auPilot
/
auSpeed
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Dependencies: mbed
Revision 0:d38b3edad9b3, committed 2015-03-17
- Comitter:
- Kir
- Date:
- Tue Mar 17 08:46:26 2015 +0000
- Commit message:
- release 1
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/itoa.cpp Tue Mar 17 08:46:26 2015 +0000
@@ -0,0 +1,37 @@
+
+/**
+ * C++ version 0.4 char* style "itoa":
+ * Written by Lukás Chmela
+ * Released under GPLv3.
+*/
+
+char* itoa(int value, char* result, int base)
+{
+ // check that the base if valid
+ if ( base < 2 || base > 36 ) {
+ *result = '\0';
+ return result;
+ }
+
+ char* ptr = result, *ptr1 = result, tmp_char;
+ int tmp_value;
+
+ do {
+ tmp_value = value;
+ value /= base;
+ *ptr++ = "zyxwvutsrqponmlkjihgfedcba9876543210123456789abcdefghijklmnopqrstuvwxyz"[35 + (tmp_value - value * base)];
+ } while ( value );
+
+ // Apply negative sign
+ if ( tmp_value < 0 )
+ *ptr++ = '-';
+ *ptr-- = '\0';
+
+ while ( ptr1 < ptr ) {
+ tmp_char = *ptr;
+ *ptr-- = *ptr1;
+ *ptr1++ = tmp_char;
+ }
+
+ return result;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/itoa.h Tue Mar 17 08:46:26 2015 +0000 @@ -0,0 +1,2 @@ + +char* itoa(int value, char* result, int base);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 17 08:46:26 2015 +0000
@@ -0,0 +1,246 @@
+/*
+ Copyright (c) 2015 Aurobo Pty Ltd
+
+=== A test program for the auSpeed Integrated Combo board ===
+ Version 1.00
+
+The auSpeed-1M combo controller is an integrated module that combines
+three UAV sub-systems:
+- high efficient protected power supply for electronic units and servos
+ with voltage and current sensors (BEC);
+- brushless motor speed controller (ESC), up to 40A;
+- six channel servo controller with a PWM output and power line.
+
+The board's i2c interface need to be connected to the PTE0 and PTE1 ports
+ of the Freescale FRDM-KL25Z 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:
+
+1) The Software or its substantial portions are used for auPilot product(s);
+2) 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.
+
+*/
+
+// ########## WARNING:
+// This test will turn ON the motor. Please make sure that it is SAFE
+// ###################
+// Test 1: readout the firmware version and status
+// Test 2: servo controller test
+// Test 3: the main motor(s) test
+
+#include "mbed.h"
+#include "itoa.h"
+
+#define AUSPEED_I2C_ADDRESS (0x12<<1)
+#define BUFF_SIZE 16
+
+//DigitalOut myled(LED_BLUE);
+Serial pc(USBTX, USBRX);
+I2C i2c(PTE0, PTE1);
+
+//int i2c_reg8_write(int i2c_address, char reg, const char wd);
+int i2c_reg_read(int i2c_address, char reg, char* rd, int len);
+void diag(void);
+
+
+int address = AUSPEED_I2C_ADDRESS;
+
+typedef union _conv_float_bytes {
+ float f;
+ uint8_t b[4];
+} convert_float2bytes;
+convert_float2bytes q;
+
+int motors = 0;
+
+int main()
+{
+ PwmOut led(LED_GREEN);
+
+ char rd[BUFF_SIZE];
+ int slider = 127;
+ int sliderIncrement = 1;
+
+ i2c.frequency(400000);
+ led = 1;
+
+ pc.printf("\n\r\n\rTest program for the auSpeed board");
+
+ // === Test 1 ====
+ pc.printf("\n\rStarting Test 1...");
+ // read firmware version
+ if (i2c_reg_read(address, 0x34, rd, 16)) {
+ pc.printf("\n\ri2c error 01");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ char serial[13]= {0};
+ memcpy(serial,rd,12);
+ motors = (int)rd[14];
+ pc.printf("\n\rSerial: %s, Version: %d.%.2d, Motors detected: %d", serial, rd[12], rd[13],motors );
+ }
+ wait(1);
+
+ // === Test 2 ====
+ pc.printf("\n\rStarting Test 2...");
+ pc.printf("\n\rSwinging all servos");
+ for (int i=0; i<2; i++) {
+ for (int j=0; j<250; j++) {
+ rd[0] = 0x21;
+ rd[1] = (char) slider;
