actuators_dshot_arch.c File Reference

#include "modules/actuators/actuators_dshot.h"
#include "modules/actuators/esc_dshot.h"
#include "modules/core/abi.h"
#include "mcu_periph/ram_arch.h"
#include "mcu_periph/gpio.h"
#include <BOARD_CONFIG>
#include "modules/datalink/telemetry.h"
#include "modules/energy/electrical.h"

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Data Structures
struct	dshot_private

Macros
#define	_CONCAT_GPIO(num, name)   UART ## num ## _GPIO_ ## name
#define	CONCAT_GPIO(num, name)   _CONCAT_GPIO(num, name)

Functions
static void	esc_msg_send (struct transport_tx *trans, struct link_device *dev)
static void	dshot_init_struct (struct dshot *ds)
static void	dshot_set_struct (struct dshot *ds, struct dshot_private *dsp, DSHOTDriver *driver, uint32_t channel)
void	actuators_dshot_arch_init (void)
	Arch dependent init. More...
void	actuators_dshot_arch_commit (void)

Variables
struct dshot	actuators_dshot_values [ACTUATORS_DSHOT_NB]
struct dshot_private	actuators_dshot_private [ACTUATORS_DSHOT_NB]

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Data Structure Documentation

dshot_private

struct dshot_private

Definition at line 40 of file actuators_dshot_arch.c.

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Data Fields
uint32_t	channel
DSHOTDriver *	driver

Macro Definition Documentation

_CONCAT_GPIO

#define _CONCAT_GPIO	(		num,
			name
	)		UART ## num ## _GPIO_ ## name

Definition at line 159 of file actuators_dshot_arch.c.

CONCAT_GPIO

#define CONCAT_GPIO	(		num,
			name
	)		_CONCAT_GPIO(num, name)

Definition at line 160 of file actuators_dshot_arch.c.

Function Documentation

actuators_dshot_arch_commit()

void actuators_dshot_arch_commit

(

void

)

Definition at line 300 of file actuators_dshot_arch.c.

References ACT_FEEDBACK_DSHOT_ID, ACTUATORS_DSHOT_NB, actuators_dshot_private, actuators_dshot_values, DSHOT_BIDIR_ERR_CRC, DSHOT_BIDIR_TLM_EDT, DSHOT_SERVO_0, DSHOT_SERVO_0_CHANNEL, DSHOT_SERVO_0_DRIVER, DSHOT_SERVO_1, DSHOT_SERVO_10, DSHOT_SERVO_10_CHANNEL, DSHOT_SERVO_10_DRIVER, DSHOT_SERVO_1_CHANNEL, DSHOT_SERVO_1_DRIVER, DSHOT_SERVO_2, DSHOT_SERVO_2_CHANNEL, DSHOT_SERVO_2_DRIVER, DSHOT_SERVO_3, DSHOT_SERVO_3_CHANNEL, DSHOT_SERVO_3_DRIVER, DSHOT_SERVO_4, DSHOT_SERVO_4_CHANNEL, DSHOT_SERVO_4_DRIVER, DSHOT_SERVO_5, DSHOT_SERVO_5_CHANNEL, DSHOT_SERVO_5_DRIVER, DSHOT_SERVO_7, DSHOT_SERVO_7_CHANNEL, DSHOT_SERVO_7_DRIVER, DSHOT_SERVO_8, DSHOT_SERVO_8_CHANNEL, DSHOT_SERVO_8_DRIVER, DSHOT_SERVO_9, DSHOT_SERVO_9_CHANNEL, DSHOT_SERVO_9_DRIVER, dshotGetTelemetry(), dshotSendFrame(), dshotSetThrottle(), DshotTelemetry::frame, act_feedback_t::idx, act_feedback_t::act_feedback_set_t::rpm, act_feedback_t::rpm, and act_feedback_t::set.

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actuators_dshot_arch_init()

void actuators_dshot_arch_init

(

void

)

Arch dependent init.

Definition at line 162 of file actuators_dshot_arch.c.

