Bebop/BLDC - Revision history

QQ: Add important informations. Fixed missing bytes

2015-02-06T00:17:44Z

Add important informations. Fixed missing bytes

← Older revision		Revision as of 18:17, 5 February 2015
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	== BLDC Protocol ==		== BLDC Protocol ==
			BLDC is an i2c slave device. Its 7-bits slave address is 0x08.
	* 0x02 SET_REF_SPEED		* 0x02 SET_REF_SPEED
	* 0x20 GET_OBS_DATA		* 0x20 GET_OBS_DATA
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	* 0x82 PLAY_SOUND		* 0x82 PLAY_SOUND
	* 0xA0 GET_INFO		* 0xA0 GET_INFO

			=== START_PROP (0x40) ===
			Starts all propellers. The propellers will not start when the current error is not cleared. Motors ramp together, spin together, stop together. It's not possible to spin motors separately.

			Optional argument:1 byte
			* 0: Motor bitmask (0000ABCD, A:Left Upper, B:Right Upper, C: Right Back, D: Left Back) where 1 is clockwise and 0 is counterclockwise
			Receive: 0 byte

	=== SET_REF_SPEED (0x02) ===		=== SET_REF_SPEED (0x02) ===
	Sets the RPM reference of the motors.		Sets the RPM reference of the motors. This request is ignored while START_PROP has not been sent and accepted.

	Arguments: 10 bytes		Arguments: 10 bytes
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	* 8: Reserved (0x00)		* 8: Reserved (0x00)
	* 9: Checksum (see section bellow)		* 9: Checksum (see section bellow)
			Receive: 0 byte

	=== GET_OBS_DATA (0x20) ===		=== GET_OBS_DATA (0x20) ===
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	Arguments: 0 byte		Arguments: 0 byte
	Receive: 14 bytes
			Receive: 15 bytes
	* 0-1: RPM observed Left Front motor (uint16)*		* 0-1: RPM observed Left Front motor (uint16)*
	* 2-3: RPM observed Right Front motor (uint16)*		* 2-3: RPM observed Right Front motor (uint16)*
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	* 10: Status (uint8)		* 10: Status (uint8)
	* 11: Errno (uint8)		* 11: Errno (uint8)
	* 12: Temperature in degrees Celcius (uint8)		* 12: bitmask of motors in fault (uint8)
	* 13: Checksum (see section below)		* 13: Temperature in degrees Celcius (uint8)
			* 14: Checksum (see section below)
	<nowiki />* Bit 15 is reserved for detecting maximum RPM (depending on voltage and altitude)		<nowiki />* Bit 15 is reserved for detecting maximum RPM (depending on voltage and altitude)

	==== Status ====		==== Status ====
	* 0: Init		is the combination of two uint4 words:
	* 1: ~~Idle~~		* The first uint4 saves the state of the system state machine when an error occurred.
	* 2: Ramping		* The second uint4 indicates the current state of the system state machine.
	* 3/4: Spinning
	* 5: Stopping		Values of the state machine are:
	* 6: ~~Suicided~~		* 0: Init system
			* 1: System in idle (waiting for the START_PROP command)
			* 2: Ramping motors
			* 3/4: Spinning motors
			* 5: Stopping motors
			* 6: System aborted (critical error)

	==== Errno ====		==== Errno ====
			Error values are set in order of importance: if two errors occurred, the most important error smashes the less important.
	* 0: No error		* 0: No error
	* 1: EEPROM corruption		* 1: EEPROM corruption
	* 2: Motor stalled		* 2: Motor stalled*
	* 3: Propeller security		* 3: Propeller security*
	* 4: Communication lost		* 4: Communication lost
	* 9: Battery voltage too low		* 9: Battery voltage too low
	* 10: Incorrect number of LIPO cells		* 10: Incorrect number of LIPO cells
	* 11: Unplugged motor or broken motor phase or defectuous MOS		* 11: Unplugged motor or broken motor phase or defectuous MOS*
			<nowiki />* Impacted motors information is given in byte12 as bitmask (0000ABCD, A:Left Upper, B:Right Upper, C: Right Back, D: Left Back) where 1 is fault and 0 is no fault.
	~~=== START_PROP (0x40) ===~~
	~~Starts the propellers. The propellers will not start when the current error~~ is ~~not cleared.~~

