Paparazzi UAS  v5.15_devel-50-g4d7045d
Paparazzi is a free software Unmanned Aircraft System.
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actuators.h
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1 /*
2  *
3  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
22 
28 #ifndef ACTUATORS_BEBOP_RAW_H_
29 #define ACTUATORS_BEBOP_RAW_H_
30 
31 #include <stdint.h>
32 #include "mcu_periph/i2c.h"
33 
34 // full 8-bit address
35 #define ACTUATORS_BEBOP_ADDR 0x10
36 
37 // I2C Commands
38 #define ACTUATORS_BEBOP_SET_REF_SPEED 0x02
39 #define ACTUATORS_BEBOP_GET_OBS_DATA 0x20
40 #define ACTUATORS_BEBOP_START_PROP 0x40
41 #define ACTUATORS_BEBOP_TOGGLE_GPIO 0x4D
42 #define ACTUATORS_BEBOP_STOP_PROP 0x60
43 #define ACTUATORS_BEBOP_CLEAR_ERROR 0x80
44 #define ACTUATORS_BEBOP_PLAY_SOUND 0x82
45 #define ACTUATORS_BEBOP_GET_INFO 0xA0
46 
47 
53 };
54 
55 #define ActuatorsBebopSet(_i, _v) { actuators_bebop.rpm_ref[_i] = _v; }
56 #define ActuatorsBebopCommit() actuators_bebop_commit();
57 #define ActuatorsBebopInit() actuators_bebop_init();
58 
59 extern struct ActuatorsBebop actuators_bebop;
60 extern void actuators_bebop_commit(void);
61 extern void actuators_bebop_init(void);
62 
63 #endif /* ACTUATORS_BEBOP_RAW_H_ */
unsigned short uint16_t
Definition: types.h:16
struct ActuatorsBebop actuators_bebop
Definition: actuators.c:58
void actuators_bebop_init(void)
Definition: actuators.c:61
uint16_t rpm_obs[4]
Observed RPM.
Definition: actuators.h:51
uint8_t led
Current led status.
Definition: actuators.h:52
I2C transaction structure.
Definition: i2c.h:93
unsigned char uint8_t
Definition: types.h:14
uint16_t rpm_ref[4]
Reference RPM.
Definition: actuators.h:50
struct i2c_transaction i2c_trans
I2C transaction for communicating with the bebop BLDC driver.
Definition: actuators.h:49
void actuators_bebop_commit(void)
Definition: actuators.c:73
Architecture independent I2C (Inter-Integrated Circuit Bus) API.