
+			.addr = ASTEC4_I2C_ADDR,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = sizeof(data),
+			.buf = &data[0],
+		} 
+	};
+	
+	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));		
+}
+
+bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) {
+	static uint8_t speeds[5] = {0,0,0,0};
+	
+	if((motornum < 0) || (motornum >= 4)) 
+		return false;
+	
+	speeds[motornum] = speed;
+	
+	if(motornum != 3) 
+		return true;
+	
+	/* Write in chunks of four */
+	speeds[4] = 0xAA + speeds[0] + speeds[1] + speeds[2] + speeds[3];
+	
+	const struct pios_i2c_txn txn_list[] = {
+		{
+			.info = __func__,
+			.addr = ASTEC4_I2C_ADDR,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = sizeof(speeds),
+			.buf = &speeds[0],
+		} 
+	};
+	
+	return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));	
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/STM32F10x/pios_i2c.c

@@ -353,7 +353,6 @@ static void go_fsm_fault(struct pios_i2c_adapter *i2c_adapter)
 #endif
 	/* Note that this transfer has hit a bus error */
 	i2c_adapter->bus_error = true;
-//	i2c_adapter->curr_state = I2C_STATE_STOPPED;
 
 	i2c_adapter_reset_bus(i2c_adapter);
 	
@@ -672,7 +671,7 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
 	/* Check SDA line to determine if slave is asserting bus and clock out if so, this may  */
 	/* have to be repeated (due to futher bus errors) but better than clocking 0xFF into an */
 	/* ESC */
-	bool sda_hung = GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET;
+	//bool sda_hung = GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET;
 	while(GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET) {
 		
 		/* Set clock high and wait for any clock stretching to finish. */
@@ -688,17 +687,14 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
 		GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
 		PIOS_DELAY_WaituS(2);
 	}
-	if(sda_hung) {
 		
-		/* Generate a start then stop condition */
+	/* Generate a start then stop condition */
-		GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
+	GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
-		PIOS_DELAY_WaituS(2);
+	PIOS_DELAY_WaituS(2);
-		GPIO_ResetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
+	GPIO_ResetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
-		PIOS_DELAY_WaituS(2);
+	PIOS_DELAY_WaituS(2);
-		GPIO_ResetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
+	GPIO_ResetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
-		PIOS_DELAY_WaituS(2);
+	PIOS_DELAY_WaituS(2);
-		
-	}
 
 	/* Set data and clock high and wait for any clock stretching to finish. */
 	GPIO_SetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
@@ -914,6 +910,8 @@ void PIOS_I2C_EV_IRQ_Handler(uint8_t i2c)
 	i2c_adapter = find_i2c_adapter_by_id(i2c);
 	PIOS_DEBUG_Assert(i2c_adapter);
 	
+	PIOS_DELAY_WaituS(1);
+	
 	uint32_t event = I2C_GetLastEvent(i2c_adapter->cfg->regs);
 
 #if defined(PIOS_I2C_DIAGNOSTICS)	
@@ -983,7 +981,7 @@ void PIOS_I2C_EV_IRQ_Handler(uint8_t i2c)
 			while (halt) ;
 		}
 		break;
-	case 0:		/* Unexplained spurious event.  Not sure what to do here. */
+	case 0:                 /* This triggers an FSM fault sometimes, but not having it stops things working */
 	case 0x40:		/* RxNE only.  MSL + BUSY have already been cleared by HW. */
 	case 0x44:		/* RxNE + BTF.  MSL + BUSY have already been cleared by HW. */
 	case I2C_EVENT_MASTER_BYTE_RECEIVED:	/* EV7 */
@@ -1011,6 +1009,7 @@ void PIOS_I2C_EV_IRQ_Handler(uint8_t i2c)
 		break;
 	case 0x30084: /* Occurs between byte tranmistted and master mode selected */
 	case 0x30000: /* Need to throw away this spurious event */
+	//case 0x0: /* Not sure why zeros are occurring */
 		goto skip_event;
 		break; 
 	default:
@@ -1026,25 +1025,50 @@ skip_event:
 	;
 }
 
+uint32_t i2c_interrupt_history[5];
+uint8_t i2c_interrupt_history_pointer = 0;
+
 void PIOS_I2C_ER_IRQ_Handler(uint8_t i2c)
 {
 	struct pios_i2c_adapter *i2c_adapter;
 
 	i2c_adapter = find_i2c_adapter_by_id(i2c);
 	PIOS_DEBUG_Assert(i2c_adapter);
+	
+	PIOS_DELAY_WaituS(1);
 
