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https://bitbucket.org/librepilot/librepilot.git
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182 lines
4.7 KiB
C
182 lines
4.7 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_I2C_ESC Code for controlling I2C based ESCs
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* @brief Deals with the hardware interface to the magnetometers
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* @{
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*
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* @file pios_i2c_esc.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief HMC5843 Magnetic Sensor Functions from AHRS
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_I2C_ESC
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/* Known i2c ESC addresses */
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#define MK_I2C_ADDR 0x29
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#define ASTEC4_I2C_ADDR 0x02
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bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed);
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uint8_t base_address = MK_I2C_ADDR;
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uint8_t valid_motors = 0;
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bool PIOS_I2C_ESC_Config()
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{
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base_address = MK_I2C_ADDR;
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valid_motors = 0;
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for (uint8_t i = 0; i < 4; i++) {
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if (PIOS_SetMKSpeed(i, 0)) {
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valid_motors |= (1 << i);
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}
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}
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return true;
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}
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bool PIOS_I2C_ESC_SetSpeed(uint8_t speed[4])
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{
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/*bool success = true;
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for(uint8_t i = 0; i < 4; i++) {
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//if(valid_motors & (1 << i))
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success &= PIOS_SetMKSpeed(i, speed[i]);
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}
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return success; */
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = MK_I2C_ADDR + 0,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(speed[0]),
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.buf = &speed[0],
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},
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{
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.info = __func__,
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.addr = MK_I2C_ADDR + 1,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(speed[1]),
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.buf = &speed[1],
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},
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{
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.info = __func__,
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.addr = MK_I2C_ADDR + 2,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(speed[2]),
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.buf = &speed[2],
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},
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{
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.info = __func__,
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.addr = MK_I2C_ADDR + 3,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(speed[3]),
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.buf = &speed[3],
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
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}
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bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed)
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{
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static uint8_t speeds[4] = { 0, 0, 0, 0 };
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if (motornum >= 4) {
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return false;
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}
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if (speeds[motornum] == speed) {
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return true;
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}
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = MK_I2C_ADDR + motornum,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(speed),
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.buf = &speed,
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
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}
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bool PIOS_SetAstec4Address(uint8_t new_address)
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{
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if ((new_address < 0) || (new_address > 4)) {
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return false;
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}
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uint8_t data[4] = { 250, 0, new_address, 230 + new_address };
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = ASTEC4_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(data),
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.buf = &data[0],
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
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}
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bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed)
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{
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static uint8_t speeds[5] = { 0, 0, 0, 0 };
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if ((motornum < 0) || (motornum >= 4)) {
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return false;
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}
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speeds[motornum] = speed;
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if (motornum != 3) {
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return true;
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}
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/* Write in chunks of four */
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speeds[4] = 0xAA + speeds[0] + speeds[1] + speeds[2] + speeds[3];
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const struct pios_i2c_txn txn_list[] = {
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{
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.info = __func__,
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.addr = ASTEC4_I2C_ADDR,
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.rw = PIOS_I2C_TXN_WRITE,
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.len = sizeof(speeds),
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.buf = &speeds[0],
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}
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};
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return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
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}
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#endif /* PIOS_INCLUDE_I2C_ESC */
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/**
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* @}
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* @}
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*/
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