Diff: main.cpp

Revision:

0:503735f92bfb

Child:

1:f2050723c26f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Feb 09 06:56:37 2014 +0000
@@ -0,0 +1,217 @@
+/*
+Copyright (c) 2014 Aurobo Pty Ltd
+
+=== A test program for the auPower integrated power supply board ===
+
+The auPower power fusion board is a highly integrated complete power 
+    solution designed specifically for micro-UAV / RC applications.
+
+The board's i2c interface need to be connected to the PTE0 and PTE1 ports 
+    of the Freescale device
+
+For more information, please visit our web-site:
+*****************************
+*   http://aupilot.com.au   *
+*****************************
+
+License:
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+#include "mbed.h"
+
+// device i2c address
+#define AUPOWER_I2C_ADDRESS     0xE6
+
+// registers
+#define AUPOWER_REG_CTL1        0x0A
+#define AUPOWER_REG_CURRENT     0x00
+#define AUPOWER_REG_VMAIN       0x02
+#define AUPOWER_REG_VSPARE      0x06
+#define AUPOWER_REG_TEMP        0x08
+
+#define AUPOWER_LOW_SENS_MODE   0x01  // Low sensitivity mode (amlifier gain = 4x)
+#define AUPOWER_HIGH_SENS_MODE  0x02  // High sensitivity mode (amplifier gain = 8x)
+#define AUPOWER_RUN             0x07  // Start all sensors in fast-read mode, 
+                                      //  sequentially updating every 2ms.
+
+/* 
+   There are two current sensing modes - low and high sensitivity.
+   In the low sens. mode, the board can measure baypass current 
+   up to 220A, while in the high sensitivity mode, the max current 
+   is limited by 110A 
+*/ 
+
+//#define AUPOWER_HIGH_SENS
+#undef AUPOWER_HIGH_SENS
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+I2C i2c(PTE0, PTE1); 
+
+// protos
+int aupower_init(void);
+int aupower_read_sensors(uint8_t reg, float* fValue);
+int aupower_read_temperature(float* fValue);
+
+int main()
+{
+    float temperature;
+    float voltageMainBattery;
+    float voltageSpareBattery;
+    float bypassCurrent;
+    
+#ifdef AUPOWER_HIGH_SENS
+    pc.printf("\n\r\n\rTest program for auPower board, high sensitivity mode\n\r");
+#else
+    pc.printf("\n\r\n\rTest program for auPower board, low sensitivity mode\n\r");
+#endif
+
+    if (aupower_init() != 0 ) {
+        pc.printf("\n\rInit Error!");
+        for(;;);    // halt
+    }
+
+    while(1) {
+        myled = 0;
+        wait(0.1);
+        myled = 1;
+
+        // read temperature
+        if (aupower_read_temperature(&temperature) != 0 )
+            pc.printf("\n\rError reading temperature");
+            
+        if (aupower_read_sensors(AUPOWER_REG_VMAIN, &voltageMainBattery) != 0 )
+            pc.printf("\n\rError reading Main Battery Voltage");
+
+        if (aupower_read_sensors(AUPOWER_REG_VSPARE, &voltageSpareBattery) != 0 )
+            pc.printf("\n\rError reading Spare Battery Voltage");
+
+        if (aupower_read_sensors(AUPOWER_REG_CURRENT, &bypassCurrent) != 0 )
+            pc.printf("\n\rError reading Bypass Current");
+            
+
+        pc.printf("\n\rTemper (deg C): %.2f, Main Bat (V): %.2f, Spare Bat (V): %.2f, Current (mA): %.0f", 
+                temperature, 
+                voltageMainBattery, 
+                voltageSpareBattery,
+                bypassCurrent); 
+        wait(2.0);
+
+    }
+}
+
+// reads 2 bytes from a register of an i2c device
+// return: rd[2]  data read from register
+// return: 0 if OK, -1 otherwise
+int i2c_reg16_read(int i2c_address, char reg, char* rd)
+{
+    if (i2c.write(i2c_address, &reg, 1, true) == 0)  // "true" means don't send stop condition
+        if (i2c.read(i2c_address, rd, 2) == 0)
+            return 0;
+    return -1;
+}
+
+// writes 1 byte to a register on a i2c device
+// return: 0 if OK, -1 otherwise
+int i2c_reg8_write(int i2c_address, char reg, const char wd)
+{
+    char data[2];
+    data[0] = reg;
+    data[1] = wd;
+    if (i2c.write(i2c_address, &data[0], 2, false) == 0)
+        return 0;
+    return -1;
+}
+
+// start the monitor unit (continiusly reading all sensors)
+int aupower_init(void)
+{
+    // we can use the initial value of the temperature as a whoami - must be 0x80 on power-on reset before
+    // initialisation, but could be arbitary after init
+    
+    /*
+    char data[2];
+    if (i2c_reg16_read(AUPOWER_I2C_ADDRESS, AUPOWER_REG_TEMP, data) !=0 )
+        return -1;
+    if (data[0] != 0x80)
+        return -2;  // wrong monitor unit
+    */
+    
+    // initialise the measurement unit
+    
+#ifdef AUPOWER_HIGH_SENS
+    // high sensitivity, 80A max
+    if (i2c_reg8_write(AUPOWER_I2C_ADDRESS,AUPOWER_REG_CTL1,AUPOWER_HIGH_SENS_MODE) != 0)
+        return -1;
+#else 
+    // OR low sensitivity, 120A max
+    if (i2c_reg8_write(AUPOWER_I2C_ADDRESS,AUPOWER_REG_CTL1,AUPOWER_LOW_SENS_MODE) != 0)
+        return -1;
+#endif
+
+    // start ADC fast-read mode
+    return i2c_reg8_write(AUPOWER_I2C_ADDRESS,AUPOWER_REG_CTL1,AUPOWER_RUN);
+}
+
+// read the sensors and convert ADC units to si
+int aupower_read_sensors(uint8_t sensor, float* fValue)
+{
+    int16_t tmp1, tmp2;
+    char data[2];
+    float tmp3;
+
+    if (i2c_reg16_read(AUPOWER_I2C_ADDRESS, sensor, data) !=0 )
+        return -1;
+
+    tmp1 = (int16_t)data[0]<<4;
+    tmp2 = (int16_t)(data[1]&0xf0)>>4;
+    tmp3 = (float)(tmp1+tmp2);
+    
+    if (sensor == AUPOWER_REG_CURRENT)
+#ifdef AUPOWER_HIGH_SENS
+        *fValue = (tmp3-38)*24.69;
+#else
+        *fValue = (tmp3-18)*49.37;
+#endif
+    if (sensor == AUPOWER_REG_VMAIN)
+        *fValue = tmp3*0.01427;
+    if (sensor == AUPOWER_REG_VSPARE)
+        *fValue = tmp3*0.005404;
+        
+    return 0;
+}
+
+// read the temperature sensor and convert to degrees C
+int aupower_read_temperature(float* fValue)
+{
+    int16_t tmp1, tmp2;
+    char data[2];
+
+    if (i2c_reg16_read(AUPOWER_I2C_ADDRESS, AUPOWER_REG_TEMP, data) !=0 )
+        return -1;
+
+    tmp1 = (int16_t)data[0]<<1;
+    tmp2 = (int16_t)(data[1]&0x80)>>7;
+    *fValue = (tmp1+tmp2) * 0.48;
+
+    return 0;
+}
+