Actuators driver for AutoQuad ESC32 motor controllers. More...

#include "modules/actuators/actuators.h"
#include "modules/actuators/actuators_esc32.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/can.h"
#include "autopilot.h"
#include <libopencm3/stm32/can.h>
#include <limits.h>

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Macros
#define	ACTUATORS_ESC32_START_DELAY 500

Functions
static uint8_t	actuators_esc32_send (uint32_t id, uint8_t tid, uint8_t length, uint8_t *data)
	Transmit a message on the CAN bus. More...

static void	actuators_esc32_beep (uint32_t tt, uint8_t tid, uint16_t freq, uint16_t dur)
	Let an ESC beep for a certain amount of time with a specified frequency(frequency doesn't really match) More...

static void	actuators_esc32_arm (uint32_t tt, uint8_t tid)
	Arms the ESC. More...

static void	actuators_esc32_disarm (uint32_t tt, uint8_t tid)
	Disarms the ESC. More...

static void	actuators_esc32_start (uint32_t tt, uint8_t tid)
	Starts the ESC (let's it turn when armed) More...

static void	actuators_esc32_duty (uint32_t tt, uint8_t tid, uint16_t *cmds)
	Set the duty cycle of an ESC. More...

static void	actuators_esc32_dir (uint32_t tt, uint8_t tid)
	Changes the direction the ESC is turing. More...

static bool	actuators_esc32_play_melody (uint32_t tt, uint8_t tid, uint32_t *status_sub, uint16_t melody[][2], uint8_t length)
	Plays a full melody. More...

static void	actuators_esc32_can_rx_cb (uint32_t id, uint8_t *data, int len)
	When receiving messages on the CAN bus. More...

static void	actuators_esc32_grant_idx (uint8_t *data)
	When we receive a message to grant an id. More...

static void	actuators_esc32_proc_telem (uint8_t *data)
	When we receive a telemetry message. More...

void	actuators_esc32_set (uint8_t i, uint16_t v)
	Set the commands (either RPM or duty cycle) More...

void	actuators_esc32_config_cmd (uint8_t i)
	When receiving a configuration setting command. More...

void	actuators_esc32_init (void)
	Initializes the ESCs. More...

void	actuators_esc32_commit (void)
	Commits the commands and sends them to the ESCs. More...

Variables
struct ESC32	actuators_esc32

static uint16_t	actuators_esc32_melody [][2]

static uint8_t	actuators_esc32_melody_size

Detailed Description

Actuators driver for AutoQuad ESC32 motor controllers.

Definition in file actuators_esc32.c.

Macro Definition Documentation

◆ ACTUATORS_ESC32_START_DELAY

#define ACTUATORS_ESC32_START_DELAY 500

Definition at line 36 of file actuators_esc32.c.

Function Documentation

◆ actuators_esc32_arm()

static void actuators_esc32_arm	(	uint32_t	tt,
		uint8_t	tid
	)

inlinestatic

Arms the ESC.

Definition at line 213 of file actuators_esc32.c.

References actuators_esc32_send(), ESC32_CAN_CMD_ARM, ESC32_CAN_FID_CMD, and ESC32_CAN_LCC_NORMAL.

Referenced by actuators_esc32_commit(), and actuators_esc32_config_cmd().

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◆ actuators_esc32_beep()

static void actuators_esc32_beep	(	uint32_t	tt,
		uint8_t	tid,
		uint16_t	freq,
		uint16_t	dur
	)

inlinestatic

Let an ESC beep for a certain amount of time with a specified frequency(frequency doesn't really match)

Definition at line 203 of file actuators_esc32.c.

References actuators_esc32_send(), ESC32_CAN_CMD_BEEP, ESC32_CAN_FID_CMD, and ESC32_CAN_LCC_NORMAL.

Referenced by actuators_esc32_config_cmd(), and actuators_esc32_play_melody().

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◆ actuators_esc32_can_rx_cb()

void actuators_esc32_can_rx_cb	(	uint32_t	id,
		uint8_t *	data,
		int	len
	)

static

When receiving messages on the CAN bus.