	~~Optional argument:1 byte~~
	* 0: Motor bitmask (0000ABCD, A:Left Upper, B:Right Upper, C: Right Back, D: Left Back) where 1 is ~~clockwise~~ and 0 is ~~counterclockwise~~
	~~Receive: 0 byte~~

	=== TOGGLE_GPIO (0x4D) ===		=== TOGGLE_GPIO (0x4D) ===
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	* 0: Software version (major)		* 0: Software version (major)
	* 1: Software version (minor)		* 1: Software version (minor)
	* 2: Software type		* 2: Software type (ascii code)
	* 3: Number of motors		* 3: Number of motors controlled
	* 4-5: Number of flights (uint16)		* 4-5: Number of flights (uint16)
	* 4-5: Time last flight (uint16)		* 4-5: Time last flight (uint16)

QQ: Add sound meanings

2015-02-05T22:53:33Z

Add sound meanings

← Older revision		Revision as of 16:53, 5 February 2015
Line 7:		Line 7:
	* Red LED blinking: critical mode (error code: 10 or 11)		* Red LED blinking: critical mode (error code: 10 or 11)
	* Orange LED fixed: minor error detected.		* Orange LED fixed: minor error detected.

			== Sounds signification ==
			* Each motor makes a single tone after a successful init of the firmware.
			* No sound after the init: critical failure detected during the init.
			* All motors tone in infinite loop after a error detection. Use the command CLEAR_ERROR or PLAY_SOUND 0 for stopping.

	== BLDC Protocol ==		== BLDC Protocol ==

QQ: Change the link

2015-02-05T22:32:11Z

Change the link

← Older revision		Revision as of 16:32, 5 February 2015
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	== BLDC Test Bench ==		== BLDC Test Bench ==
	This tool is used for testing motors with different kind of velocity reference inputs. Kill the Bebop software before calling it. Use the -h for displaying the help.		This tool is used for testing motors with different kind of velocity reference inputs. Kill the Bebop software before calling it. Use the -h for displaying the help.
	Cvs file is created in /tmp and can be post processed with Scilab.		Cvs file is created in /tmp and can be post processed with [http://www.scicoslab.org Scilab].

	Note: due to memory usage limitation in the microcontroler, motor settings and velocity regulator settings cannot be changed or read.		Note: due to memory usage limitation in the microcontroler, motor settings and velocity regulator settings cannot be changed or read.

QQ: /* BLDC Test Bench */

2015-02-05T22:29:22Z

BLDC Test Bench

← Older revision		Revision as of 16:29, 5 February 2015
Line 144:		Line 144:

	== BLDC Test Bench ==		== BLDC Test Bench ==
	This tool is used for testing motors with different kind of velocity reference inputs. Kill the Bebop software before calling it. Use the -h for displaying the help. Note: ~~with~~ the ~~released applicative BLDC firmware~~, motor settings and velocity regulator settings cannot be changed.		This tool is used for testing motors with different kind of velocity reference inputs. Kill the Bebop software before calling it. Use the -h for displaying the help.
			Cvs file is created in /tmp and can be post processed with Scilab.

			Note: due to memory usage limitation in the microcontroler, motor settings and velocity regulator settings cannot be changed or read.

QQ: Add new sections

2015-02-05T22:16:37Z

Add new sections

@@ Line 1: / Line 1: @@
 == General ==
 The BLDC of the Bebop is the Brushless Driver Controller that controls all 4 brushless motors from the Bebop. Motors are 12 permanent magnets. This BLDC contains a closed loop Rotation Per Minute (RPM) controller, and also reads out the battery voltage.
 == BLDC Protocol ==
@@ Line 112: / Line 118: @@
     checksum = checksum ^ packet[i];
 </source>

QQ: Change title

2015-02-05T20:56:48Z

Change title

← Older revision		Revision as of 14:56, 5 February 2015
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	The BLDC of the Bebop is the Brushless Driver Controller that controls all 4 brushless motors from the Bebop. Motors are 12 permanent magnets. This BLDC contains a closed loop Rotation Per Minute (RPM) controller, and also reads out the battery voltage.		The BLDC of the Bebop is the Brushless Driver Controller that controls all 4 brushless motors from the Bebop. Motors are 12 permanent magnets. This BLDC contains a closed loop Rotation Per Minute (RPM) controller, and also reads out the battery voltage.

