Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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actuators_xvert.c File Reference
#include "actuators_xvert.h"
#include "subsystems/actuators/actuators_pwm_arch.h"
#include "subsystems/actuators/actuators_pwm.h"
#include "mcu_periph/uart.h"
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Go to the source code of this file.

Macros

#define ESCS_PORT   (&((ESCS_UART).device))
 
#define GP   0x107 /* x^8 + x^2 + x + 1 */
 
#define DI   0xE7
 

Functions

static void init_crc8 (void)
 
void crc8 (unsigned char *crc, unsigned char m)
 
void actuators_xvert_init (void)
 
void actuators_xvert_commit (void)
 

Variables

int32_t actuators_xvert_values [ACTUATORS_PWM_NB]
 
static unsigned char crc8_table [256]
 
static int made_table = 0
 

Detailed Description

Author
Kevin van Hecke Actuators driver for X-vert VTOL motor controllers. Contains two normal pwm servos, and two custom driven escs through a propriety uart protocol.

Definition in file actuators_xvert.c.

Macro Definition Documentation

#define DI   0xE7

Definition at line 41 of file actuators_xvert.c.

Referenced by init_crc8().

#define ESCS_PORT   (&((ESCS_UART).device))

Definition at line 33 of file actuators_xvert.c.

Referenced by actuators_xvert_commit().

#define GP   0x107 /* x^8 + x^2 + x + 1 */

Definition at line 40 of file actuators_xvert.c.

Function Documentation

void actuators_xvert_init ( void  )

Definition at line 84 of file actuators_xvert.c.

References actuators_pwm_arch_init().

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void crc8 ( unsigned char *  crc,
unsigned char  m 
)

Definition at line 69 of file actuators_xvert.c.

References crc8_table, init_crc8(), and made_table.

Referenced by actuators_xvert_commit().

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static void init_crc8 ( void  )
static

Definition at line 47 of file actuators_xvert.c.

References crc, crc8_table, DI, and made_table.

Referenced by crc8().

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Variable Documentation

int32_t actuators_xvert_values[ACTUATORS_PWM_NB]

Definition at line 37 of file actuators_xvert.c.

Referenced by actuators_xvert_commit().

unsigned char crc8_table[256]
static

Definition at line 44 of file actuators_xvert.c.

Referenced by crc8(), and init_crc8().

int made_table = 0
static

Definition at line 45 of file actuators_xvert.c.

Referenced by crc8(), and init_crc8().