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[Paparazzi-devel] Asctec controller I2C protocol questions

From: Elwin Rath
Subject: [Paparazzi-devel] Asctec controller I2C protocol questions
Date: Mon, 08 Aug 2011 12:17:16 +0200
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.1; nl; rv: Gecko/20110616 Thunderbird/3.1.11

Hi All,

I am planning to use a lisa/m on an Astec X3d-BLS frame incl the hacker motors and asctec bls I2C controllers.
Unfortunately the controllers do not come with a manual.

While waiting for the lisa/m to arrive and to get some feeling about the engine and controller, I have build a testbench to measure amps, volts, thrust, etc.
I log the testbench data with a Mbed to an USB device.
The Mbed should be able to control I2C devices also.
I found some asctec files in the libary that gave me some ideas. But until now I am still struggling to control the Astec BLS controller. It simply does nothing with the I2C input I send to it. It only sends a [start] back.
I hope one of you can help me out.

1) How do I know whether the controller is a V1 vs V2 protocol? On the controller itself 'Asctec gmbh Rev 2.1' is printed, is the software then also 'V2'?

2) If yes, I understand I have to control the quad using 5 bytes.
If I understand the file:
'sw / airborne / firmwares / rotorcraft / actuators / actuators_asctec.c'
the first 4 bytes are for the 4 controllers respectively, can these also take value 0 to 200 for thrust (like the V1 protocol)? 250 to 'set address', 251 to 'test', etc?
What is the current address of an Asctec controller V2?
What is the 'test' function (251)?
What is the I2C frequency of the controller?

Any help on the (Asctec) I2C controller protocol is highly appreciated!



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