actuators_uavcan.h File Reference

#include "modules/uavcan/uavcan.h"
#include <BOARD_CONFIG>

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Macros
#define	ACTUATORS_UAVCAN_RAW_DIV   1
#define	ACTUATORS_UAVCAN_CMD_DIV   1

Functions
void	actuators_uavcan_init (struct uavcan_iface_t *iface)
	Initialize an uavcan interface. More...
void	actuators_uavcan_commit (struct uavcan_iface_t *iface, int16_t *values, uint8_t nb)
	Commit actuator values to the uavcan interface (EQUIPMENT_ESC_RAWCOMMAND) More...
void	actuators_uavcan_cmd_commit (struct uavcan_iface_t *iface, int16_t *values, uint8_t nb)
	Commit actuator values to the uavcan interface (EQUIPMENT_ACTUATOR_ARRAYCOMMAND) More...

Macro Definition Documentation

ACTUATORS_UAVCAN_CMD_DIV

#define ACTUATORS_UAVCAN_CMD_DIV   1

Definition at line 36 of file actuators_uavcan.h.

ACTUATORS_UAVCAN_RAW_DIV

#define ACTUATORS_UAVCAN_RAW_DIV   1

Definition at line 31 of file actuators_uavcan.h.

Function Documentation

actuators_uavcan_cmd_commit()

void actuators_uavcan_cmd_commit	(	struct uavcan_iface_t *	iface,
		int16_t *	values,
		uint8_t	nb
	)

Commit actuator values to the uavcan interface (EQUIPMENT_ACTUATOR_ARRAYCOMMAND)

Definition at line 455 of file actuators_uavcan.c.

References MAX_PPRZ, MIN_PPRZ, offset, uavcan_broadcast(), UAVCAN_CMD_UNUSED, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE, and UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE.

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actuators_uavcan_commit()

void actuators_uavcan_commit	(	struct uavcan_iface_t *	iface,
		int16_t *	values,
		uint8_t	nb
	)

Commit actuator values to the uavcan interface (EQUIPMENT_ESC_RAWCOMMAND)

Definition at line 436 of file actuators_uavcan.c.

References offset, uavcan_broadcast(), UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE, and UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE.

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actuators_uavcan_init()

void actuators_uavcan_init

(

struct uavcan_iface_t *

iface

)

Initialize an uavcan interface.

Definition at line 396 of file actuators_uavcan.c.

References actuator_status_ev, actuators_uavcan1cmd_values, actuators_uavcan2cmd_values, actuators_uavcan_actuator_status_cb(), actuators_uavcan_device_temperature_cb(), actuators_uavcan_esc_status_cb(), actuators_uavcan_initialized, actuators_uavcan_send_esc(), DefaultPeriodic, device_temperature_ev, esc_status_ev, init_random(), register_periodic_telemetry(), uavcan_bind(), UAVCAN_CMD_UNUSED, UAVCAN_EQUIPMENT_ACTUATOR_STATUS_ID, UAVCAN_EQUIPMENT_ACTUATOR_STATUS_SIGNATURE, UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_ID, UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE, UAVCAN_EQUIPMENT_ESC_STATUS_ID, and UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE.

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