actuators_sts3032.c File Reference

#include "modules/actuators/actuators_sts3032.h"
#include "modules/datalink/telemetry.h"
#include "string.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/sys_time_arch.h"
#include <stdint.h>
#include "peripherals/sts3032_regs.h"

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Macros
#define	STS3032_DEBUG   FALSE
#define	STS3032_RESPONSE_LEVEL   0
#define	STS3032_DELAY_MSG   1000
#define	STS3032_DELAY_MSG_MIN   0
#define	BUF_MAX_LENGHT   15

Functions
static void	sts3032_event (struct sts3032 *sts)
static void	write_buf (struct sts3032 *sts, uint8_t id, uint8_t *data, uint8_t len, uint8_t fun, uint8_t reply)
static void	handle_reply (struct sts3032 *sts, uint8_t id, uint8_t state, uint8_t *buf_param, uint8_t length)
void	sts3032_write_pos (struct sts3032 *sts, uint8_t id, int16_t position)
void	sts3032_read_mem (struct sts3032 *sts, uint8_t id, uint8_t addr, uint8_t len)
void	sts3032_init (struct sts3032 *sts, struct uart_periph *periph, uint8_t *cbuf, size_t cbuf_len)
void	sts3032_read_pos (struct sts3032 *sts, uint8_t id)
void	sts3032_enable_torque (struct sts3032 *sts, uint8_t id, uint8_t enable)
void	sts3032_lock_eeprom (struct sts3032 *sts, uint8_t id, uint8_t lock)
void	sts3032_set_response_level (struct sts3032 *sts, uint8_t id, uint8_t level)
void	sts3032_set_id (struct sts3032 *sts, uint8_t id, uint8_t new_id)
void	actuators_sts3032_init (void)
void	actuators_sts3032_event (void)
void	actuators_sts3032_periodic (void)
uint8_t	id_idx (struct sts3032 *sts, uint8_t id)
void	actuators_sts3032_set_id (float future_id)
void	actuators_sts3032_lock_eprom (float lock)
void	actuators_sts3032_move (float pos)
void	actuators_sts3032_set_response_level (float level)

Variables
struct sts3032	sts
uint8_t	cbuf [50 *SERVOS_STS3032_NB]
uint8_t	buf_rx_param [255]
int	sts3032_enabled = 1
int	sts3032_current_id = 1
int	sts3032_future_id = 1
int	sts3032_lock_eprom = 1
int	sts3032_move = 1024
int	sts3032_response_level = 0

Macro Definition Documentation

BUF_MAX_LENGHT

#define BUF_MAX_LENGHT   15

Definition at line 58 of file actuators_sts3032.c.

STS3032_DEBUG

#define STS3032_DEBUG   FALSE

Definition at line 40 of file actuators_sts3032.c.

STS3032_DELAY_MSG

#define STS3032_DELAY_MSG   1000

Definition at line 51 of file actuators_sts3032.c.

STS3032_DELAY_MSG_MIN

#define STS3032_DELAY_MSG_MIN   0

Definition at line 55 of file actuators_sts3032.c.

STS3032_RESPONSE_LEVEL

#define STS3032_RESPONSE_LEVEL   0

Definition at line 44 of file actuators_sts3032.c.

Function Documentation

actuators_sts3032_event()

void actuators_sts3032_event

(

void

)

Definition at line 100 of file actuators_sts3032.c.

References sts, and sts3032_event().

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actuators_sts3032_init()

void actuators_sts3032_init

(

void

)

Definition at line 88 of file actuators_sts3032.c.

References cbuf, circular_buffer_init(), sts3032::ids, sts3032::msg_buf, sts3032::nb_bytes_expected, sts3032::nb_failed_checksum, sts3032::periph, sts3032::rx_state, sts, and STS3032_RX_IDLE.

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actuators_sts3032_lock_eprom()

void actuators_sts3032_lock_eprom

(

float

lock

)

Definition at line 321 of file actuators_sts3032.c.

References sts, sts3032_current_id, sts3032_lock_eeprom(), and sts3032_lock_eprom.

