actuators_asctec.h File Reference

Actuators driver for Asctec motor controllers. More...

#include "mcu_periph/i2c.h"
#include "generated/airframe.h"

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Data Structures
struct	ActuatorsAsctec

Macros
#define	actuators_asctec_SetCommand(_v)
#define	actuators_asctec_SetNewAddr(_v)
#define	actuators_asctec_SetCurAddr(_v)
#define	ActuatorAsctecSet(_i, _v)   { actuators_asctec.cmds[_i] = _v; }
#define	ActuatorsAsctecInit()   actuators_asctec_init()
#define	ActuatorsAsctecCommit()   actuators_asctec_set(autopilot_get_motors_on())

Enumerations
enum	actuators_asctec_cmd { NONE, TEST, REVERSE, SET_ADDR }
enum	actuators_asctec_addr { FRONT, BACK, LEFT, RIGHT }
enum	actuators_asctec_cmds {   PITCH, ROLL, YAW, THRUST,   CMD_NB }

Functions
void	actuators_asctec_init (void)
void	actuators_asctec_set (bool motors_on)

Variables
struct ActuatorsAsctec	actuators_asctec

Detailed Description

Actuators driver for Asctec motor controllers.

Definition in file actuators_asctec.h.

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Data Structure Documentation

struct ActuatorsAsctec

Definition at line 53 of file actuators_asctec.h.

Collaboration diagram for ActuatorsAsctec:

Data Fields
enum actuators_asctec_cmd	cmd
int32_t	cmds[CMD_NB]
enum actuators_asctec_addr	cur_addr
struct i2c_transaction	i2c_trans
volatile uint32_t	nb_err
enum actuators_asctec_addr	new_addr

Macro Definition Documentation

#define ActuatorAsctecSet	(		_i,
			_v
	)		{ actuators_asctec.cmds[_i] = _v; }

Definition at line 80 of file actuators_asctec.h.

#define actuators_asctec_SetCommand

(

_v

)

Value:

{  \
    actuators_asctec.cmd = _v;             \
  }

Definition at line 65 of file actuators_asctec.h.

#define actuators_asctec_SetCurAddr

(

_v

)

Value:

{  \
    actuators_asctec.cur_addr = _v;        \
  }

Definition at line 73 of file actuators_asctec.h.

#define actuators_asctec_SetNewAddr

(

_v

)

Value:

{  \
    actuators_asctec.new_addr = _v;        \
  }

Definition at line 69 of file actuators_asctec.h.

#define ActuatorsAsctecCommit

(

)

actuators_asctec_set(autopilot_get_motors_on())

Definition at line 82 of file actuators_asctec.h.

#define ActuatorsAsctecInit

(

)

actuators_asctec_init()

Definition at line 81 of file actuators_asctec.h.

Enumeration Type Documentation

enum actuators_asctec_addr

Enumerator
FRONT
BACK
LEFT
RIGHT

Definition at line 39 of file actuators_asctec.h.

enum actuators_asctec_cmd

Enumerator
NONE
TEST
REVERSE
SET_ADDR

Definition at line 33 of file actuators_asctec.h.

enum actuators_asctec_cmds

Enumerator
PITCH
ROLL
YAW
THRUST
CMD_NB

Definition at line 46 of file actuators_asctec.h.

Function Documentation

void actuators_asctec_init

(

void

)

Definition at line 44 of file actuators_asctec.c.

References ACTUATORS_ASCTEC_SLAVE_ADDR, ActuatorsAsctec::cmd, ActuatorsAsctec::cur_addr, FRONT, ActuatorsAsctec::i2c_trans, I2CTransSuccess, I2CTransTx, i2c_transaction::len_w, ActuatorsAsctec::nb_err, ActuatorsAsctec::new_addr, NONE, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

void actuators_asctec_set

(

bool

motors_on

)

Definition at line 56 of file actuators_asctec.c.

References actuators_asctec, ACTUATORS_ASCTEC_SLAVE_ADDR, ASCTEC_MAX_CMD, ASCTEC_MAX_THROTTLE, ASCTEC_MIN_CMD, ASCTEC_MIN_THROTTLE, i2c_transaction::buf, ActuatorsAsctec::cmd, ActuatorsAsctec::cmds, ActuatorsAsctec::cur_addr, ActuatorsAsctec::i2c_trans, i2c_transmit(), I2CTransDone, I2CTransFailed, I2CTransSuccess, ActuatorsAsctec::nb_err, ActuatorsAsctec::new_addr, NONE, PITCH, REVERSE, ROLL, SET_ADDR, i2c_transaction::status, SysTimeTimer, TEST, THRUST, USEC_OF_SEC, and YAW.

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Variable Documentation

struct ActuatorsAsctec actuators_asctec

Definition at line 42 of file actuators_asctec.c.

Referenced by actuators_asctec_set().