actuators_t4_uart.h File Reference

Uses a T4 Actuators Board as fly by wire system. This Board can control serial bus servos, ESC's and PWM servos, with as big benefir providing real time telemetry in return into the autopilot state. Read more on how to create your own T4 Board here: https://github.com/tudelft/t4_actuators_board/. More...

#include "std.h"
#include <stdbool.h>
#include <stdlib.h>
#include "generated/airframe.h"
#include "pprzlink/pprz_transport.h"

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Data Structures
struct	ActuatorsT4In
struct	ActuatorsT4Out

Macros
#define	START_BYTE_ACTUATORS_T4   0x9A

Functions
void	actuators_t4_uart_init (void)
void	actuators_t4_uart_parse_msg_in (void)
void	actuators_t4_uart_event (void)

Detailed Description

Uses a T4 Actuators Board as fly by wire system. This Board can control serial bus servos, ESC's and PWM servos, with as big benefir providing real time telemetry in return into the autopilot state. Read more on how to create your own T4 Board here: https://github.com/tudelft/t4_actuators_board/.

Author

Alessandro Mancinelli, Sunyou Hwang, OpenUAS

Definition in file actuators_t4_uart.h.

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Data Structure Documentation

ActuatorsT4In

struct ActuatorsT4In

Definition at line 39 of file actuators_t4_uart.h.

Data Fields
uint16_t	bitmask_servo_health
uint8_t	checksum_in
int16_t	esc_1_current
int16_t	esc_1_error_code
int16_t	esc_1_rpm
int16_t	esc_1_voltage
int16_t	esc_2_current
int16_t	esc_2_error_code
int16_t	esc_2_rpm
int16_t	esc_2_voltage
int16_t	esc_3_current
int16_t	esc_3_error_code
int16_t	esc_3_rpm
int16_t	esc_3_voltage
int16_t	esc_4_current
int16_t	esc_4_error_code
int16_t	esc_4_rpm
int16_t	esc_4_voltage
float	rolling_msg_in
uint8_t	rolling_msg_in_id
int16_t	servo_10_angle
int16_t	servo_10_load
int16_t	servo_11_angle
int16_t	servo_12_angle
int16_t	servo_1_angle
int16_t	servo_1_load
int16_t	servo_2_angle
int16_t	servo_2_load
int16_t	servo_3_angle
int16_t	servo_3_load
int16_t	servo_4_angle
int16_t	servo_4_load
int16_t	servo_5_angle
int16_t	servo_5_load
int16_t	servo_6_angle
int16_t	servo_6_load
int16_t	servo_7_angle
int16_t	servo_7_load
int16_t	servo_8_angle
int16_t	servo_8_load
int16_t	servo_9_angle
int16_t	servo_9_load

ActuatorsT4Out

struct ActuatorsT4Out

Definition at line 112 of file actuators_t4_uart.h.

Data Fields
uint8_t	checksum_out
int16_t	esc_1_dshot_cmd
int16_t	esc_2_dshot_cmd
int16_t	esc_3_dshot_cmd
int16_t	esc_4_dshot_cmd
uint8_t	esc_arm
float	rolling_msg_out
uint8_t	rolling_msg_out_id
int16_t	servo_10_cmd
int16_t	servo_11_cmd
int16_t	servo_12_cmd
int16_t	servo_1_cmd
int16_t	servo_2_cmd
int16_t	servo_3_cmd
int16_t	servo_4_cmd
int16_t	servo_5_cmd
int16_t	servo_6_cmd
int16_t	servo_7_cmd
int16_t	servo_8_cmd
int16_t	servo_9_cmd
uint16_t	servo_arm

Macro Definition Documentation

START_BYTE_ACTUATORS_T4

#define START_BYTE_ACTUATORS_T4   0x9A

Definition at line 31 of file actuators_t4_uart.h.

Function Documentation

actuators_t4_uart_event()

void actuators_t4_uart_event ( void  )

extern

Definition at line 226 of file actuators_t4_uart.c.

References actuators_t4_buf_in_cnt, actuators_t4_last_ts, actuators_t4_message_frequency_in, actuators_t4_missed_packets_in, actuators_t4_msg_buf_in, actuators_t4_received_packets, actuators_t4_uart_parse_msg_in(), foo, get_sys_time_float(), START_BYTE_ACTUATORS_T4, uart_char_available(), and uart_getch().

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actuators_t4_uart_init()

void actuators_t4_uart_init ( void  )

extern

Definition at line 201 of file actuators_t4_uart.c.

References ABI_BROADCAST, actuators_t4_buf_in_cnt, actuators_t4_downlink(), ACTUATORS_T4_OUT, actuators_t4_out_msg_id, actuators_t4_uplink(), data_actuators_t4_out(), DefaultPeriodic, foo, and register_periodic_telemetry().

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actuators_t4_uart_parse_msg_in()

void actuators_t4_uart_parse_msg_in ( void  )

extern

Definition at line 216 of file actuators_t4_uart.c.

References actuators_t4_extra_data_in, actuators_t4_in, actuators_t4_msg_buf_in, foo, ActuatorsT4In::rolling_msg_in, and ActuatorsT4In::rolling_msg_in_id.

Referenced by actuators_t4_uart_event().

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