When the CAN bus receives a message.

Definition at line 300 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_grant_idx(), actuators_esc32_proc_telem(), ESC32_response::data, ESC32_CAN_FID_ACK, ESC32_CAN_FID_MASK, ESC32_CAN_FID_NACK, ESC32_CAN_FID_REPLY, ESC32_CAN_FID_REQ_ADDR, ESC32_CAN_FID_TELEM, ESC32_CAN_SEQ_MASK, ESC32_response::fid, and ESC32::responses.

Referenced by actuators_esc32_init().

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◆ actuators_esc32_commit()

void actuators_esc32_commit ( void )

Commits the commands and sends them to the ESCs.

Definition at line 147 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_arm(), actuators_esc32_disarm(), actuators_esc32_duty(), actuators_esc32_melody, actuators_esc32_melody_size, actuators_esc32_play_melody(), actuators_esc32_start(), autopilot_get_motors_on(), ESC32::cmds, ESC32_CAN_TT_GROUP, ESC32_STATUS_MELODY, ESC32_STATUS_RUNNING, ESC32_STATUS_UNARMED, ESC32::melody_status, and ESC32::status.

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◆ actuators_esc32_config_cmd()

void actuators_esc32_config_cmd ( uint8_t i )

When receiving a configuration setting command.

Definition at line 83 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_arm(), actuators_esc32_beep(), actuators_esc32_dir(), actuators_esc32_disarm(), actuators_esc32_duty(), actuators_esc32_start(), cmds, ESC32::config_cmd, ESC32::config_idx, ESC32_CAN_TT_NODE, ESC32_CONFIG_CMD_BEEP, ESC32_CONFIG_CMD_DIR, ESC32_CONFIG_CMD_IDLE, ESC32_CONFIG_CMD_TURN, ESC32_STATUS_UNARMED, ESC32::escs_sorted, and ESC32::status.

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◆ actuators_esc32_dir()

static void actuators_esc32_dir	(	uint32_t	tt,
		uint8_t	tid
	)

inlinestatic

Changes the direction the ESC is turing.

Definition at line 241 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_send(), ESC32_response::data, ESC32_CAN_DATA_PARAM_ID, ESC32_CAN_DATA_PARAM_NAME1, ESC32_CAN_DATA_PARAM_NAME2, ESC32_CAN_FID_GET, ESC32_CAN_FID_SET, ESC32_CAN_LCC_NORMAL, ESC32_response::fid, and ESC32::responses.

Referenced by actuators_esc32_config_cmd().

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◆ actuators_esc32_disarm()

static void actuators_esc32_disarm	(	uint32_t	tt,
		uint8_t	tid
	)

inlinestatic

Disarms the ESC.

Definition at line 220 of file actuators_esc32.c.

References actuators_esc32_send(), ESC32_CAN_CMD_DISARM, ESC32_CAN_FID_CMD, and ESC32_CAN_LCC_NORMAL.

Referenced by actuators_esc32_commit(), and actuators_esc32_config_cmd().

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◆ actuators_esc32_duty()

static void actuators_esc32_duty	(	uint32_t	tt,
		uint8_t	tid,
		uint16_t *	cmds
	)

inlinestatic

Set the duty cycle of an ESC.

Definition at line 234 of file actuators_esc32.c.

References actuators_esc32_send(), cmds, ESC32_CAN_CMD_SETPOINT16, ESC32_CAN_FID_CMD, and ESC32_CAN_LCC_NORMAL.

Referenced by actuators_esc32_commit(), and actuators_esc32_config_cmd().

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◆ actuators_esc32_grant_idx()

static void actuators_esc32_grant_idx ( uint8_t * data )

inlinestatic

When we receive a message to grant an id.

Definition at line 330 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_send(), ESC32_com::can_id, ESC32_CAN_FID_GRANT_ADDR, ESC32_CAN_LCC_HIGH, ESC32_CAN_TID_MASK, ESC32_CAN_TT_NODE, ESC32_STATUS_ESC_FREE, ESC32_STATUS_ESC_INIT, ESC32_STATUS_ESC_RDY, ESC32_STATUS_MELODY, ESC32::escs, ESC32::escs_sorted, ESC32_com::network_id, ESC32_com::status, ESC32::status, ESC32_com::type, and ESC32_com::uuid.

