actuators.c File Reference

Actuator driver for the Parrot Disco. More...

#include "modules/actuators/actuators.h"
#include "modules/energy/electrical.h"
#include "actuators.h"
#include "autopilot.h"
#include "modules/core/abi.h"
#include <endian.h>
#include <string.h>
#include <stdio.h>

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Data Structures
struct	disco_bldc_obs
	private observation structure More...

Macros
#define	DISCO_BLDC_STATUS_STOPPED   1
#define	DISCO_BLDC_STATUS_RAMPUP   2
#define	DISCO_BLDC_STATUS_RUNNING   4
#define	DISCO_BLDC_STATUS_RAMPDOWN   5
#define	DISCO_BLDC_START_MOTOR_THRESHOLD   1100

Functions
static uint8_t	actuators_disco_checksum (uint8_t *bytes, uint8_t size)
void	actuators_disco_init (void)
void	actuators_disco_set (uint8_t idx, uint16_t val)
void	actuators_disco_commit (void)

Variables
struct disco_bldc_obs	obs_data
static uint8_t	disco_channels [] = { 4, 5, 6, 1, 2, 3 }
	Internal mapping of the PWM with output index servo rail 1 <-> linux pwm_4 servo rail 2 <-> linux pwm_5 servo rail 3 <-> linux pwm_6 servo rail 4 <-> linux pwm_1 servo rail 5 <-> linux pwm_2 servo rail 6 <-> linux pwm_3. More...
struct ActuatorsDisco	actuators_disco

Detailed Description

Actuator driver for the Parrot Disco.

Disco plane is using the same ESC (I2C) as a Parrot Bebop for its motor and Pwm_sysfs linux driver for the PWM outputs

Some part of this code is coming from the APM Disco and Bebop drivers

Definition in file actuators.c.

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Data Structure Documentation

disco_bldc_obs

struct disco_bldc_obs

private observation structure

Definition at line 51 of file actuators.c.

Data Fields
uint16_t	batt_mv
uint8_t	checksum
uint8_t	error
uint8_t	motors_err
uint8_t	overrcurrent
uint16_t	rpm
uint8_t	status
uint8_t	temp

Macro Definition Documentation

DISCO_BLDC_START_MOTOR_THRESHOLD

#define DISCO_BLDC_START_MOTOR_THRESHOLD   1100

Definition at line 84 of file actuators.c.

DISCO_BLDC_STATUS_RAMPDOWN

#define DISCO_BLDC_STATUS_RAMPDOWN   5

Definition at line 79 of file actuators.c.

DISCO_BLDC_STATUS_RAMPUP

#define DISCO_BLDC_STATUS_RAMPUP   2

Definition at line 77 of file actuators.c.

DISCO_BLDC_STATUS_RUNNING

#define DISCO_BLDC_STATUS_RUNNING   4

Definition at line 78 of file actuators.c.

DISCO_BLDC_STATUS_STOPPED

#define DISCO_BLDC_STATUS_STOPPED   1

Definition at line 76 of file actuators.c.

Function Documentation

actuators_disco_checksum()

static uint8_t actuators_disco_checksum ( uint8_t *  bytes, uint8_t  size  )

static

Definition at line 184 of file actuators.c.

References checksum.

Referenced by actuators_disco_commit().

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actuators_disco_commit()

void actuators_disco_commit

(

void

)

Definition at line 113 of file actuators.c.

References ACT_FEEDBACK_BOARD_ID, actuators_disco, actuators_disco_checksum(), ACTUATORS_DISCO_CLEAR_ERROR, ACTUATORS_DISCO_GET_OBS_DATA, ACTUATORS_DISCO_SET_REF_SPEED, ACTUATORS_DISCO_START_PROP, ACTUATORS_DISCO_STOP_PROP, autopilot_set_kill_throttle(), disco_bldc_obs::batt_mv, i2c_transaction::buf, DISCO_BLDC_START_MOTOR_THRESHOLD, DISCO_BLDC_STATUS_RAMPUP, DISCO_BLDC_STATUS_RUNNING, DISCO_BLDC_STATUS_STOPPED, electrical, disco_bldc_obs::error, i2c_blocking_transceive(), i2c_blocking_transmit(), ActuatorsDisco::i2c_trans, act_feedback_t::idx, ActuatorsDisco::motor_rpm, obs_data, disco_bldc_obs::rpm, act_feedback_t::act_feedback_set_t::rpm, act_feedback_t::rpm, ActuatorsDisco::rpm_obs, ActuatorsDisco::rpm_saturated, act_feedback_t::set, i2c_transaction::slave_addr, disco_bldc_obs::status, true, and Electrical::vsupply.

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actuators_disco_init()

void actuators_disco_init

(

void

)

Definition at line 89 of file actuators.c.

References actuators_disco, ACTUATORS_DISCO_ADDR, ACTUATORS_DISCO_PWM_NB, disco_channels, ActuatorsDisco::i2c_trans, I2CTransDone, ActuatorsDisco::motor_rpm, ActuatorsDisco::pwm, pwm_sysfs_init(), i2c_transaction::slave_addr, and i2c_transaction::status.

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actuators_disco_set()

void actuators_disco_set	(	uint8_t	idx,
		uint16_t	val
	)

Definition at line 101 of file actuators.c.

References actuators_disco, ACTUATORS_DISCO_MOTOR_IDX, ACTUATORS_DISCO_PWM_NB, idx, ActuatorsDisco::motor_rpm, ActuatorsDisco::pwm, pwm_sysfs_set_duty(), and val.

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Variable Documentation

actuators_disco

struct ActuatorsDisco actuators_disco

Definition at line 74 of file actuators.c.

Referenced by actuators_disco_commit(), actuators_disco_init(), and actuators_disco_set().

disco_channels

uint8_t disco_channels[] = { 4, 5, 6, 1, 2, 3 }

static

Internal mapping of the PWM with output index servo rail 1 <-> linux pwm_4 servo rail 2 <-> linux pwm_5 servo rail 3 <-> linux pwm_6 servo rail 4 <-> linux pwm_1 servo rail 5 <-> linux pwm_2 servo rail 6 <-> linux pwm_3.

Definition at line 74 of file actuators.c.

Referenced by actuators_disco_init().

obs_data

struct disco_bldc_obs obs_data

Referenced by actuators_disco_commit().