 	
 #if defined(PIOS_I2C_DIAGNOSTICS)	
 	uint32_t event = I2C_GetLastEvent(i2c_adapter->cfg->regs);
 
-	/* Store event for diagnostics */
+	i2c_interrupt_history[i2c_interrupt_history_pointer] = event;
-	i2c_event_history[i2c_event_history_pointer] = event;
+	i2c_interrupt_history_pointer = (i2c_interrupt_history_pointer + 1) % 5;
-	i2c_event_history_pointer = (i2c_event_history_pointer + 1) % I2C_LOG_DEPTH;
-#endif
 	
-	if(I2C_GetFlagStatus(i2c_adapter->cfg->regs, I2C_FLAG_AF)) {
+#endif
+
+	switch(event) {
+		case 0x70184:	/* EV8_2, but system detects own stop byte as erroneous */
+			switch (i2c_adapter->last_byte - i2c_adapter->active_byte + 1) {
+				case 0:
+					i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_TRANSFER_DONE_LEN_EQ_0);
+					break;
+				case 1:
+					i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_TRANSFER_DONE_LEN_EQ_1);
+					break;
+				case 2:
+					i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_TRANSFER_DONE_LEN_EQ_2);
+					break;
+				default:
+					i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_TRANSFER_DONE_LEN_GT_2);
+					break;
+			}
+			return;
+			break;	
+	}
+	
+	if(event & I2C_FLAG_AF) {
 		i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_NACK);
-	} else {                
+	} else { /* Mostly bus errors here */              
 		i2c_adapter_log_fault(PIOS_I2C_ERROR_INTERRUPT);
 		
 		/* Fail hard on any errors for now */

flight/PiOS/inc/pios_i2c_esc.h

@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_I2C_ESC Code for controlling I2C based ESCs
+ * @brief Deals with the hardware interface to the magnetometers
+ * @{
+ *
+ * @file       pios_i2c_esc.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      HMC5843 Magnetic Sensor Functions from AHRS
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ ******************************************************************************
+ */
+/* 
+ * This program 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 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program 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 this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_I2C_ESC_H
+#define PIOS_I2C_ESC_H
+
+/* Public Functions */
+#include <stdbool.h>
+#include <stdint.h>
+
+bool PIOS_I2C_ESC_Config();
+bool PIOS_I2C_ESC_SetSpeed(uint8_t speed[4]);
+bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed);
+bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed);
+
+#endif /* PIOS_I2C_ESC_H */
+
+/** 
+ * @}
+ * @}
+ */

flight/PiOS/pios.h

@@ -92,6 +92,9 @@
 #if defined(PIOS_INCLUDE_HMC5843)
 #include <pios_hmc5843.h>
 #endif
+#if defined(PIOS_INCLUDE_I2C_ESC)
+#include <pios_i2c_esc.h>
+#endif
 #include <pios_iap.h>
 
 #if defined(PIOS_INCLUDE_BL_HELPER)

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -41,9 +41,6 @@
 		6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = "<group>"; };
 		6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = "<group>"; };
 		655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
-		655DBA5212DA5B6A00341B9A /* pios_iap.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_iap.h; sourceTree = "<group>"; };
-		655DBA5312DA5E9900341B9A /* watchdogstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = watchdogstatus.xml; sourceTree = "<group>"; };
-		655DBA8A12DA644300341B9A /* taskmonitor.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = taskmonitor.c; sourceTree = "<group>"; };
 		65632CBF124E09D900469B77 /* guidance.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = guidance.c; sourceTree = "<group>"; };
 		65632CC1124E09D900469B77 /* guidance.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = guidance.h; sourceTree = "<group>"; };
 		65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
@@ -6786,7 +6783,6 @@
 				65B367FD121C2620003EAD18 /* systemstats.xml */,
 				65B367FE121C2620003EAD18 /* telemetrysettings.xml */,
 				65408AA812BB1648004DACC5 /* i2cstats.xml */,
-				655DBA5312DA5E9900341B9A /* watchdogstatus.xml */,
 			);
 			path = uavobjectdefinition;
 			sourceTree = "<group>";
@@ -7113,7 +7109,6 @@
 		65E8EF5B11EEA61E00BBF654 /* System */ = {
 			isa = PBXGroup;
 			children = (
-				655DBA8A12DA644300341B9A /* taskmonitor.c */,
 				65E8EF5C11EEA61E00BBF654 /* alarms.c */,
 				65E8EF5D11EEA61E00BBF654 /* inc */,
 				65E8EF6511EEA61E00BBF654 /* openpilot.c */,
@@ -7298,7 +7293,6 @@
 		65E8F03811EFF25C00BBF654 /* inc */ = {
 			isa = PBXGroup;
 			children = (
-				655DBA5212DA5B6A00341B9A /* pios_iap.h */,
 				6526645A122DF972006F9A3C /* pios_i2c_priv.h */,
 				6526645B122DF972006F9A3C /* pios_wdg.h */,
 				651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */,