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actuators_sts3032_move()

void actuators_sts3032_move

(

float

pos

)

Definition at line 327 of file actuators_sts3032.c.

References sts3032::pos, sts, sts3032_current_id, sts3032_move, and sts3032_write_pos().

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actuators_sts3032_periodic()

void actuators_sts3032_periodic

(

void

)

Definition at line 105 of file actuators_sts3032.c.

References DefaultChannel, DefaultDevice, sts3032::ids, sts3032::nb_failed_checksum, sts3032::pos, sts, and sts3032_read_pos().

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actuators_sts3032_set_id()

void actuators_sts3032_set_id

(

float

future_id

)

Definition at line 315 of file actuators_sts3032.c.

References sts, sts3032_current_id, sts3032_future_id, and sts3032_set_id().

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actuators_sts3032_set_response_level()

void actuators_sts3032_set_response_level

(

float

level

)

Definition at line 333 of file actuators_sts3032.c.

References sts, sts3032_current_id, sts3032_response_level, and sts3032_set_response_level().

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handle_reply()

static void handle_reply ( struct sts3032 *  sts, uint8_t  id, uint8_t  state, uint8_t *  buf_param, uint8_t  length  )

static

Definition at line 193 of file actuators_sts3032.c.

References id_idx(), offset, sts3032::pos, sts3032::read_addr, SMS_STS_PRESENT_POSITION_L, state, sts3032::states, and sts.

Referenced by sts3032_event().

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id_idx()

uint8_t id_idx	(	struct sts3032 *	sts,
		uint8_t	id
	)

Definition at line 220 of file actuators_sts3032.c.

References sts3032::ids, and sts.

Referenced by handle_reply().

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sts3032_enable_torque()

void sts3032_enable_torque	(	struct sts3032 *	sts,
		uint8_t	id,
		uint8_t	enable
	)

Definition at line 272 of file actuators_sts3032.c.

References INST_WRITE, SMS_STS_TORQUE_ENABLE, sts, STS3032_RESPONSE_LEVEL, and write_buf().

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sts3032_event()

static void sts3032_event ( struct sts3032 *  sts )

static

Definition at line 125 of file actuators_sts3032.c.

References sts3032::buf_header, BUF_MAX_LENGHT, buf_rx_param, checksum, circular_buffer_get(), current_state, sts3032::echo, get_sys_time_usec(), handle_reply(), sts3032::msg_buf, sts3032::nb_bytes_expected, sts3032::nb_failed_checksum, sts3032::periph, sts3032::rx_checksum, sts3032::rx_id, sts3032::rx_state, sts, STS3032_DELAY_MSG, STS3032_DELAY_MSG_MIN, STS3032_RX_GOT_LENGTH, STS3032_RX_HEAD_OK, STS3032_RX_IDLE, sts3032::time_last_msg, uart_char_available(), uart_getch(), uart_put_buffer(), and sts3032::wait_reply.

Referenced by actuators_sts3032_event().

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sts3032_init()

void sts3032_init	(	struct sts3032 *	sts,
		struct uart_periph *	periph,
		uint8_t *	cbuf,
		size_t	cbuf_len
	)

sts3032_lock_eeprom()

void sts3032_lock_eeprom	(	struct sts3032 *	sts,
		uint8_t	id,
		uint8_t	lock
	)

Definition at line 231 of file actuators_sts3032.c.

References INST_WRITE, SMS_STS_LOCK, sts, STS3032_RESPONSE_LEVEL, and write_buf().

Referenced by actuators_sts3032_lock_eprom().

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sts3032_read_mem()

void sts3032_read_mem	(	struct sts3032 *	sts,
		uint8_t	id,
		uint8_t	addr,
		uint8_t	len
	)

Definition at line 285 of file actuators_sts3032.c.

References INST_READ, sts3032::read_addr, sts, and write_buf().

Referenced by sts3032_read_pos().

