actuators_sts3032.h File Reference

#include <stdint.h>
#include "mcu_periph/uart.h"
#include "utils/circular_buffer.h"
#include "generated/airframe.h"

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Data Structures
struct	sts3032

Macros
#define	ActuatorSTS3032Set(_i, _v)   { if(sts3032_enabled) {sts3032_write_pos(&sts, sts.ids[_i], _v);} }
#define	ActuatorsSTS3032Init()   actuators_sts3032_init()
#define	ActuatorsSTS3032Commit()   {}

Enumerations
enum	sts3032_rx_state { STS3032_RX_IDLE , STS3032_RX_HEAD_OK , STS3032_RX_GOT_LENGTH }

Functions
void	actuators_sts3032_init (void)
void	actuators_sts3032_periodic (void)
void	actuators_sts3032_event (void)
uint8_t	id_idx (struct sts3032 *sts, uint8_t id)
void	sts3032_write_pos (struct sts3032 *sts, uint8_t id, int16_t position)
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
int	sts3032_enabled
int	sts3032_current_id
int	sts3032_future_id
int	sts3032_lock_eprom
int	sts3032_move
int	sts3032_response_level

---

Data Structure Documentation

sts3032

struct sts3032

Definition at line 41 of file actuators_sts3032.h.

Collaboration diagram for sts3032:

Data Fields
uint8_t	buf_header[2]
bool	echo
uint8_t	ids[SERVOS_STS3032_NB]
struct circular_buffer	msg_buf
uint8_t	nb_bytes_expected
uint16_t	nb_failed_checksum
struct uart_periph *	periph
uint16_t	pos[SERVOS_STS3032_NB]
uint8_t	read_addr
uint8_t	rx_checksum
uint8_t	rx_id
enum sts3032_rx_state	rx_state
uint8_t	states[SERVOS_STS3032_NB]
uint32_t	time_last_msg
bool	wait_reply

Macro Definition Documentation

ActuatorsSTS3032Commit

#define ActuatorsSTS3032Commit

(

)

{}

Definition at line 77 of file actuators_sts3032.h.

ActuatorsSTS3032Init

#define ActuatorsSTS3032Init

(

)

actuators_sts3032_init()

Definition at line 76 of file actuators_sts3032.h.

ActuatorSTS3032Set

#define ActuatorSTS3032Set	(		_i,
			_v
	)		{ if(sts3032_enabled) {sts3032_write_pos(&sts, sts.ids[_i], _v);} }

Definition at line 75 of file actuators_sts3032.h.

Enumeration Type Documentation

sts3032_rx_state

enum sts3032_rx_state

Enumerator
STS3032_RX_IDLE
STS3032_RX_HEAD_OK
STS3032_RX_GOT_LENGTH

Definition at line 35 of file actuators_sts3032.h.

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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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_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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Variable Documentation

sts

struct sts3032 sts

extern

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

extern

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

extern

Definition at line 64 of file actuators_sts3032.c.

sts3032_future_id

int sts3032_future_id

extern

Definition at line 66 of file actuators_sts3032.c.

Referenced by actuators_sts3032_set_id().

sts3032_lock_eprom

int sts3032_lock_eprom

extern

Definition at line 67 of file actuators_sts3032.c.

Referenced by actuators_sts3032_lock_eprom().

sts3032_move

int sts3032_move

extern

Definition at line 68 of file actuators_sts3032.c.

Referenced by actuators_sts3032_move().

sts3032_response_level

int sts3032_response_level

extern

Definition at line 69 of file actuators_sts3032.c.

Referenced by actuators_sts3032_set_response_level().