Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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actuators.c
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1 /*
2  * Copyright (C) 2006 Pascal Brisset, Antoine Drouin
3  * Copyright (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 
28 #include "subsystems/actuators.h"
29 #include "mcu_periph/sys_time.h"
30 
31 #if ACTUATORS_NB
32 
33 int16_t actuators[ACTUATORS_NB];
34 
35 uint32_t actuators_delay_time;
36 bool_t actuators_delay_done;
37 
38 void actuators_init(void) {
39 
40 #if defined ACTUATORS_START_DELAY && ! defined SITL
41  actuators_delay_done = FALSE;
42  SysTimeTimerStart(actuators_delay_time);
43 #else
44  actuators_delay_done = TRUE;
45  actuators_delay_time = 0;
46 #endif
47 
48  // Init macro from generated airframe.h
49  AllActuatorsInit();
50 
51 }
52 
53 #endif
#define actuators
#define FALSE
Definition: imu_chimu.h:141
Architecture independent timing functions.
unsigned long uint32_t
Definition: types.h:18
signed short int16_t
Definition: types.h:17
Hardware independent API for actuators (servos, motor controllers).
#define TRUE
Definition: imu_chimu.h:144
#define SysTimeTimerStart(_t)
Definition: sys_time_arch.h:64
void actuators_init(void)
Definition: actuators_at.c:32