actuators_uavcan.c File Reference

UAVCan actuators using RAWCOMMAND message and ESC_STATUS telemetry. More...

#include "actuators_uavcan.h"
#include "modules/energy/electrical.h"
#include "math/pprz_random.h"
#include "modules/datalink/telemetry.h"

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Data Structures
struct	actuators_uavcan_telem_t

Macros
#define	UAVCAN_ACTUATORS_USE_CURRENT   TRUE
#define	UAVCAN_EQUIPMENT_ESC_STATUS_ID   1034
#define	UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE   (0xA9AF28AEA2FBB254ULL)
#define	UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE   ((110 + 7)/8)
#define	UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID   1030
#define	UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE   (0x217F5C87D7EC951DULL)
#define	UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE   ((285 + 7)/8)

Functions
static void	actuators_uavcan_send_esc (struct transport_tx *trans, struct link_device *dev)
static void	actuators_uavcan_esc_status_cb (struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
	Whevener an ESC_STATUS message from the EQUIPMENT group is received. More...
void	actuators_uavcan_init (struct uavcan_iface_t *iface)
	Initialize an uavcan interface. More...
void	actuators_uavcan_commit (struct uavcan_iface_t *iface, int16_t *values, uint8_t nb)
	Commit actuator values to the uavcan interface. More...

Variables
static bool	actuators_uavcan_initialized = false
static uavcan_event	esc_status_ev

Detailed Description

UAVCan actuators using RAWCOMMAND message and ESC_STATUS telemetry.

Definition in file actuators_uavcan.c.

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Data Structure Documentation

actuators_uavcan_telem_t

struct actuators_uavcan_telem_t

Definition at line 37 of file actuators_uavcan.c.

Data Fields
float	current
uint32_t	energy
int32_t	rpm
float	temperature
float	voltage

Macro Definition Documentation

UAVCAN_ACTUATORS_USE_CURRENT

#define UAVCAN_ACTUATORS_USE_CURRENT   TRUE

Definition at line 33 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID

#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID   1030

Definition at line 60 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE

#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE   ((285 + 7)/8)

Definition at line 62 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE

#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE   (0x217F5C87D7EC951DULL)

Definition at line 61 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_STATUS_ID

#define UAVCAN_EQUIPMENT_ESC_STATUS_ID   1034

Definition at line 55 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE

#define UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE   ((110 + 7)/8)

Definition at line 57 of file actuators_uavcan.c.

UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE

#define UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE   (0xA9AF28AEA2FBB254ULL)

Definition at line 56 of file actuators_uavcan.c.

Function Documentation

actuators_uavcan_commit()

void actuators_uavcan_commit	(	struct uavcan_iface_t *	iface,
		int16_t *	values,
		uint8_t	nb
	)

Commit actuator values to the uavcan interface.

Definition at line 198 of file actuators_uavcan.c.

References offset, uavcan_broadcast(), UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE, and UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE.

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actuators_uavcan_esc_status_cb()

static void actuators_uavcan_esc_status_cb ( struct uavcan_iface_t *  iface, CanardRxTransfer *  transfer  )

static

Whevener an ESC_STATUS message from the EQUIPMENT group is received.

Definition at line 121 of file actuators_uavcan.c.

References actuators_uavcan_telem_t::current, Electrical::current, electrical, actuators_uavcan_telem_t::energy, rpm, actuators_uavcan_telem_t::temperature, transfer(), and actuators_uavcan_telem_t::voltage.

Referenced by actuators_uavcan_init().

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actuators_uavcan_init()

void actuators_uavcan_init

(

struct uavcan_iface_t *

iface

)

Initialize an uavcan interface.

Definition at line 174 of file actuators_uavcan.c.

References actuators_uavcan_esc_status_cb(), actuators_uavcan_initialized, actuators_uavcan_send_esc(), DefaultPeriodic, esc_status_ev, init_random(), register_periodic_telemetry(), uavcan_bind(), UAVCAN_EQUIPMENT_ESC_STATUS_ID, and UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE.

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actuators_uavcan_send_esc()

static void actuators_uavcan_send_esc ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 71 of file actuators_uavcan.c.

References actuators_uavcan_telem_t::current, dev, electrical, actuators_uavcan_telem_t::energy, offset, rand_uniform(), actuators_uavcan_telem_t::rpm, rpm, actuators_uavcan_telem_t::voltage, and Electrical::vsupply.

Referenced by actuators_uavcan_init().

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Variable Documentation

actuators_uavcan_initialized

bool actuators_uavcan_initialized = false

static

Definition at line 65 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().

esc_status_ev

uavcan_event esc_status_ev

static

Definition at line 66 of file actuators_uavcan.c.

Referenced by actuators_uavcan_init().