Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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actuators.h
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1 /*
2  * (c) 2003-2005 Pascal Brisset, Antoine Drouin
3  * (c) 2012 Gautier Hattenberger
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
22 
27 #ifndef ACTUATORS_H
28 #define ACTUATORS_H
29 
30 #include "paparazzi.h"
31 #include "std.h"
32 
33 /*
34  * Defines SetActuatorsFromCommands() macro
35  * Defines ACTUATORS_NB to 0 if no servo
36  * Include servos drivers
37  */
38 #include "generated/airframe.h"
39 
40 #if ACTUATORS_NB
41 
42 extern void actuators_init(void);
43 
44 extern uint32_t actuators_delay_time;
45 extern bool actuators_delay_done;
46 
50 extern int16_t actuators[ACTUATORS_NB];
51 
56 extern int16_t actuators_pprz[ACTUATORS_NB];
57 
62 #define _ActuatorSet(_n, _v) Set_ ## _n ## _Servo(_v)
63 #define ActuatorSet(_n, _v) _ActuatorSet(_n, _v)
64 
65 #endif /* ACTUATORS_NB */
66 
67 
68 #endif /* ACTUATORS_H */
unsigned long uint32_t
Definition: types.h:18
signed short int16_t
Definition: types.h:17