+ rd[2] = (char) slider;
+ rd[3] = (char) slider;
+ rd[4] = (char) slider;
+ rd[5] = (char) slider;
+ rd[6] = (char) slider;
+ if (i2c.write(address, rd, 7, false) == 0)
+ ; // pc.printf("\n\rSuccess");
+ else
+ pc.printf("\n\ri2c error 02");
+ led = (float)slider / 256;
+ wait(0.01);
+ slider += sliderIncrement;
+ if (slider > 250)
+ sliderIncrement = -2;
+ if (slider < 2)
+ sliderIncrement = +2;
+ }
+ }
+ led = 1;
+
+ // === Test 3 ====
+ pc.printf("\n\rStarting Test 3...");
+ pc.printf("\n\rWARNING Motor will be started!");
+ wait(1);
+
+ for (int i=0; i<3; i++) {
+ // ========= start ========
+ rd[0] = 0x01;
+ rd[1] = 0x30;
+ if (i2c.write(address, rd, 2) != 0)
+ pc.printf("\n\ri2c error 03");
+ wait(1);
+ diag();
+
+ // ====== accelerate ======
+ rd[0] = 0x01;
+ rd[1] = 0x40;
+ if (i2c.write(address, rd, 2) != 0)
+ pc.printf("\n\ri2c error 04");
+ wait(1);
+ diag(); // this might show soft fail due to sync lost when accelerate
+
+ // ========= stop =========
+ rd[0] = 0x05;
+ rd[1] = 0x01;
+ if (i2c.write(address, rd, 2) != 0)
+ pc.printf("\n\ri2c error 05");
+ wait(1);
+ diag();
+ }
+ pc.printf("\n\rAll tests done!");
+}
+
+
+// reads 1 byte from a register of an i2c device
+// return: rd data read from the register
+// return: 0 if OK, -1 otherwise
+int i2c_reg_read(int i2c_address, char reg, char* rd, int len)
+{
+ wait(0.001); // we need to keep the command flow under 1000 per second, otherwise they might get skipped.
+ if (i2c.write(i2c_address, ®, 1, true) == 0)
+ if (i2c.read(i2c_address, rd, len) == 0) {
+ i2c.stop();
+ return 0;
+ }
+ i2c.stop();
+ return -1;
+}
+
+// read and print RPMs and battery data
+void diag(void)
+{
+ char rd[BUFF_SIZE] = {0};
+ float main_battery, spare_battery, current, temperature, work;
+ int rpms=0;
+ char status[9]={0};
+
+ main_battery =spare_battery =current = temperature= work=0;
+
+ // == read rpms of the 1st motor
+ if (i2c_reg_read(address, 0x01, rd, 4)) {
+ pc.printf("\n\ri2c error 10");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ rpms = (uint32_t)rd[0]+((uint32_t)rd[1])*256+((uint32_t)rd[2])*256*256+((uint32_t)rd[3])*256*256*256;
+ }
+ // == read status of the 1st motor
+ if (i2c_reg_read(address, 0x31, rd, 1)) {
+ pc.printf("\n\ri2c error 11");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ itoa(rd[0],status,2);
+ }
+ // == read main battery
+ if (i2c_reg_read(address, 0x50, rd, 4)) {
+ pc.printf("\n\ri2c error 12");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ memcpy(q.b, rd,4);
+ main_battery = q.f;
+ }
+ // == read spare battery
+ if (i2c_reg_read(address, 0x51, rd, 4)) {
+ pc.printf("\n\ri2c error 13");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ memcpy(q.b, rd,4);
+ spare_battery = q.f;
+ }
+ // == read current
+ if (i2c_reg_read(address, 0x52, rd, 4)) {
+ pc.printf("\n\ri2c error 14");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ memcpy(q.b, rd,4);
+ current = q.f;
+ }
+ // == read electrical work
+ if (i2c_reg_read(address, 0x54, rd, 4)) {
+ pc.printf("\n\ri2c error 15");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ memcpy(q.b, rd,4);
+ work = q.f;
+ }
+ // == read temperature
+ if (i2c_reg_read(address, 0x53, rd,4)) {
+ pc.printf("\n\ri2c error 16");
+ memset(rd,0,BUFF_SIZE); // clear the buffer
+ } else {
+ memcpy(q.b, rd,4);
+ temperature = q.f;
+ }
+ pc.printf("\n\rS %08s RPMs: %.6d Main: %.2fV Spare: %.2fV Current %.0fmA Work %.2f Temp %.1fC",
+ status,rpms,main_battery,spare_battery,current,work,temperature);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.lib Tue Mar 17 08:46:26 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/#7e07b6fb45cf