[Paparazzi-devel] Asctec controller I2C protocol questions

[Elwin Rath]

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'
correctly,
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!

Regards,

Elwin