actuators_faulhaber module

Actuators Driver for the Faulhaber controller

Based on the velocity controller inside the MC5004 controller, a simple position controller is implemented.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="actuators_faulhaber">
  b'<define name="FAULHABER_P_GAIN" value="0.07" />\n    '
  b'<define name="FAULHABER_MAX_VELOCITY" value="14000" />\n  '
  b'<configure name="FAULHABER_DEV" value="UARTX" />\n    '
</module>

Module configuration options

Configure Options

• name: FAULHABER_DEV value: UARTX
  Description: UART port (default UART4)

Define Options

• name: FAULHABER_P_GAIN value: 0.07
  Description: Proportional gain for the position controller
• name: FAULHABER_MAX_VELOCITY value: 14000
  Description: Maximum velocity for the position controller

Module functions

Init Functions

These initialization functions are called once on startup.

• actuators_faulhaber_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• actuators_faulhaber_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• actuators_faulhaber_periodic()
  • Frequency in Hz: 50
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• actuators_faulhaber.h

Source Files

• modules/actuators/actuators_faulhaber.c

Raw actuators_faulhaber.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="actuators_faulhaber" dir="actuators" task="actuators">
  <doc>
    <description>
      Actuators Driver for the Faulhaber controller
      Based on the velocity controller inside the MC5004 controller, a simple position controller is implemented.
    </description>
    <configure name="FAULHABER_DEV" value="UARTX" description="UART port (default UART4)"/>
    <define name="FAULHABER_P_GAIN" value="0.07" description="Proportional gain for the position controller"/>
    <define name="FAULHABER_MAX_VELOCITY" value="14000" description="Maximum velocity for the position controller"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Faulhaber">
        <dl_setting var="faulhaber.mode" min="0" step="1" max="3" shortname="mode" values="INIT|VELOCITY|ERROR|REQ_ERROR|RESET_ERROR" module="modules/actuators/actuators_faulhaber" handler="SetMode"/>
        <dl_setting var="faulhaber.p_gain" min="0" step="0.001" max="1"/>
        <dl_setting var="faulhaber.max_velocity" min="0" step="100" max="100000"/>
        <dl_setting var="faulhaber.setpoint_position" min="0" step="1000" max="3600000"/>
        <dl_setting var="faulhaber.real_position" min="0" step="1000" max="3300000"/>
      </dl_settings>
    </dl_settings>
  </settings>
 
  <dep>
    <depends>uart</depends>
    <provides></provides>
  </dep>
  <header>
    <file name="actuators_faulhaber.h"/>
  </header>
  <init fun="actuators_faulhaber_init()"/>
  <!-- Controller runs at half the speed of the periodic -->
  <periodic fun="actuators_faulhaber_periodic()" freq="50"/>
  <event fun="actuators_faulhaber_event()" />
  <makefile target="!sim">
    <configure name="FAULHABER_DEV" default="UART4" case="upper|lower"/>
    <define name="FAULHABER_DEV" value="$(FAULHABER_DEV_LOWER)"/>
    <define name="USE_$(FAULHABER_DEV_UPPER)"/>
    <define name="$(FAULHABER_DEV_UPPER)_BAUD" value="B115200"/>
    <file name="actuators_faulhaber.c"/>
    <test>
        <define name="USE_UART0"/>
        <define name="USE_UART4"/>
        <define name="PERIODIC_FREQUENCY" value="500"/>
        <define name="FAULHABER_DEV" value="uart4"/>
        <define name="get_servo_min_FAULHABER" value=""/>
        <define name="get_servo_max_FAULHABER" value=""/>
        <define name="get_servo_idx_FAULHABER" value=""/>
        <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
        <define name="DOWNLINK_DEVICE" value="uart0"/>
    </test>
  </makefile>
</module>