Referenced by actuators_esc32_can_rx_cb().

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◆ actuators_esc32_init()

void actuators_esc32_init ( void )

Initializes the ESCs.

Definition at line 122 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_can_rx_cb(), actuators_esc32_melody, actuators_esc32_melody_size, actuators_esc32_send(), ESC32_CAN_FID_RESET_BUS, ESC32_CAN_LCC_EXCEPTION, ESC32_CAN_TT_GROUP, ESC32_STATUS_ESC_FREE, ESC32_STATUS_INIT, ESC32::escs, ESC32::melody_status, ppz_can_init(), ESC32_com::status, and ESC32::status.

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◆ actuators_esc32_play_melody()

static bool actuators_esc32_play_melody	(	uint32_t	tt,
		uint8_t	tid,
		uint32_t *	status_sub,
		uint16_t	melody[][2],
		uint8_t	length
	)

static

Plays a full melody.

Definition at line 275 of file actuators_esc32.c.

References actuators_esc32_beep(), ACTUATORS_ESC32_START_DELAY, counter, SysTimeTimer, SysTimeTimerStart, and timeout.

Referenced by actuators_esc32_commit().

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◆ actuators_esc32_proc_telem()

static void actuators_esc32_proc_telem ( uint8_t * data )

inlinestatic

When we receive a telemetry message.

Definition at line 379 of file actuators_esc32.c.

Referenced by actuators_esc32_can_rx_cb().

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◆ actuators_esc32_send()

static uint8_t actuators_esc32_send	(	uint32_t	id,
		uint8_t	tid,
		uint8_t	length,
		uint8_t *	data
	)

static

Transmit a message on the CAN bus.

Send a message to an esc or a group.

Definition at line 192 of file actuators_esc32.c.

References actuators_esc32, ESC32::can_seq_idx, ESC32_RESPONSE_CNT, ESC32_response::fid, ppz_can_transmit(), and ESC32::responses.

Referenced by actuators_esc32_arm(), actuators_esc32_beep(), actuators_esc32_dir(), actuators_esc32_disarm(), actuators_esc32_duty(), actuators_esc32_grant_idx(), actuators_esc32_init(), and actuators_esc32_start().

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◆ actuators_esc32_set()

void actuators_esc32_set	(	uint8_t	i,
		uint16_t	v
	)

Set the commands (either RPM or duty cycle)

Definition at line 73 of file actuators_esc32.c.

References actuators_esc32, ESC32::cmds, and ESC32::escs_sorted.

◆ actuators_esc32_start()

static void actuators_esc32_start	(	uint32_t	tt,
		uint8_t	tid
	)

inlinestatic

Starts the ESC (let's it turn when armed)

Definition at line 227 of file actuators_esc32.c.

References actuators_esc32_send(), ESC32_CAN_CMD_START, ESC32_CAN_FID_CMD, and ESC32_CAN_LCC_NORMAL.

Referenced by actuators_esc32_commit(), and actuators_esc32_config_cmd().

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Variable Documentation

◆ actuators_esc32

struct ESC32 actuators_esc32

Definition at line 1 of file actuators_esc32.c.

Referenced by actuators_esc32_can_rx_cb(), actuators_esc32_commit(), actuators_esc32_config_cmd(), actuators_esc32_dir(), actuators_esc32_grant_idx(), actuators_esc32_init(), actuators_esc32_send(), and actuators_esc32_set().

◆ actuators_esc32_melody

uint16_t actuators_esc32_melody[][2]

static

Initial value:

= {
  {660, 75},
  {0, 100},
  {660, 75},
  {0, 200},
  {660, 75},
  {0, 200},
  {770, 75},
  {0, 66},
  {660, 75},
  {0, 200},
  {510, 75},
  {0, 366},
  {1120, 75},
  {0, 500},
}