Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

i2c.c@0:62a1c91a859a, 2011-02-18 (annotated)

Committer:
gke
Date:
Fri Feb 18 22:28:05 2011 +0000
Revision:
0:62a1c91a859a
Child:
1:1e3318a30ddd
First release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 0:62a1c91a859a 5 // = http://code.google.com/p/uavp-mods/ http://uavp.ch =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 uint32 MinI2CRate = I2C_MAX_RATE_HZ;
gke 0:62a1c91a859a 24
gke 0:62a1c91a859a 25 void TrackMinI2CRate(uint32 r) {
gke 0:62a1c91a859a 26 if ( r < MinI2CRate )
gke 0:62a1c91a859a 27 MinI2CRate = r;
gke 0:62a1c91a859a 28 } // TrackMinI2CRate
gke 0:62a1c91a859a 29
gke 0:62a1c91a859a 30 void ShowI2CDeviceName(uint8 d)
gke 0:62a1c91a859a 31 {
gke 0:62a1c91a859a 32 TxChar(' ');
gke 0:62a1c91a859a 33 switch ( d ) {
gke 0:62a1c91a859a 34 case ADXL345_ID: TxString("ADXL345 Acc"); break;
gke 0:62a1c91a859a 35 case ITG3200_ID: TxString("ITG3200 Gyro"); break;
gke 0:62a1c91a859a 36 case HMC5843_ID: TxString("HMC5843 Magnetometer"); break;
gke 0:62a1c91a859a 37 case HMC6352_ID: TxString("HMC6352 Compass"); break;
gke 0:62a1c91a859a 38 case ADS7823_ID: TxString("ADS7823 ADC"); break;
gke 0:62a1c91a859a 39 case MCP4725_ID: TxString("MCP4725 DAC"); break;
gke 0:62a1c91a859a 40 case BOSCH_ID: TxString("Bosch Baro"); break;
gke 0:62a1c91a859a 41 case TMP100_ID: TxString("TMP100 Temp"); break;
gke 0:62a1c91a859a 42 case PCA9551_ID: TxString("PCA9551 LED");break;
gke 0:62a1c91a859a 43 case LISL_ID: TxString("LIS3L Acc"); break;
gke 0:62a1c91a859a 44 default: break;
gke 0:62a1c91a859a 45 } // switch
gke 0:62a1c91a859a 46 TxChar(' ');
gke 0:62a1c91a859a 47
gke 0:62a1c91a859a 48 } // ShowI2CDeviceName
gke 0:62a1c91a859a 49
gke 0:62a1c91a859a 50 uint8 ScanI2CBus(void) {
gke 0:62a1c91a859a 51 uint8 s;
gke 0:62a1c91a859a 52 uint8 d;
gke 0:62a1c91a859a 53
gke 0:62a1c91a859a 54 d = 0;
gke 0:62a1c91a859a 55
gke 0:62a1c91a859a 56 TxString("Buss 0\r\n");
gke 0:62a1c91a859a 57 for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
gke 0:62a1c91a859a 58 I2C0.start();
gke 0:62a1c91a859a 59 if ( I2C0.write(s) == I2C_ACK ) {
gke 0:62a1c91a859a 60 d++;
gke 0:62a1c91a859a 61 TxString("\t0x");
gke 0:62a1c91a859a 62 TxValH(s);
gke 0:62a1c91a859a 63 ShowI2CDeviceName( s );
gke 0:62a1c91a859a 64 TxNextLine();
gke 0:62a1c91a859a 65 }
gke 0:62a1c91a859a 66 I2C0.stop();
gke 0:62a1c91a859a 67
gke 0:62a1c91a859a 68 Delay1mS(2);
gke 0:62a1c91a859a 69 }
gke 0:62a1c91a859a 70
gke 0:62a1c91a859a 71 /*
gke 0:62a1c91a859a 72 TxString("Buss 1\r\n");
gke 0:62a1c91a859a 73 for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
gke 0:62a1c91a859a 74 I2C1.start();
gke 0:62a1c91a859a 75 if ( I2C1.write(s) == I2C_ACK ) {
gke 0:62a1c91a859a 76 d++;
gke 0:62a1c91a859a 77 TxString("\t0x");
gke 0:62a1c91a859a 78 TxValH(s);
gke 0:62a1c91a859a 79 TxNextLine();
gke 0:62a1c91a859a 80 }
gke 0:62a1c91a859a 81 I2C1.stop();
gke 0:62a1c91a859a 82
gke 0:62a1c91a859a 83 Delay1mS(2);
gke 0:62a1c91a859a 84 }
gke 0:62a1c91a859a 85 */
gke 0:62a1c91a859a 86
gke 0:62a1c91a859a 87 PCA9551Test();
gke 0:62a1c91a859a 88
gke 0:62a1c91a859a 89 return(d);
gke 0:62a1c91a859a 90 } // ScanI2CBus
