actuators.h File Reference

Actuator driver for the disco. More...

#include "std.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/pwm_sysfs.h"

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Data Structures
struct	ActuatorsDisco

Macros
#define	ACTUATORS_DISCO_ADDR   0x10
#define	ACTUATORS_DISCO_SET_REF_SPEED   0x02
	Set reference speed. More...
#define	ACTUATORS_DISCO_GET_OBS_DATA   0x20
	Get observation data. More...
#define	ACTUATORS_DISCO_START_PROP   0x40
	Start the propellers. More...
#define	ACTUATORS_DISCO_TOGGLE_GPIO   0x4D
	Toggle GPIO (reset, red led, green led) More...
#define	ACTUATORS_DISCO_STOP_PROP   0x60
	Stop the propellers. More...
#define	ACTUATORS_DISCO_CLEAR_ERROR   0x80
	Clear all current erros. More...
#define	ACTUATORS_DISCO_PLAY_SOUND   0x82
	Play a sound (0=stop, 1=short beep, 2=boot beep, 3=Be-Bop-Ah-Lula, negative=repeat) More...
#define	ACTUATORS_DISCO_GET_INFO   0xA0
	Get version information. More...
#define	ACTUATORS_DISCO_PWM_NB   6
	Max number of PWM channels. More...
#define	ACTUATORS_DISCO_MOTOR_IDX   0
	Index for motor BLDC. More...
#define	ActuatorsDiscoSet(_i, _v)   actuators_disco_set(_i, _v)
#define	ActuatorsDiscoCommit()   actuators_disco_commit()
#define	ActuatorsDiscoInit()   actuators_disco_init()

Functions
void	actuators_disco_set (uint8_t idx, uint16_t val)
void	actuators_disco_commit (void)
void	actuators_disco_init (void)

Variables
struct ActuatorsDisco	actuators_disco

Detailed Description

Actuator driver for the disco.

Disco plane is using the same ESC (I2C) than bebop for its motor and Pwm_sysfs linux driver for the PWM outputs

Definition in file actuators.h.

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Data Structure Documentation

ActuatorsDisco

struct ActuatorsDisco

Definition at line 54 of file actuators.h.

Collaboration diagram for ActuatorsDisco:

Data Fields
struct i2c_transaction	i2c_trans	I2C transaction for communicating with the Disco BLDC driver.
uint16_t	motor_rpm	Motor RPM setpoint.
struct PWM_Sysfs	pwm[ACTUATORS_DISCO_PWM_NB]	Array of PWM outputs.
uint16_t	rpm_obs	Measured RPM.
bool	rpm_saturated	RPM saturation flag (bit 15 in obs data)
uint8_t	status	Status flag.

Macro Definition Documentation

ACTUATORS_DISCO_ADDR

#define ACTUATORS_DISCO_ADDR   0x10

Definition at line 38 of file actuators.h.

ACTUATORS_DISCO_CLEAR_ERROR

#define ACTUATORS_DISCO_CLEAR_ERROR   0x80

Clear all current erros.

Definition at line 46 of file actuators.h.

ACTUATORS_DISCO_GET_INFO

#define ACTUATORS_DISCO_GET_INFO   0xA0

Get version information.

Definition at line 48 of file actuators.h.

ACTUATORS_DISCO_GET_OBS_DATA

#define ACTUATORS_DISCO_GET_OBS_DATA   0x20

Get observation data.

Definition at line 42 of file actuators.h.

ACTUATORS_DISCO_MOTOR_IDX

#define ACTUATORS_DISCO_MOTOR_IDX   0

Index for motor BLDC.

Definition at line 52 of file actuators.h.

ACTUATORS_DISCO_PLAY_SOUND

#define ACTUATORS_DISCO_PLAY_SOUND   0x82

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

Definition at line 47 of file actuators.h.

ACTUATORS_DISCO_PWM_NB

#define ACTUATORS_DISCO_PWM_NB   6

Max number of PWM channels.

Definition at line 51 of file actuators.h.

ACTUATORS_DISCO_SET_REF_SPEED

#define ACTUATORS_DISCO_SET_REF_SPEED   0x02

Set reference speed.

Definition at line 41 of file actuators.h.

ACTUATORS_DISCO_START_PROP

#define ACTUATORS_DISCO_START_PROP   0x40

Start the propellers.

Definition at line 43 of file actuators.h.

ACTUATORS_DISCO_STOP_PROP

#define ACTUATORS_DISCO_STOP_PROP   0x60

Stop the propellers.

Definition at line 45 of file actuators.h.

ACTUATORS_DISCO_TOGGLE_GPIO

#define ACTUATORS_DISCO_TOGGLE_GPIO   0x4D

Toggle GPIO (reset, red led, green led)

Definition at line 44 of file actuators.h.

ActuatorsDiscoCommit

#define ActuatorsDiscoCommit

(

)

actuators_disco_commit()

Definition at line 64 of file actuators.h.

ActuatorsDiscoInit

#define ActuatorsDiscoInit

(

)

actuators_disco_init()

Definition at line 65 of file actuators.h.

ActuatorsDiscoSet

#define ActuatorsDiscoSet	(		_i,
			_v
	)		actuators_disco_set(_i, _v)

Definition at line 63 of file actuators.h.

Function Documentation

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

extern

Definition at line 74 of file actuators.c.

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