ground/src/plugins/uavobjects/OPLogConvert.m

@@ -4,6 +4,9 @@ function [] = OPLogConvert()
     actuatorcommandIdx = 1;
     ActuatorCommand.timestamp = 0;
     ActuatorCommand(1).Channel = zeros(1,8);
+    ActuatorCommand(1).UpdateTime = 0;
+    ActuatorCommand(1).MaxUpdateTime = 0;
+    ActuatorCommand(1).NumFailedUpdates = 0;
 
     actuatordesiredIdx = 1;
     ActuatorDesired.timestamp = 0;
@@ -34,6 +37,8 @@ function [] = OPLogConvert()
     ActuatorSettings(1).ChannelMax = zeros(1,8);
     ActuatorSettings(1).ChannelNeutral = zeros(1,8);
     ActuatorSettings(1).ChannelMin = zeros(1,8);
+    ActuatorSettings(1).ChannelType = zeros(1,8);
+    ActuatorSettings(1).ChannelAddr = zeros(1,8);
 
     ahrscalibrationIdx = 1;
     AHRSCalibration.timestamp = 0;
@@ -453,13 +458,13 @@ function [] = OPLogConvert()
         
         %% Read object
         switch objID
-            case 3909877022
+            case 3907024856
                 ActuatorCommand(actuatorcommandIdx) = ReadActuatorCommandObject(fid, timestamp);
                 actuatorcommandIdx = actuatorcommandIdx + 1;
             case 3562104706
                 ActuatorDesired(actuatordesiredIdx) = ReadActuatorDesiredObject(fid, timestamp);
                 actuatordesiredIdx = actuatordesiredIdx + 1;
-            case 3054509114
+            case 844831578
                 ActuatorSettings(actuatorsettingsIdx) = ReadActuatorSettingsObject(fid, timestamp);
                 actuatorsettingsIdx = actuatorsettingsIdx + 1;
             case 806362034
@@ -611,6 +616,9 @@ function [ActuatorCommand] = ReadActuatorCommandObject(fid, timestamp)
 
     ActuatorCommand.timestamp = timestamp;
     ActuatorCommand.Channel = double(fread(fid, 8, 'int16'));
+    ActuatorCommand.UpdateTime = double(fread(fid, 1, 'uint8'));
+    ActuatorCommand.MaxUpdateTime = double(fread(fid, 1, 'uint8'));
+    ActuatorCommand.NumFailedUpdates = double(fread(fid, 1, 'uint8'));
     % read CRC
     fread(fid, 1, 'uint8');
 end
@@ -661,6 +669,8 @@ function [ActuatorSettings] = ReadActuatorSettingsObject(fid, timestamp)
     ActuatorSettings.ChannelMax = double(fread(fid, 8, 'int16'));
     ActuatorSettings.ChannelNeutral = double(fread(fid, 8, 'int16'));
     ActuatorSettings.ChannelMin = double(fread(fid, 8, 'int16'));
+    ActuatorSettings.ChannelType = double(fread(fid, 8, 'uint8'));
+    ActuatorSettings.ChannelAddr = double(fread(fid, 8, 'uint8'));
     % read CRC
     fread(fid, 1, 'uint8');
 end

