Paparazzi UAS  v5.15_devel-229-g3fb4ee4
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
actuators.c
Go to the documentation of this file.
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 // Can be used to directly control each actuator from the control algorithm
36 int16_t actuators_pprz[ACTUATORS_NB];
37 
38 uint32_t actuators_delay_time;
39 bool actuators_delay_done;
40 
41 void actuators_init(void)
42 {
43 
44 #if defined ACTUATORS_START_DELAY && ! defined SITL
45  actuators_delay_done = false;
46  SysTimeTimerStart(actuators_delay_time);
47 #else
48  actuators_delay_done = true;
49  actuators_delay_time = 0;
50 #endif
51 
52  // Init macro from generated airframe.h
53  AllActuatorsInit();
54 
55 }
56 
57 #endif
Hardware independent API for actuators (servos, motor controllers).
Architecture independent timing functions.
unsigned long uint32_t
Definition: types.h:18
signed short int16_t
Definition: types.h:17
#define SysTimeTimerStart(_t)
Definition: sys_time.h:218