actuators.c File Reference

Actuator driver for the bebop and bebop 2. More...

#include "modules/actuators/actuators.h"
#include "modules/energy/electrical.h"
#include "actuators.h"
#include "led_hw.h"
#include "autopilot.h"
#include "modules/core/abi.h"
#include "modules/datalink/telemetry.h"
#include "firmwares/rotorcraft/stabilization.h"

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Macros
#define	ACTUATORS_BEBOP_I2C_TIMEOUT   1.f

Functions
static void	send_bebop_actuators (struct transport_tx *trans, struct link_device *dev)
static uint8_t	actuators_bebop_checksum (uint8_t *bytes, uint8_t size)
void	actuators_bebop_init (void)
void	actuators_bebop_set (uint8_t idx, int16_t value)
void	actuators_bebop_commit (void)

Variables
uint32_t	led_hw_values
struct ActuatorsBebop	actuators_bebop

Detailed Description

Actuator driver for the bebop and bebop 2.

Definition in file actuators.c.

Macro Definition Documentation

ACTUATORS_BEBOP_I2C_TIMEOUT

#define ACTUATORS_BEBOP_I2C_TIMEOUT   1.f

Definition at line 57 of file actuators.c.

Function Documentation

actuators_bebop_checksum()

static uint8_t actuators_bebop_checksum ( uint8_t *  bytes, uint8_t  size  )

static

Definition at line 158 of file actuators.c.

References checksum.

Referenced by actuators_bebop_commit().

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actuators_bebop_commit()

void actuators_bebop_commit

(

void

)

Definition at line 80 of file actuators.c.

References ACT_FEEDBACK_BOARD_ID, actuators_bebop, actuators_bebop_checksum(), ACTUATORS_BEBOP_CLEAR_ERROR, ACTUATORS_BEBOP_GET_OBS_DATA, ACTUATORS_BEBOP_I2C_TIMEOUT, ACTUATORS_BEBOP_SET_REF_SPEED, ACTUATORS_BEBOP_START_PROP, ACTUATORS_BEBOP_STOP_PROP, ACTUATORS_BEBOP_TOGGLE_GPIO, autopilot_get_motors_on(), autopilot_set_motors_on(), i2c_transaction::buf, electrical, foo, i2c_blocking_transceive(), i2c_blocking_transmit(), ActuatorsBebop::i2c_trans, act_feedback_t::idx, ActuatorsBebop::led, led_hw_values, act_feedback_t::act_feedback_set_t::rpm, act_feedback_t::rpm, ActuatorsBebop::rpm_obs, ActuatorsBebop::rpm_ref, act_feedback_t::set, i2c_transaction::slave_addr, and Electrical::vsupply.

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actuators_bebop_init()

void actuators_bebop_init

(

void

)

Definition at line 63 of file actuators.c.

References actuators_bebop, ACTUATORS_BEBOP_ADDR, DefaultPeriodic, foo, ActuatorsBebop::i2c_trans, I2CTransDone, ActuatorsBebop::led, register_periodic_telemetry(), send_bebop_actuators(), i2c_transaction::slave_addr, and i2c_transaction::status.

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actuators_bebop_set()

void actuators_bebop_set	(	uint8_t	idx,
		int16_t	value
	)

Definition at line 75 of file actuators.c.

References actuators_bebop, idx, and ActuatorsBebop::rpm_ref.

send_bebop_actuators()

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

static

Definition at line 39 of file actuators.c.

References actuators_bebop, Stabilization::cmd, dev, foo, ActuatorsBebop::rpm_obs, ActuatorsBebop::rpm_ref, and stabilization.

Referenced by actuators_bebop_init().

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Variable Documentation

actuators_bebop

struct ActuatorsBebop actuators_bebop

Definition at line 60 of file actuators.c.

Referenced by actuators_bebop_commit(), actuators_bebop_init(), actuators_bebop_set(), logger_file_write_row(), and send_bebop_actuators().

led_hw_values

uint32_t led_hw_values

Definition at line 59 of file actuators.c.