#include "modules/actuators/actuators.h"
#include "modules/actuators/actuators_md25.h"

Include dependency graph for actuators_md25.c:

Macros
#define	MD25_REG_SPEED1 0x00

#define	MD25_REG_SPEED2 0x01

#define	MD25_REG_ENCODER1 0x02

#define	MD25_REG_ENCODER2 0x06

#define	MD25_REG_BAT 0x0A

#define	MD25_REG_CURRENT1 0x0B

#define	MD25_REG_CURRENT2 0x0C

#define	MD25_REG_SOFT_REV 0x0D

#define	MD25_REG_ACCEL_RATE 0x0E

#define	MD25_REG_MODE 0x0F

#define	MD25_REG_COMMAND 0x10

#define	MD25_CMD_RESET_ENCODERS 0x20

#define	MD25_CMD_NO_SPEED_REGUL 0x30

#define	MD25_CMD_SPEED_REGUL 0x31

#define	MD25_CMD_NO_MOTOR_TIMEOUT 0x32

#define	MD25_CMD_MOTOR_TIMEOUT 0x33

#define	MD25_MODE0 0

#define	MD25_MODE1 1

#define	MD25_MODE2 2

#define	MD25_MODE3 3

#define	ACTUATORS_MD25_MODE MD25_MODE0

#define	ACTUATORS_MD25_ACCEL_RATE 5

#define	ACTUATORS_MD25_I2C_ADDR 0xB0

#define	Int32FromBuf(_buf, _idx) ((int32_t)(((uint32_t)_buf[_idx]<<24) \| ((uint32_t)_buf[_idx+1]<<16) \| ((uint32_t)_buf[_idx+2]<<8) \| _buf[_idx+3]))

Functions
void	actuators_md25_init (void)

void	actuators_md25_periodic (void)

void	actuators_md25_set (void)

void	actuators_md25_event (void)

Variables
struct ActuatorsMD25	actuators_md25

Detailed Description

Author: Gautier Hattenberger Driver for the MD25 rover controller board

Definition in file actuators_md25.c.

Macro Definition Documentation

◆ ACTUATORS_MD25_ACCEL_RATE

#define ACTUATORS_MD25_ACCEL_RATE 5

Definition at line 62 of file actuators_md25.c.

◆ ACTUATORS_MD25_I2C_ADDR

#define ACTUATORS_MD25_I2C_ADDR 0xB0

Definition at line 67 of file actuators_md25.c.

◆ ACTUATORS_MD25_MODE

#define ACTUATORS_MD25_MODE MD25_MODE0

Definition at line 57 of file actuators_md25.c.

◆ Int32FromBuf

#define Int32FromBuf	(	_buf,
		_idx
	)	((int32_t)(((uint32_t)_buf[_idx]<<24) \| ((uint32_t)_buf[_idx+1]<<16) \| ((uint32_t)_buf[_idx+2]<<8) \| _buf[_idx+3]))

Definition at line 118 of file actuators_md25.c.

◆ MD25_CMD_MOTOR_TIMEOUT

#define MD25_CMD_MOTOR_TIMEOUT 0x33

Definition at line 47 of file actuators_md25.c.

◆ MD25_CMD_NO_MOTOR_TIMEOUT

#define MD25_CMD_NO_MOTOR_TIMEOUT 0x32

Definition at line 46 of file actuators_md25.c.

◆ MD25_CMD_NO_SPEED_REGUL

#define MD25_CMD_NO_SPEED_REGUL 0x30

Definition at line 44 of file actuators_md25.c.

◆ MD25_CMD_RESET_ENCODERS

#define MD25_CMD_RESET_ENCODERS 0x20

Definition at line 43 of file actuators_md25.c.

◆ MD25_CMD_SPEED_REGUL

#define MD25_CMD_SPEED_REGUL 0x31

Definition at line 45 of file actuators_md25.c.

◆ MD25_MODE0

#define MD25_MODE0 0

Definition at line 50 of file actuators_md25.c.

