actuators_asctec_v2_new.h File Reference

Actuators driver for Asctec v2 motor controllers with the new I2C protocol. More...

#include "mcu_periph/i2c.h"
#include "generated/airframe.h"

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Data Structures
struct	ActuatorsAsctecV2

Macros
#define	actuators_asctec_v2_new_SetCommand(_v)
#define	actuators_asctec_v2_new_SetNewAddr(_v)
#define	actuators_asctec_v2_new_SetCurAddr(_v)
#define	ActuatorAsctec_v2_newSet(_i, _v)   { actuators_asctec_v2.cmds[_i] = _v; }
#define	ActuatorsAsctec_v2_newInit()   actuators_asctec_v2_init()
#define	ActuatorsAsctec_v2_newCommit()   actuators_asctec_v2_set()

Enumerations
enum	actuators_asctec_v2_cmd {   NONE, TEST, REVERSE, SET_ADDR,   NONE, TEST, REVERSE, SET_ADDR }
enum	actuators_asctec_v2_addr {   FRONT, BACK, LEFT, RIGHT,   FRONT, BACK, LEFT, RIGHT }

Functions
void	actuators_asctec_v2_init (void)
void	actuators_asctec_v2_set (void)

Variables
struct ActuatorsAsctecV2	actuators_asctec_v2

Detailed Description

Actuators driver for Asctec v2 motor controllers with the new I2C protocol.

Definition in file actuators_asctec_v2_new.h.

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Data Structure Documentation

struct ActuatorsAsctecV2

Definition at line 45 of file actuators_asctec_v2.h.

Collaboration diagram for ActuatorsAsctecV2:

Data Fields
enum actuators_asctec_v2_cmd	cmd
int32_t	cmds[4]
enum actuators_asctec_v2_addr	cur_addr
struct i2c_transaction	i2c_trans
volatile uint32_t	nb_err
enum actuators_asctec_v2_addr	new_addr

Macro Definition Documentation

#define ActuatorAsctec_v2_newSet	(		_i,
			_v
	)		{ actuators_asctec_v2.cmds[_i] = _v; }

Definition at line 72 of file actuators_asctec_v2_new.h.

#define actuators_asctec_v2_new_SetCommand

(

_v

)

Value:

{       \
    actuators_asctec_v2.cmd = _v;                  \
  }

Definition at line 57 of file actuators_asctec_v2_new.h.

#define actuators_asctec_v2_new_SetCurAddr

(

_v

)

Value:

{       \
    actuators_asctec_v2.cur_addr = _v;             \
  }

Definition at line 65 of file actuators_asctec_v2_new.h.

#define actuators_asctec_v2_new_SetNewAddr

(

_v

)

Value:

{       \
    actuators_asctec_v2.new_addr = _v;             \
  }

Definition at line 61 of file actuators_asctec_v2_new.h.

#define ActuatorsAsctec_v2_newCommit

(

)

actuators_asctec_v2_set()

Definition at line 74 of file actuators_asctec_v2_new.h.

#define ActuatorsAsctec_v2_newInit

(

)

actuators_asctec_v2_init()

Definition at line 73 of file actuators_asctec_v2_new.h.

Enumeration Type Documentation

enum actuators_asctec_v2_addr

Enumerator
FRONT
BACK
LEFT
RIGHT
FRONT
BACK
LEFT
RIGHT

Definition at line 39 of file actuators_asctec_v2_new.h.

enum actuators_asctec_v2_cmd

Enumerator
NONE
TEST
REVERSE
SET_ADDR
NONE
TEST
REVERSE
SET_ADDR

Definition at line 33 of file actuators_asctec_v2_new.h.

Function Documentation

void actuators_asctec_v2_init

(

void

)

Definition at line 38 of file actuators_asctec_v2.c.

References ACTUATORS_ASCTEC_V2_SLAVE_ADDR, ActuatorsAsctecV2::cmd, ActuatorsAsctecV2::cur_addr, FRONT, ActuatorsAsctecV2::i2c_trans, I2CTransSuccess, I2CTransTx, i2c_transaction::len_w, ActuatorsAsctecV2::nb_err, ActuatorsAsctecV2::new_addr, NONE, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

void actuators_asctec_v2_set

(

void

)

Definition at line 51 of file actuators_asctec_v2.c.

References actuators_asctec_v2, ACTUATORS_ASCTEC_V2_SLAVE_ADDR, i2c_transaction::buf, ActuatorsAsctecV2::cmd, ActuatorsAsctecV2::cmds, crc, crc_update(), ActuatorsAsctecV2::cur_addr, i2c_receive(), i2c_submit(), ActuatorsAsctecV2::i2c_trans, i2c_transmit(), I2CTransDone, I2CTransFailed, I2CTransSuccess, I2CTransTx, i2c_transaction::len_w, ActuatorsAsctecV2::nb_err, ActuatorsAsctecV2::new_addr, NONE, REVERSE, SET_ADDR, i2c_transaction::status, SysTimeTimer, TEST, i2c_transaction::type, and USEC_OF_SEC.

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Variable Documentation

struct ActuatorsAsctecV2 actuators_asctec_v2

Definition at line 36 of file actuators_asctec_v2.c.

Referenced by actuators_asctec_v2_set().