actuators_t4_uart module

Actuators Driver using T4 protocol to a T4 actuators board via UART bus.

If you have a T4 Actuator Board, use this module to set serialbus servos, PWM ESC's, DShot ESC's and PWM servos connected to a T4 Actuators Board. Prominent use-case is that one can use status information that is returned in the autopilot control loop. All the information like: RPM, Angle, Torque, Temperature, Current, usable state information for more precisly contolled flights.

For the hardware and software used to make your own T4 Actuators board, find all information here: https://github.com/tudelft/t4_actuators_board/

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_t4_uart">
  b'<configure name="ACTUATORS_T4_PORT" value="UARTX" />\n    '
  b'<configure name="ACTUATORS_T4_BAUD" value="B921600" />\n  '
</module>

Module configuration options

Configure Options

• name: ACTUATORS_T4_PORT value: UARTX
  Description: UART port the T4 board is connected to (default uart2)
• name: ACTUATORS_T4_BAUD value: B921600
  Description: Baudrate for the Flightcontroller to T4 actuators board, make they are the same (default B1500000)

Module functions

Init Functions

These initialization functions are called once on startup.

• actuators_t4_uart_init()

Event Functions

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

• actuators_t4_uart_event()

Files

Header Files

The following headers are automatically included in modules.h

• actuators_t4_uart.h

Source Files

• modules/actuators/actuators_t4_uart.c
• modules/actuators/actuators_t4_uart.c

Raw actuators_t4_uart.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="actuators_t4_uart" dir="actuators" task="actuators">
  <doc>
    <description>
      Actuators Driver using T4 protocol to a T4 actuators board via UART bus.
 
      If you have a T4 Actuator Board, use this module to set serialbus servos, PWM ESC's, DShot ESC's and PWM servos connected to a T4 Actuators Board.
      Prominent use-case is that one can use status information that is returned in the autopilot control loop. 
      All the information like: RPM, Angle, Torque, Temperature, Current, usable state information for more precisly contolled flights.
 
      For the hardware and software used to make your own T4 Actuators board, find all information here: https://github.com/tudelft/t4_actuators_board/
    </description>
    <configure name="ACTUATORS_T4_PORT" value="UARTX" description="UART port the T4 board is connected to (default uart2)"/>
    <configure name="ACTUATORS_T4_BAUD" value="B921600" description="Baudrate for the Flightcontroller to T4 actuators board, make they are the same (default B1500000)"/>
  </doc>
  <header>
    <file name="actuators_t4_uart.h"/>
  </header>
  <init fun="actuators_t4_uart_init()"/>
  <event fun="actuators_t4_uart_event()"/>
  <makefile target="ap|fbw">
    <configure name="ACTUATORS_T4_PORT" default="uart2" case="upper|lower"/>
    <configure name="ACTUATORS_T4_BAUD" default="B1500000"/>
    <define name="USE_$(ACTUATORS_T4_PORT_UPPER)"/>
    <define name="USE_$(ACTUATORS_T4_PORT_UPPER)_TX" value="TRUE"/>
    <define name="ACTUATORS_T4_PORT" value="$(ACTUATORS_T4_PORT_LOWER)"/>
    <define name="$(ACTUATORS_T4_PORT_UPPER)_BAUD" value="$(ACTUATORS_T4_BAUD)"/>
    <file name="actuators_t4_uart.c" dir="modules/actuators"/>
  </makefile>
  <makefile target="sim|nps">
    <define name="ACTUATORS_T4_SIM" value="TRUE"/>
    <configure name="ACTUATORS_T4_PORT" default="UART4" case="upper|lower"/>
    <configure name="ACTUATORS_T4_BAUD" default="B1500000"/>
    <define name="ACTUATORS_T4_PORT" value="$(ACTUATORS_T4_PORT_LOWER)"/>
    <file name="actuators_t4_uart.c" dir="modules/actuators"/>
    <test>
        <define name="USE_UART2"/>
        <define name="PERIODIC_FREQUENCY" value="500"/>
        <define name="ACTUATORS_T4_PORT" value="uart2"/>
    </test>
  </makefile>
</module>