ground/src/plugins/uavobjects/actuatorcommand.cpp

@@ -53,6 +53,15 @@ ActuatorCommand::ActuatorCommand(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
     ChannelElemNames.append("6");
     ChannelElemNames.append("7");
     fields.append( new UAVObjectField(QString("Channel"), QString("us"), UAVObjectField::INT16, ChannelElemNames, QStringList()) );
+    QStringList UpdateTimeElemNames;
+    UpdateTimeElemNames.append("0");
+    fields.append( new UAVObjectField(QString("UpdateTime"), QString("ms x 10"), UAVObjectField::UINT8, UpdateTimeElemNames, QStringList()) );
+    QStringList MaxUpdateTimeElemNames;
+    MaxUpdateTimeElemNames.append("0");
+    fields.append( new UAVObjectField(QString("MaxUpdateTime"), QString("ms x 10"), UAVObjectField::UINT8, MaxUpdateTimeElemNames, QStringList()) );
+    QStringList NumFailedUpdatesElemNames;
+    NumFailedUpdatesElemNames.append("0");
+    fields.append( new UAVObjectField(QString("NumFailedUpdates"), QString(""), UAVObjectField::UINT8, NumFailedUpdatesElemNames, QStringList()) );
 
     // Initialize object
     initializeFields(fields, (quint8*)&data, NUMBYTES);

ground/src/plugins/uavobjects/actuatorcommand.h

@@ -44,6 +44,9 @@ public:
     // Field structure
     typedef struct {
         qint16 Channel[8];
+        quint8 UpdateTime;
+        quint8 MaxUpdateTime;
+        quint8 NumFailedUpdates;
 
     } __attribute__((packed)) DataFields;
 
@@ -51,10 +54,13 @@ public:
     // Field Channel information
     /* Number of elements for field Channel */
     static const quint32 CHANNEL_NUMELEM = 8;
+    // Field UpdateTime information
+    // Field MaxUpdateTime information
+    // Field NumFailedUpdates information
 
   
     // Constants
-    static const quint32 OBJID = 3909877022U;
+    static const quint32 OBJID = 3907024856U;
     static const QString NAME;
     static const QString DESCRIPTION;
     static const bool ISSINGLEINST = 1;

ground/src/plugins/uavobjects/actuatorcommand.py

@@ -54,12 +54,42 @@ _fields = [ \
 		{
 		}
 	),
+	uavobject.UAVObjectField(
+		'UpdateTime',
+		'B',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'MaxUpdateTime',
+		'B',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'NumFailedUpdates',
+		'B',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
 ]
 
 
 class ActuatorCommand(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 3909877022
+    OBJID        = 3907024856
     NAME         = "ActuatorCommand"
     METANAME     = "ActuatorCommandMeta"
     ISSINGLEINST = 1

ground/src/plugins/uavobjects/actuatorsettings.cpp

@@ -259,6 +259,30 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
     ChannelMinElemNames.append("6");
     ChannelMinElemNames.append("7");
     fields.append( new UAVObjectField(QString("ChannelMin"), QString("us"), UAVObjectField::INT16, ChannelMinElemNames, QStringList()) );
+    QStringList ChannelTypeElemNames;
+    ChannelTypeElemNames.append("0");
+    ChannelTypeElemNames.append("1");
+    ChannelTypeElemNames.append("2");
+    ChannelTypeElemNames.append("3");
+    ChannelTypeElemNames.append("4");
+    ChannelTypeElemNames.append("5");
+    ChannelTypeElemNames.append("6");
+    ChannelTypeElemNames.append("7");
+    QStringList ChannelTypeEnumOptions;
+    ChannelTypeEnumOptions.append("PWM");
+    ChannelTypeEnumOptions.append("MK");
+    ChannelTypeEnumOptions.append("ASTEC4");
+    fields.append( new UAVObjectField(QString("ChannelType"), QString(""), UAVObjectField::ENUM, ChannelTypeElemNames, ChannelTypeEnumOptions) );
+    QStringList ChannelAddrElemNames;
+    ChannelAddrElemNames.append("0");
+    ChannelAddrElemNames.append("1");
+    ChannelAddrElemNames.append("2");
+    ChannelAddrElemNames.append("3");
+    ChannelAddrElemNames.append("4");
+    ChannelAddrElemNames.append("5");
+    ChannelAddrElemNames.append("6");
+    ChannelAddrElemNames.append("7");
+    fields.append( new UAVObjectField(QString("ChannelAddr"), QString(""), UAVObjectField::UINT8, ChannelAddrElemNames, QStringList()) );
 
