Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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actuators_mkk_v2.h
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1 /*
2  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
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12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
26 #ifndef ACTUATORS_MKK_V2_H
27 #define ACTUATORS_MKK_V2_H
28 
29 #include "std.h"
30 #include "mcu_periph/i2c.h"
31 
32 #include "generated/airframe.h"
33 
35  uint8_t Version; // Motor controller version
36  uint8_t Current; // In 0.1 A steps, read back from BL
37  uint8_t MaxPWM; // Read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40)
38  int8_t Temperature; // Old BL-Ctrl will return a 255 here, the new version the temp. in °C
39 };
40 
43  uint16_t setpoint[ACTUATORS_MKK_V2_NB];
44  struct i2c_transaction trans[ACTUATORS_MKK_V2_NB];
45  struct actuators_mkk_v2_telemetry_struct data[ACTUATORS_MKK_V2_NB];
46 };
47 
49 
50 extern void actuators_mkk_v2_init(void);
51 extern void actuators_mkk_v2_set(void);
52 
53 #define ActuatorMkk_v2Set(_i, _v) { actuators_mkk_v2.setpoint[_i] = _v; }
54 #define ActuatorsMkk_v2Init() actuators_mkk_v2_init()
55 #define ActuatorsMkk_v2Commit() actuators_mkk_v2_set()
56 
57 #endif /* ACTUATORS_MKK_V2_H */
unsigned short uint16_t
Definition: types.h:16
struct i2c_transaction trans[ACTUATORS_MKK_V2_NB]
uint16_t setpoint[ACTUATORS_MKK_V2_NB]
struct actuators_mkk_v2_struct actuators_mkk_v2
struct actuators_mkk_v2_telemetry_struct data[ACTUATORS_MKK_V2_NB]
void actuators_mkk_v2_set(void)
I2C transaction structure.
Definition: i2c.h:93
unsigned char uint8_t
Definition: types.h:14
signed char int8_t
Definition: types.h:15
void actuators_mkk_v2_init(void)
Architecture independent I2C (Inter-Integrated Circuit Bus) API.