actuators.h

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/*
 * (c) 2003-2005 Pascal Brisset, Antoine Drouin
 * (c) 2012 Gautier Hattenberger
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef ACTUATORS_H
#define ACTUATORS_H
 
#include "paparazzi.h"
#include "std.h"
 
/*
 * Defines SetActuatorsFromCommands() macro
 * Defines ACTUATORS_NB to 0 if no servo
 * Include servos drivers
 */
#include "generated/airframe.h"
 
extern void actuators_init(void);
extern void actuators_periodic(void);
 
// Actuator feedback structure for ABI Message
struct act_feedback_t {
  uint8_t idx;                      
  struct act_feedback_set_t {
    bool rpm: 1;                    
    bool position: 1;               
  } set;                            
 
  int32_t rpm;                      
  float position;                   
};
 
// Actuator configuration
struct act_config_t {
  uint8_t driver_no;  
  uint8_t servo_idx;  
  int32_t min;        
  int32_t max;        
  int32_t neutral;    
  float travel_up;    
  float travel_down;  
};
 
typedef void (*act_set_t)(uint8_t driver_idx, int16_t driver_value);
 
#if ACTUATORS_NB
 
extern uint32_t actuators_delay_time;
extern bool   actuators_delay_done;
 
// Actuator feedback structure for ABI Message
struct actuator_t {
  pprz_t pprz_val;            
  int16_t driver_val;         
  struct act_config_t config; 
  act_set_t set;              
};
 
extern struct actuator_t actuators[ACTUATORS_NB];
 
extern int16_t actuators_pprz[ACTUATORS_NB];
 
extern void actuator_set(uint8_t pprz_idx, pprz_t pprz_value);
 
#define ActuatorSet(_n, _v) actuator_set(SERVO_ ## _n ## _IDX, _v)
 
extern int16_t actuator_get(uint8_t pprz_idx);
 
extern uint8_t actuator_get_idx(uint8_t driver_no, uint8_t servo_idx);
 
extern int32_t actuator_get_min(uint8_t driver_no, uint8_t servo_idx);
 
extern int32_t actuator_get_max(uint8_t driver_no, uint8_t servo_idx);
 
extern int32_t actuator_get_neutral(uint8_t driver_no, uint8_t servo_idx);
 
extern void actuator_set_min(uint8_t driver_no, uint8_t servo_idx, int32_t min);
 
extern void actuator_set_max(uint8_t driver_no, uint8_t servo_idx, int32_t max);
 
extern void actuator_set_neutral(uint8_t driver_no, uint8_t servo_idx, int32_t neutral);
 
#endif /* ACTUATORS_NB */
 
 
#endif /* ACTUATORS_H */