Paparazzi UAS  v5.17_devel-24-g2ae834f
Paparazzi is a free software Unmanned Aircraft System.
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actuators_dshot.h
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1 /*
2  * Copyright (C) 2018 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
27 #ifndef ACTUATORS_DSHOT_H
28 #define ACTUATORS_DSHOT_H
29 
30 #include "std.h"
32 
37 #ifndef ACTUATORS_DSHOT_OFFSET
38 #define ACTUATORS_DSHOT_OFFSET 48
39 #endif
40 
45 #ifndef ACTUATORS_DSHOT_NB
46 #define ACTUATORS_DSHOT_NB (8+1)
47 #endif
48 
50 
53 extern void actuators_dshot_arch_init(void);
54 extern void actuators_dshot_arch_commit(void);
55 
56 /* Actuator macros */
57 #define ActuatorDShotSet(_i, _v) { \
58  if (_v == 0) { actuators_dshot_values[_i] = 0; } \
59  else { actuators_dshot_values[_i] = _v + ACTUATORS_DSHOT_OFFSET; } \
60 }
61 #define ActuatorsDShotInit() actuators_dshot_arch_init()
62 #define ActuatorsDShotCommit() actuators_dshot_arch_commit()
63 
64 #endif
65 
unsigned short uint16_t
Definition: types.h:16
void actuators_dshot_arch_init(void)
Arch dependent init.
uint16_t actuators_dshot_values[ACTUATORS_DSHOT_NB]
void actuators_dshot_arch_commit(void)
#define ACTUATORS_DSHOT_NB
Maxnum number of DSHOT commands This should be large enough for max applications: 8 motors +1 in case...