gke 0:62a1c91a859a 91
gke 0:62a1c91a859a 92 void ProgramSlaveAddress(uint8 addr) {
gke 0:62a1c91a859a 93 static uint8 s;
gke 0:62a1c91a859a 94
gke 0:62a1c91a859a 95 for (s = 0x10 ; s < 0xf0 ; s += 2 ) {
gke 0:62a1c91a859a 96 I2CESC.start();
gke 0:62a1c91a859a 97 if ( I2CESC.read(s) == I2C_ACK )
gke 0:62a1c91a859a 98 if ( s == addr ) { // ESC is already programmed OK
gke 0:62a1c91a859a 99 I2CESC.stop();
gke 0:62a1c91a859a 100 TxString("\tESC at SLA 0x");
gke 0:62a1c91a859a 101 TxValH(addr);
gke 0:62a1c91a859a 102 TxString(" is already programmed OK\r\n");
gke 0:62a1c91a859a 103 return;
gke 0:62a1c91a859a 104 } else {
gke 0:62a1c91a859a 105 if ( I2CESC.read(0x87) == I2C_ACK ) // select register 0x07
gke 0:62a1c91a859a 106 if ( I2CESC.write( addr ) == I2C_ACK ) { // new slave address
gke 0:62a1c91a859a 107 I2CESC.stop();
gke 0:62a1c91a859a 108 TxString("\tESC at SLA 0x");
gke 0:62a1c91a859a 109 TxValH(s);
gke 0:62a1c91a859a 110 TxString(" reprogrammed to SLA 0x");
gke 0:62a1c91a859a 111 TxValH(addr);
gke 0:62a1c91a859a 112 TxNextLine();
gke 0:62a1c91a859a 113 return;
gke 0:62a1c91a859a 114 }
gke 0:62a1c91a859a 115 }
gke 0:62a1c91a859a 116 I2CESC.stop();
gke 0:62a1c91a859a 117 }
gke 0:62a1c91a859a 118 TxString("\tESC at SLA 0x");
gke 0:62a1c91a859a 119 TxValH(addr);
gke 0:62a1c91a859a 120 TxString(" no response - check cabling and pullup resistors!\r\n");
gke 0:62a1c91a859a 121 } // ProgramSlaveAddress
gke 0:62a1c91a859a 122
gke 0:62a1c91a859a 123 boolean CheckESCBus(void) {
gke 0:62a1c91a859a 124 return ( true );
gke 0:62a1c91a859a 125 } // CheckESCBus
gke 0:62a1c91a859a 126
gke 0:62a1c91a859a 127 void ConfigureESCs(void) {
gke 0:62a1c91a859a 128 int8 m;
gke 0:62a1c91a859a 129
gke 0:62a1c91a859a 130 if ( (int8)P[ESCType] == ESCYGEI2C ) {
gke 0:62a1c91a859a 131 TxString("\r\nProgram YGE ESCs\r\n");
gke 0:62a1c91a859a 132 for ( m = 0 ; m < NoOfI2CESCOutputs ; m++ ) {
gke 0:62a1c91a859a 133 TxString("Connect ONLY ");
gke 0:62a1c91a859a 134 switch ( m ) {
gke 0:62a1c91a859a 135 #ifdef HEXACOPTER
gke 0:62a1c91a859a 136 not yet!
gke 0:62a1c91a859a 137 #else
gke 0:62a1c91a859a 138 case 0 :
gke 0:62a1c91a859a 139 TxString("Front");
gke 0:62a1c91a859a 140 break;
gke 0:62a1c91a859a 141 case 1 :
gke 0:62a1c91a859a 142 TxString("Back");
gke 0:62a1c91a859a 143 break;
gke 0:62a1c91a859a 144 case 2 :
gke 0:62a1c91a859a 145 TxString("Right");
gke 0:62a1c91a859a 146 break;
gke 0:62a1c91a859a 147 case 3 :
gke 0:62a1c91a859a 148 TxString("Left");
gke 0:62a1c91a859a 149 break;
gke 0:62a1c91a859a 150 #endif // HEXACOPTER
gke 0:62a1c91a859a 151 }
gke 0:62a1c91a859a 152 TxString(" ESC, then press any key \r\n");
gke 0:62a1c91a859a 153 while ( PollRxChar() != 'x' ); // UAVPSet uses 'x' for any key button
gke 0:62a1c91a859a 154 // TxString("\r\n");
gke 0:62a1c91a859a 155 ProgramSlaveAddress( 0x62 + ( m*2 ));
gke 0:62a1c91a859a 156 }
gke 0:62a1c91a859a 157 TxString("\r\nConnect ALL ESCs and power-cycle the Quadrocopter\r\n");
gke 0:62a1c91a859a 158 } else
gke 0:62a1c91a859a 159 TxString("\r\nYGEI2C not selected as ESC?\r\n");
gke 0:62a1c91a859a 160 } // ConfigureESCs
gke 0:62a1c91a859a 161
gke 0:62a1c91a859a 162
gke 0:62a1c91a859a 163