◆ MD25_MODE1

#define MD25_MODE1 1

Definition at line 51 of file actuators_md25.c.

◆ MD25_MODE2

#define MD25_MODE2 2

Definition at line 52 of file actuators_md25.c.

◆ MD25_MODE3

#define MD25_MODE3 3

Definition at line 53 of file actuators_md25.c.

◆ MD25_REG_ACCEL_RATE

#define MD25_REG_ACCEL_RATE 0x0E

Definition at line 39 of file actuators_md25.c.

◆ MD25_REG_BAT

#define MD25_REG_BAT 0x0A

Definition at line 35 of file actuators_md25.c.

◆ MD25_REG_COMMAND

#define MD25_REG_COMMAND 0x10

Definition at line 41 of file actuators_md25.c.

◆ MD25_REG_CURRENT1

#define MD25_REG_CURRENT1 0x0B

Definition at line 36 of file actuators_md25.c.

◆ MD25_REG_CURRENT2

#define MD25_REG_CURRENT2 0x0C

Definition at line 37 of file actuators_md25.c.

◆ MD25_REG_ENCODER1

#define MD25_REG_ENCODER1 0x02

Definition at line 33 of file actuators_md25.c.

◆ MD25_REG_ENCODER2

#define MD25_REG_ENCODER2 0x06

Definition at line 34 of file actuators_md25.c.

◆ MD25_REG_MODE

#define MD25_REG_MODE 0x0F

Definition at line 40 of file actuators_md25.c.

◆ MD25_REG_SOFT_REV

#define MD25_REG_SOFT_REV 0x0D

Definition at line 38 of file actuators_md25.c.

◆ MD25_REG_SPEED1

#define MD25_REG_SPEED1 0x00

Definition at line 31 of file actuators_md25.c.

◆ MD25_REG_SPEED2

#define MD25_REG_SPEED2 0x01

Definition at line 32 of file actuators_md25.c.

Function Documentation

◆ actuators_md25_event()

void actuators_md25_event ( void )

Definition at line 120 of file actuators_md25.c.

References actuators_md25, ActuatorsMD25::bat, i2c_transaction::buf, ActuatorsMD25::current, ActuatorsMD25::encoders, I2CTransDone, I2CTransFailed, I2CTransSuccess, ActuatorsMD25::initialized, Int32FromBuf, i2c_transaction::status, ActuatorsMD25::trans_cmd, and ActuatorsMD25::trans_sensors.

◆ actuators_md25_init()

void actuators_md25_init ( void )

Definition at line 75 of file actuators_md25.c.

References ActuatorsMD25::accel_rate, actuators_md25, ACTUATORS_MD25_ACCEL_RATE, ACTUATORS_MD25_MODE, ActuatorsMD25::bat, ActuatorsMD25::cmds, ActuatorsMD25::encoders, I2CTransDone, ActuatorsMD25::initialized, ActuatorsMD25::mode, i2c_transaction::status, ActuatorsMD25::trans_cmd, and ActuatorsMD25::trans_sensors.

◆ actuators_md25_periodic()

void actuators_md25_periodic ( void )

Definition at line 90 of file actuators_md25.c.

References ActuatorsMD25::accel_rate, actuators_md25, ACTUATORS_MD25_I2C_ADDR, i2c_transaction::buf, i2c_transceive(), i2c_transmit(), I2CTransDone, ActuatorsMD25::initialized, MD25_REG_ACCEL_RATE, MD25_REG_ENCODER1, ActuatorsMD25::mode, i2c_transaction::status, and ActuatorsMD25::trans_sensors.

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◆ actuators_md25_set()

void actuators_md25_set ( void )

Definition at line 108 of file actuators_md25.c.

References actuators_md25, ACTUATORS_MD25_I2C_ADDR, i2c_transaction::buf, ActuatorsMD25::cmds, i2c_transmit(), I2CTransDone, ActuatorsMD25::initialized, MD25_REG_SPEED1, i2c_transaction::status, and ActuatorsMD25::trans_cmd.