	== Protocol ==		== BLDC Protocol ==
	* 0x02 SET_REF_SPEED		* 0x02 SET_REF_SPEED
	* 0x20 GET_OBS_DATA		* 0x20 GET_OBS_DATA

QQ: Minor updates

2015-02-05T20:56:13Z

Minor updates

← Older revision		Revision as of 14:56, 5 February 2015
Line 1:		Line 1:
	== General ==		== General ==
	The BLDC of the Bebop is the Brushless Driver Controller that controls all 4 brushless motors from the Bebop. This BLDC contains a closed loop RPM controller, and also reads out the battery voltage.		The BLDC of the Bebop is the Brushless Driver Controller that controls all 4 brushless motors from the Bebop. Motors are 12 permanent magnets. This BLDC contains a closed loop Rotation Per Minute (RPM) controller, and also reads out the battery voltage.

	== Protocol ==		== Protocol ==

QQ: /* START_PROP (0x40) */

2015-02-05T20:27:29Z

START_PROP (0x40)

← Older revision		Revision as of 14:27, 5 February 2015
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	Starts the propellers. The propellers will not start when the current error is not cleared.		Starts the propellers. The propellers will not start when the current error is not cleared.

	~~Arguments~~: ~~0 bytes or~~ 1 byte		Optional argument:1 byte
	* 0: Motor bitmask (0000ABCD, A:Left Upper, B:Right Upper, C: Right Back, D: Left Back) where 1 is clockwise and 0 is counterclockwise		* 0: Motor bitmask (0000ABCD, A:Left Upper, B:Right Upper, C: Right Back, D: Left Back) where 1 is clockwise and 0 is counterclockwise
	Receive: 0 ~~bytes~~		Receive: 0 byte

	=== TOGGLE_GPIO (0x4D) ===		=== TOGGLE_GPIO (0x4D) ===

QQ: /* Errno */

2015-02-05T20:25:41Z

Errno

← Older revision		Revision as of 14:25, 5 February 2015
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	==== Errno ====		==== Errno ====
	* 0: No error		* 0: No error
			* 1: EEPROM corruption
	* 2: Motor stalled		* 2: Motor stalled
	* 3: Propeller security		* 3: Propeller security
	* 4: Communication lost		* 4: Communication lost
	* 9: Battery voltage too low		* 9: Battery voltage too low
			* 10: Incorrect number of LIPO cells
			* 11: Unplugged motor or broken motor phase or defectuous MOS

	=== START_PROP (0x40) ===		=== START_PROP (0x40) ===

QQ: /* GET_OBS_DATA (0x20) */

2015-02-05T20:19:53Z

GET_OBS_DATA (0x20)

← Older revision		Revision as of 14:19, 5 February 2015
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	Gets the observed data from the motors and battery.		Gets the observed data from the motors and battery.

	Arguments: 0 ~~bytes~~		Arguments: 0 byte
	Receive: ~~8 bytes or 13~~ bytes		Receive: 14 bytes
	* 0-1: RPM observed Left Front motor (uint16)*		* 0-1: RPM observed Left Front motor (uint16)*
	* 2-3: RPM observed Right Front motor (uint16)*		* 2-3: RPM observed Right Front motor (uint16)*
Line 36:		Line 36:
	* 11: Errno (uint8)		* 11: Errno (uint8)
	* 12: Temperature in degrees Celcius (uint8)		* 12: Temperature in degrees Celcius (uint8)
			* 13: Checksum (see section below)
	<nowiki />* Bit 15 is reserved for detecting maximum RPM (depending on voltage and altitude)		<nowiki />* Bit 15 is reserved for detecting maximum RPM (depending on voltage and altitude)