actuators_faulhaber.c File Reference

#include "modules/actuators/actuators_faulhaber.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h"
#include "modules/datalink/downlink.h"
#include "modules/core/abi.h"
#include <stdio.h>
#include <string.h>

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Data Structures
struct	faulhaber_parser_t

Macros
#define	FAULHABER_P_GAIN   0.07
#define	FAULHABER_MAX_VELOCITY   12000
#define	Polynom   0xD5
#define	UINIT   0
#define	GOT_SOF   1
#define	GOT_LENGTH   2
#define	GOT_NODE_NB   3
#define	GET_DATA   4
#define	GET_CRC   5
#define	GET_EOF   6
#define	GOT_FULL_PACKET   7

Functions
static uint8_t	faulhaber_crc8 (uint8_t u8Byte, uint8_t u8CRC)
static void	faulhaber_send_command (struct uart_periph *dev, uint8_t cmd_code, uint8_t *data, uint8_t data_length)
static void	faulhaber_parser (struct faulhaber_parser_t *p, uint8_t c)
void	actuators_faulhaber_init (void)
void	actuators_faulhaber_periodic (void)
static void	faulhaber_parse_msg (struct faulhaber_parser_t *p)
void	actuators_faulhaber_event (void)
void	actuators_faulhaber_SetMode (uint8_t mode)

Variables
static struct uart_periph *	faulhaber_dev = &(FAULHABER_DEV)
static struct faulhaber_parser_t	faulhaber_p
struct faulhaber_t	faulhaber

Detailed Description

Author

Freek van Tienen Serial Connection module between ap and a faulhaber motor controller

Definition in file actuators_faulhaber.c.

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Data Structure Documentation

faulhaber_parser_t

struct faulhaber_parser_t

Definition at line 48 of file actuators_faulhaber.c.

Data Fields
uint8_t	calc_crc8
uint8_t	cmd_code
uint8_t	data[64]
uint8_t	data_idx
uint8_t	data_length
uint8_t	node_nb
uint8_t	state

Macro Definition Documentation

FAULHABER_MAX_VELOCITY

#define FAULHABER_MAX_VELOCITY   12000

Definition at line 42 of file actuators_faulhaber.c.

FAULHABER_P_GAIN

#define FAULHABER_P_GAIN   0.07

Definition at line 37 of file actuators_faulhaber.c.

GET_CRC

#define GET_CRC   5

Definition at line 99 of file actuators_faulhaber.c.

GET_DATA

#define GET_DATA   4

Definition at line 98 of file actuators_faulhaber.c.

GET_EOF

#define GET_EOF   6

Definition at line 100 of file actuators_faulhaber.c.

GOT_FULL_PACKET

#define GOT_FULL_PACKET   7

Definition at line 101 of file actuators_faulhaber.c.

GOT_LENGTH

#define GOT_LENGTH   2

Definition at line 96 of file actuators_faulhaber.c.

GOT_NODE_NB

#define GOT_NODE_NB   3

Definition at line 97 of file actuators_faulhaber.c.

GOT_SOF

#define GOT_SOF   1

Definition at line 95 of file actuators_faulhaber.c.

Polynom

#define Polynom   0xD5

Definition at line 61 of file actuators_faulhaber.c.

UINIT

#define UINIT   0

Definition at line 94 of file actuators_faulhaber.c.

Function Documentation

actuators_faulhaber_event()

void actuators_faulhaber_event

(

void

)

Definition at line 457 of file actuators_faulhaber.c.

References faulhaber_dev, faulhaber_p, faulhaber_parse_msg(), faulhaber_parser(), GOT_FULL_PACKET, faulhaber_parser_t::state, uart_char_available(), uart_getch(), and UINIT.

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actuators_faulhaber_init()

void actuators_faulhaber_init

(

void

)

Definition at line 167 of file actuators_faulhaber.c.