References ACTUATORS_DSHOT_NB, actuators_dshot_private, actuators_dshot_values, CONCAT_GPIO, DefaultPeriodic, dshot_init_struct(), DSHOT_SERVO_0, DSHOT_SERVO_0_AF, DSHOT_SERVO_0_CHANNEL, DSHOT_SERVO_0_DRIVER, DSHOT_SERVO_0_GPIO, DSHOT_SERVO_0_PIN, DSHOT_SERVO_1, DSHOT_SERVO_10, DSHOT_SERVO_10_AF, DSHOT_SERVO_10_CHANNEL, DSHOT_SERVO_10_DRIVER, DSHOT_SERVO_10_GPIO, DSHOT_SERVO_10_PIN, DSHOT_SERVO_1_AF, DSHOT_SERVO_1_CHANNEL, DSHOT_SERVO_1_DRIVER, DSHOT_SERVO_1_GPIO, DSHOT_SERVO_1_PIN, DSHOT_SERVO_2, DSHOT_SERVO_2_AF, DSHOT_SERVO_2_CHANNEL, DSHOT_SERVO_2_DRIVER, DSHOT_SERVO_2_GPIO, DSHOT_SERVO_2_PIN, DSHOT_SERVO_3, DSHOT_SERVO_3_AF, DSHOT_SERVO_3_CHANNEL, DSHOT_SERVO_3_DRIVER, DSHOT_SERVO_3_GPIO, DSHOT_SERVO_3_PIN, DSHOT_SERVO_4, DSHOT_SERVO_4_AF, DSHOT_SERVO_4_CHANNEL, DSHOT_SERVO_4_DRIVER, DSHOT_SERVO_4_GPIO, DSHOT_SERVO_4_PIN, DSHOT_SERVO_5, DSHOT_SERVO_5_AF, DSHOT_SERVO_5_CHANNEL, DSHOT_SERVO_5_DRIVER, DSHOT_SERVO_5_GPIO, DSHOT_SERVO_5_PIN, DSHOT_SERVO_7, DSHOT_SERVO_7_AF, DSHOT_SERVO_7_CHANNEL, DSHOT_SERVO_7_DRIVER, DSHOT_SERVO_7_GPIO, DSHOT_SERVO_7_PIN, DSHOT_SERVO_8, DSHOT_SERVO_8_AF, DSHOT_SERVO_8_CHANNEL, DSHOT_SERVO_8_DRIVER, DSHOT_SERVO_8_GPIO, DSHOT_SERVO_8_PIN, DSHOT_SERVO_9, DSHOT_SERVO_9_AF, DSHOT_SERVO_9_CHANNEL, DSHOT_SERVO_9_DRIVER, DSHOT_SERVO_9_GPIO, DSHOT_SERVO_9_PIN, dshot_set_struct(), dshotStart(), esc_msg_send(), FALSE, gpio_setup_pin_af(), gpio_setup_pin_af_pullup(), PRINT_CONFIG_VAR(), and register_periodic_telemetry().

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dshot_init_struct()

static void dshot_init_struct ( struct dshot *  ds )

static

Definition at line 143 of file actuators_dshot_arch.c.

References dshot::activated, dshot::cmd, dshot::current, dshot::rpm, and dshot::voltage.

Referenced by actuators_dshot_arch_init().

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dshot_set_struct()

static void dshot_set_struct ( struct dshot *  ds, struct dshot_private *  dsp, DSHOTDriver *  driver, uint32_t  channel  )

static

Definition at line 152 of file actuators_dshot_arch.c.

References dshot::activated, dshot_private::channel, and dshot_private::driver.

Referenced by actuators_dshot_arch_init().

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esc_msg_send()

static void esc_msg_send ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 106 of file actuators_dshot_arch.c.

References ACTUATORS_DSHOT_NB, actuators_dshot_private, actuators_dshot_values, dshot_private::channel, dshot::current, dev, dshot_private::driver, DSHOT_BIDIR, DSHOT_BIDIR_ERR_CRC, DSHOT_BIDIR_TLM_EDT, dshotGetTelemetry(), electrical, DshotTelemetry::frame, dshot::rpm, rpm, dshot::voltage, and Electrical::vsupply.

Referenced by actuators_dshot_arch_init().

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Variable Documentation

actuators_dshot_private

struct dshot_private actuators_dshot_private[ACTUATORS_DSHOT_NB]

Definition at line 1 of file actuators_dshot_arch.c.

Referenced by actuators_dshot_arch_commit(), actuators_dshot_arch_init(), and esc_msg_send().

actuators_dshot_values

struct dshot actuators_dshot_values[ACTUATORS_DSHOT_NB]

Definition at line 1 of file actuators_dshot_arch.c.

Referenced by actuators_dshot_arch_commit(), actuators_dshot_arch_init(), and esc_msg_send().