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sts3032_read_pos()

void sts3032_read_pos	(	struct sts3032 *	sts,
		uint8_t	id
	)

Definition at line 280 of file actuators_sts3032.c.

References SMS_STS_PRESENT_POSITION_L, sts, and sts3032_read_mem().

Referenced by actuators_sts3032_periodic().

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sts3032_set_id()

void sts3032_set_id	(	struct sts3032 *	sts,
		uint8_t	id,
		uint8_t	new_id
	)

Definition at line 251 of file actuators_sts3032.c.

References INST_WRITE, SMS_STS_ID, sts, STS3032_RESPONSE_LEVEL, and write_buf().

Referenced by actuators_sts3032_set_id().

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sts3032_set_response_level()

void sts3032_set_response_level	(	struct sts3032 *	sts,
		uint8_t	id,
		uint8_t	level
	)

Definition at line 241 of file actuators_sts3032.c.

References INST_WRITE, SMS_STS_RESPONSE_LEVEL, sts, STS3032_RESPONSE_LEVEL, and write_buf().

Referenced by actuators_sts3032_set_response_level().

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sts3032_write_pos()

void sts3032_write_pos	(	struct sts3032 *	sts,
		uint8_t	id,
		int16_t	position
	)

Definition at line 259 of file actuators_sts3032.c.

References INST_WRITE, SMS_STS_GOAL_POSITION_L, sts, STS3032_RESPONSE_LEVEL, and write_buf().

Referenced by actuators_sts3032_move().

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write_buf()

static void write_buf ( struct sts3032 *  sts, uint8_t  id, uint8_t *  data, uint8_t  len, uint8_t  fun, uint8_t  reply  )

static

Definition at line 292 of file actuators_sts3032.c.

References BUF_MAX_LENGHT, checksum, circular_buffer_put(), sts3032::msg_buf, and sts.

Referenced by sts3032_enable_torque(), sts3032_lock_eeprom(), sts3032_read_mem(), sts3032_set_id(), sts3032_set_response_level(), and sts3032_write_pos().

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Variable Documentation

buf_rx_param

uint8_t buf_rx_param[255]

Definition at line 59 of file actuators_sts3032.c.

Referenced by sts3032_event().

cbuf

uint8_t cbuf[50 *SERVOS_STS3032_NB]

Definition at line 48 of file actuators_sts3032.c.

Referenced by actuators_sts3032_init().

sts

struct sts3032 sts

Definition at line 1 of file actuators_sts3032.c.

Referenced by actuators_sts3032_event(), actuators_sts3032_init(), actuators_sts3032_lock_eprom(), actuators_sts3032_move(), actuators_sts3032_periodic(), actuators_sts3032_set_id(), actuators_sts3032_set_response_level(), gec_clear_sts(), gec_sts_init(), handle_reply(), id_idx(), sts3032_enable_torque(), sts3032_event(), sts3032_lock_eeprom(), sts3032_read_mem(), sts3032_read_pos(), sts3032_set_id(), sts3032_set_response_level(), sts3032_write_pos(), and write_buf().

sts3032_current_id

int sts3032_current_id = 1

Definition at line 65 of file actuators_sts3032.c.

Referenced by actuators_sts3032_lock_eprom(), actuators_sts3032_move(), actuators_sts3032_set_id(), and actuators_sts3032_set_response_level().

sts3032_enabled

int sts3032_enabled = 1

Definition at line 64 of file actuators_sts3032.c.

sts3032_future_id

int sts3032_future_id = 1

Definition at line 66 of file actuators_sts3032.c.

Referenced by actuators_sts3032_set_id().

sts3032_lock_eprom

int sts3032_lock_eprom = 1

Definition at line 67 of file actuators_sts3032.c.

Referenced by actuators_sts3032_lock_eprom().

sts3032_move

int sts3032_move = 1024

Definition at line 68 of file actuators_sts3032.c.

Referenced by actuators_sts3032_move().

sts3032_response_level

int sts3032_response_level = 0

Definition at line 69 of file actuators_sts3032.c.

Referenced by actuators_sts3032_set_response_level().