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LibrePilot/flight/pios/common/pios_i2c_esc.c

182 lines
4.7 KiB
C

/**
******************************************************************************
* @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
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_I2C_ESC
/* Known i2c ESC 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_ESC_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_ESC_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_ESC_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_ESC_ADAPTER, txn_list, NELEMENTS(txn_list));
}
#endif /* PIOS_INCLUDE_I2C_ESC */
/**
* @}
* @}
*/