actuators_sts3032 module

Feetech sts3032 servo.

Their range is 0->4095. Configure min, neutral and max accordingly.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="actuators_sts3032">
  b'<configure name="STS3032_UART" value="UARTX" />\n    '
  b'<configure name="STS3032_BAUD" value="B1000000" />\n    '
</module>

Module configuration options

Configure Options

• name: STS3032_UART value: UARTX
  Description: UART on which STS3032 is connected
• name: STS3032_BAUD value: B1000000
  Description: UART Baudrate, default to 1000000

Airframe file section

• section name: STS3032 prefix: STS3032_
  • name IDS value: {1, 2}
    Description: Ids of the servos (in the actuators order)
  • name DELAY_MSG value: 1000
    Description: Delay to wait before sending an other message when a response is expected
  • name DELAY_MSG_MIN value: 0
    Description: Delay when no response is expected
  • name STS3032_RESPONSE_LEVEL value: 0
    Description: The response level of the servos

Module functions

Event Functions

These event functions are called in each cycle of the module event loop.

• actuators_sts3032_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• actuators_sts3032_periodic()
  • Frequency in Hz: 20
  • Autorun: TRUE
    Periodic function automatically starts after init.

Files

Header Files

The following headers are automatically included in modules.h

• actuators_sts3032.h

Source Files

• modules/actuators/actuators_sts3032.c
• utils/circular_buffer.c

Raw actuators_sts3032.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="actuators_sts3032" dir="actuators" task="actuators">
  <doc>
    <description>
      Feetech sts3032 servo.
      Their range is 0-&gt;4095. Configure min, neutral and max accordingly.
    </description>
    <configure name="STS3032_UART" value="UARTX" description="UART on which STS3032 is connected"/>
    <configure name="STS3032_BAUD" value="B1000000" description="UART Baudrate, default to 1000000"/>
    <section name="STS3032" prefix="STS3032_">
      <define name="IDS" value="{1, 2}" description="Ids of the servos (in the actuators order)"/>
      <define name="DELAY_MSG" value="1000" description="Delay to wait before sending an other message when a response is expected"/>
      <define name="DELAY_MSG_MIN" value="0" description="Delay when no response is expected"/>
      <define name="STS3032_RESPONSE_LEVEL" value="0" description="The response level of the servos"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="STS3032">
        <dl_setting var="sts3032_enabled" min="0" max="1" step="1" shortname="enable"/>
        <dl_setting var="sts3032_current_id" min="1" max="253" step="1" shortname="ID"/>
        <dl_setting var="sts3032_future_id" min="1" max="252" step="1" shortname="set id" handler="set_id" header="actuators/actuators_sts3032"></dl_setting>
        <dl_setting var="sts3032_lock_eprom" min="0" max="1" step="1" shortname="lock EPROM" handler="lock_eprom" header="actuators/actuators_sts3032"></dl_setting>
        <dl_setting var="sts3032_move" min="0" max="4094" step="1" shortname="move" handler="move" header="actuators/actuators_sts3032"></dl_setting>
        <dl_setting var="sts3032_response_level" min="0" max="1" step="1" shortname="set response level" handler="set_response_level" header="actuators/actuators_sts3032"></dl_setting>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>uart,actuators</depends>
    <provides>actuators</provides>
  </dep>
  <header>
    <file name="actuators_sts3032.h"/>
  </header>
  <periodic fun="actuators_sts3032_periodic()" freq="20" autorun="TRUE"/>
  <event fun="actuators_sts3032_event()"/>
  <makefile>
    <configure name="STS3032_UART" case="upper|lower"/>
    <configure name="STS3032_BAUD" default="B1000000"/>
    <define name="USE_$(STS3032_UART_UPPER)"/>
    <define name="STS3032_DEV" value="$(STS3032_UART_LOWER)"/>
    <define name="$(STS3032_UART_UPPER)_BAUD" value="$(STS3032_BAUD)"/>
    <define name="$(STS3032_UART_UPPER)_CR3" value="USART_CR3_HDSEL"/>
    <file name="actuators_sts3032.c"/>
    <file name="circular_buffer.c" dir="utils"/>
    <test>
      <define name="SERVOS_STS3032_NB" value="2" />
      <define name="STS3032_IDS" value="{1,2}" />
      <define name="STS3032_DEV" value="uart1"/>
      <define name="USE_UART1" />
    </test>
  </makefile>
</module>