References faulhaber, FAULHABER_MAX_VELOCITY, faulhaber_p, FAULHABER_P_GAIN, FH_MODE_INIT, faulhaber_t::homing_completed, faulhaber_t::max_velocity, faulhaber_t::mode, faulhaber_t::p_gain, faulhaber_t::position_ready, faulhaber_t::real_position, faulhaber_t::setpoint_position, faulhaber_parser_t::state, faulhaber_t::state, faulhaber_t::target_reached, and UINIT.

actuators_faulhaber_periodic()

void actuators_faulhaber_periodic

(

void

)

Definition at line 182 of file actuators_faulhaber.c.

References faulhaber, faulhaber_dev, faulhaber_send_command(), FH_MODE_ERROR, FH_MODE_INIT, FH_MODE_REQ_ERR, FH_MODE_RESET_ERR, FH_MODE_VELOCITY, get_sys_time_float(), faulhaber_t::homing_completed, last_time, faulhaber_t::max_velocity, faulhaber_t::mode, faulhaber_t::p_gain, faulhaber_t::real_position, faulhaber_t::setpoint_position, faulhaber_t::state, and faulhaber_t::target_velocity.

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actuators_faulhaber_SetMode()

void actuators_faulhaber_SetMode

(

uint8_t

mode

)

Definition at line 468 of file actuators_faulhaber.c.

References faulhaber, faulhaber_t::mode, mode, and faulhaber_t::state.

faulhaber_crc8()

static uint8_t faulhaber_crc8 ( uint8_t  u8Byte, uint8_t  u8CRC  )

static

Definition at line 62 of file actuators_faulhaber.c.

References Polynom.

Referenced by faulhaber_parser(), and faulhaber_send_command().

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faulhaber_parse_msg()

static void faulhaber_parse_msg ( struct faulhaber_parser_t *  p )

static

Definition at line 400 of file actuators_faulhaber.c.

References ACT_FEEDBACK_FAULHABER_ID, ACTUATORS_FAULHABER_COMMAND_SCALE, DefaultChannel, DefaultDevice, faulhaber, faulhaber_t::homing_completed, act_feedback_t::idx, p, act_feedback_t::act_feedback_set_t::position, act_feedback_t::position, faulhaber_t::position_ready, faulhaber_t::real_position, act_feedback_t::set, and faulhaber_t::target_reached.

Referenced by actuators_faulhaber_event().

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faulhaber_parser()

static void faulhaber_parser ( struct faulhaber_parser_t *  p, uint8_t  c  )

static

Definition at line 103 of file actuators_faulhaber.c.

References faulhaber_crc8(), GET_CRC, GET_DATA, GET_EOF, GOT_FULL_PACKET, GOT_LENGTH, GOT_NODE_NB, GOT_SOF, p, and UINIT.

Referenced by actuators_faulhaber_event().

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faulhaber_send_command()

static void faulhaber_send_command ( struct uart_periph *  dev, uint8_t  cmd_code, uint8_t *  data, uint8_t  data_length  )

static

Definition at line 76 of file actuators_faulhaber.c.

References dev, faulhaber_crc8(), uart_put_byte(), and uart_send_message().

Referenced by actuators_faulhaber_periodic().

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Variable Documentation

faulhaber

struct faulhaber_t faulhaber

Definition at line 45 of file actuators_faulhaber.c.

Referenced by actuators_faulhaber_init(), actuators_faulhaber_periodic(), actuators_faulhaber_SetMode(), and faulhaber_parse_msg().

faulhaber_dev

struct uart_periph* faulhaber_dev = &(FAULHABER_DEV)

static

Definition at line 45 of file actuators_faulhaber.c.

Referenced by actuators_faulhaber_event(), and actuators_faulhaber_periodic().

faulhaber_p

struct faulhaber_parser_t faulhaber_p

static

Definition at line 45 of file actuators_faulhaber.c.

Referenced by actuators_faulhaber_event(), and actuators_faulhaber_init().