Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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actuators.h File Reference

Actuator driver for the bebop. More...

#include <stdint.h>
#include "mcu_periph/i2c.h"
+ Include dependency graph for actuators.h:
+ This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures

struct  ActuatorsBebop
 

Macros

#define ACTUATORS_BEBOP_ADDR   0x10
 
#define ACTUATORS_BEBOP_SET_REF_SPEED   0x02
 Set reference speed. More...
 
#define ACTUATORS_BEBOP_GET_OBS_DATA   0x20
 Get observation data. More...
 
#define ACTUATORS_BEBOP_START_PROP   0x40
 Start the propellers. More...
 
#define ACTUATORS_BEBOP_TOGGLE_GPIO   0x4D
 Toggle GPIO (reset, red led, green led) More...
 
#define ACTUATORS_BEBOP_STOP_PROP   0x60
 Stop the propellers. More...
 
#define ACTUATORS_BEBOP_CLEAR_ERROR   0x80
 Clear all current erros. More...
 
#define ACTUATORS_BEBOP_PLAY_SOUND   0x82
 Play a sound (0=stop, 1=short beep, 2=boot beep, 3=Be-Bop-Ah-Lula, negative=repeat) More...
 
#define ACTUATORS_BEBOP_GET_INFO   0xA0
 Get version information. More...
 
#define ActuatorsBebopSet(_i, _v)   { actuators_bebop.rpm_ref[_i] = _v; }
 
#define ActuatorsBebopCommit()   actuators_bebop_commit();
 
#define ActuatorsBebopInit()   actuators_bebop_init();
 

Functions

void actuators_bebop_commit (void)
 
void actuators_bebop_init (void)
 

Variables

struct ActuatorsBebop actuators_bebop
 

Detailed Description

Actuator driver for the bebop.

Definition in file actuators.h.


Data Structure Documentation

struct ActuatorsBebop

Definition at line 48 of file actuators.h.

+ Collaboration diagram for ActuatorsBebop:
Data Fields
struct i2c_transaction i2c_trans I2C transaction for communicating with the bebop BLDC driver.
uint8_t led Current led status.
uint16_t rpm_obs[4] Observed RPM.
uint16_t rpm_ref[4] Reference RPM.

Macro Definition Documentation

#define ACTUATORS_BEBOP_ADDR   0x10

Definition at line 35 of file actuators.h.

Referenced by actuators_bebop_init().

#define ACTUATORS_BEBOP_CLEAR_ERROR   0x80

Clear all current erros.

Definition at line 43 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_GET_INFO   0xA0

Get version information.

Definition at line 45 of file actuators.h.

#define ACTUATORS_BEBOP_GET_OBS_DATA   0x20

Get observation data.

Definition at line 39 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_PLAY_SOUND   0x82

Play a sound (0=stop, 1=short beep, 2=boot beep, 3=Be-Bop-Ah-Lula, negative=repeat)

Definition at line 44 of file actuators.h.

#define ACTUATORS_BEBOP_SET_REF_SPEED   0x02

Set reference speed.

Definition at line 38 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_START_PROP   0x40

Start the propellers.

Definition at line 40 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_STOP_PROP   0x60

Stop the propellers.

Definition at line 42 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_TOGGLE_GPIO   0x4D

Toggle GPIO (reset, red led, green led)

Definition at line 41 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ActuatorsBebopCommit ( )    actuators_bebop_commit();

Definition at line 56 of file actuators.h.

#define ActuatorsBebopInit ( )    actuators_bebop_init();

Definition at line 57 of file actuators.h.

#define ActuatorsBebopSet (   _i,
  _v 
)    { actuators_bebop.rpm_ref[_i] = _v; }

Definition at line 55 of file actuators.h.

Function Documentation

Variable Documentation

struct ActuatorsBebop actuators_bebop

Definition at line 58 of file actuators.c.

Referenced by actuators_bebop_commit(), actuators_bebop_init(), and send_bebop_actuators().