     // Initialize object
     initializeFields(fields, (quint8*)&data, NUMBYTES);
@@ -334,6 +358,22 @@ void ActuatorSettings::setDefaultFieldValues()
     data.ChannelMin[5] = 1000;
     data.ChannelMin[6] = 1000;
     data.ChannelMin[7] = 1000;
+    data.ChannelType[0] = 0;
+    data.ChannelType[1] = 0;
+    data.ChannelType[2] = 0;
+    data.ChannelType[3] = 0;
+    data.ChannelType[4] = 0;
+    data.ChannelType[5] = 0;
+    data.ChannelType[6] = 0;
+    data.ChannelType[7] = 0;
+    data.ChannelAddr[0] = 0;
+    data.ChannelAddr[1] = 1;
+    data.ChannelAddr[2] = 2;
+    data.ChannelAddr[3] = 3;
+    data.ChannelAddr[4] = 4;
+    data.ChannelAddr[5] = 5;
+    data.ChannelAddr[6] = 6;
+    data.ChannelAddr[7] = 7;
 
 }
 

ground/src/plugins/uavobjects/actuatorsettings.h

@@ -61,6 +61,8 @@ public:
         qint16 ChannelMax[8];
         qint16 ChannelNeutral[8];
         qint16 ChannelMin[8];
+        quint8 ChannelType[8];
+        quint8 ChannelAddr[8];
 
     } __attribute__((packed)) DataFields;
 
@@ -119,10 +121,18 @@ public:
     // Field ChannelMin information
     /* Number of elements for field ChannelMin */
     static const quint32 CHANNELMIN_NUMELEM = 8;
+    // Field ChannelType information
+    /* Enumeration options for field ChannelType */
+    typedef enum { CHANNELTYPE_PWM=0, CHANNELTYPE_MK=1, CHANNELTYPE_ASTEC4=2 } ChannelTypeOptions;
+    /* Number of elements for field ChannelType */
+    static const quint32 CHANNELTYPE_NUMELEM = 8;
+    // Field ChannelAddr information
+    /* Number of elements for field ChannelAddr */
+    static const quint32 CHANNELADDR_NUMELEM = 8;
 
   
     // Constants
-    static const quint32 OBJID = 3054509114U;
+    static const quint32 OBJID = 844831578U;
     static const QString NAME;
     static const QString DESCRIPTION;
     static const bool ISSINGLEINST = 1;

ground/src/plugins/uavobjects/actuatorsettings.py

@@ -365,12 +365,49 @@ _fields = [ \
 		{
 		}
 	),
+	uavobject.UAVObjectField(
+		'ChannelType',
+		'b',
+		8,
+		[
+			'0',
+			'1',
+			'2',
+			'3',
+			'4',
+			'5',
+			'6',
+			'7',
+		],
+		{
+			'0' : 'PWM',
+			'1' : 'MK',
+			'2' : 'ASTEC4',
+		}
+	),
+	uavobject.UAVObjectField(
+		'ChannelAddr',
+		'B',
+		8,
+		[
+			'0',
+			'1',
+			'2',
+			'3',
+			'4',
+			'5',
+			'6',
+			'7',
+		],
+		{
+		}
+	),
 ]
 
 
 class ActuatorSettings(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 3054509114
+    OBJID        = 844831578
     NAME         = "ActuatorSettings"
     METANAME     = "ActuatorSettingsMeta"
     ISSINGLEINST = 1

ground/src/shared/uavobjectdefinition/actuatorcommand.xml

@@ -2,6 +2,9 @@
     <object name="ActuatorCommand" singleinstance="true" settings="false">
         <description>Contains the pulse duration sent to each of the channels.  Set by @ref ActuatorModule</description>
         <field name="Channel" units="us" type="int16" elements="8"/>
+        <field name="UpdateTime" units="ms x 10" type="uint8" elements="1"/>
+        <field name="MaxUpdateTime" units="ms x 10" type="uint8" elements="1"/>
+        <field name="NumFailedUpdates" units="" type="uint8" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>

ground/src/shared/uavobjectdefinition/actuatorsettings.xml

@@ -19,6 +19,8 @@
         <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="1000"/>
         <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1000"/>
         <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
+        <field name="ChannelType" units="" type="enum" elements="8" options="PWM,MK,ASTEC4" defaultvalue="PWM"/>
+        <field name="ChannelAddr" units="" type="uint8" elements="8" defaultvalue="0,1,2,3,4,5,6,7"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>