actuators_md25.c File Reference

#include "subsystems/actuators.h"
#include "modules/actuators/actuators_md25.h"

Include dependency graph for actuators_md25.c:

Go to the source code of this file.

Macros
#define	MD25_REG_SPEED1   0x00
#define	MD25_REG_SPEED2   0x01
#define	MD25_REG_ENCODER1   0x02
#define	MD25_REG_ENCODER2   0x06
#define	MD25_REG_BAT   0x0A
#define	MD25_REG_CURRENT1   0x0B
#define	MD25_REG_CURRENT2   0x0C
#define	MD25_REG_SOFT_REV   0x0D
#define	MD25_REG_ACCEL_RATE   0x0E
#define	MD25_REG_MODE   0x0F
#define	MD25_REG_COMMAND   0x10
#define	MD25_CMD_RESET_ENCODERS   0x20
#define	MD25_CMD_NO_SPEED_REGUL   0x30
#define	MD25_CMD_SPEED_REGUL   0x31
#define	MD25_CMD_NO_MOTOR_TIMEOUT   0x32
#define	MD25_CMD_MOTOR_TIMEOUT   0x33
#define	MD25_MODE0   0
#define	MD25_MODE1   1
#define	MD25_MODE2   2
#define	MD25_MODE3   3
#define	ACTUATORS_MD25_MODE   MD25_MODE0
#define	ACTUATORS_MD25_ACCEL_RATE   5
#define	ACTUATORS_MD25_I2C_ADDR   0xB0
#define	Int32FromBuf(_buf, _idx)   ((int32_t)(((uint32_t)_buf[_idx]<<24) | ((uint32_t)_buf[_idx+1]<<16) | ((uint32_t)_buf[_idx+2]<<8) | _buf[_idx+3]))

Functions
void	actuators_md25_init (void)
void	actuators_md25_periodic (void)
void	actuators_md25_set (void)
void	actuators_md25_event (void)

Variables
struct ActuatorsMD25	actuators_md25

Detailed Description

Author

Gautier Hattenberger Driver for the MD25 rover controller board

Definition in file actuators_md25.c.

Macro Definition Documentation

#define ACTUATORS_MD25_ACCEL_RATE   5

Definition at line 62 of file actuators_md25.c.

Referenced by actuators_md25_init().

#define ACTUATORS_MD25_I2C_ADDR   0xB0

Definition at line 67 of file actuators_md25.c.

Referenced by actuators_md25_periodic(), and actuators_md25_set().

#define ACTUATORS_MD25_MODE   MD25_MODE0

Definition at line 57 of file actuators_md25.c.

Referenced by actuators_md25_init().

#define Int32FromBuf	(		_buf,
			_idx
	)		((int32_t)(((uint32_t)_buf[_idx]<<24) | ((uint32_t)_buf[_idx+1]<<16) | ((uint32_t)_buf[_idx+2]<<8) | _buf[_idx+3]))

Definition at line 118 of file actuators_md25.c.

Referenced by actuators_md25_event().

#define MD25_CMD_MOTOR_TIMEOUT   0x33

Definition at line 47 of file actuators_md25.c.

#define MD25_CMD_NO_MOTOR_TIMEOUT   0x32

Definition at line 46 of file actuators_md25.c.

#define MD25_CMD_NO_SPEED_REGUL   0x30

Definition at line 44 of file actuators_md25.c.

#define MD25_CMD_RESET_ENCODERS   0x20

Definition at line 43 of file actuators_md25.c.

#define MD25_CMD_SPEED_REGUL   0x31

Definition at line 45 of file actuators_md25.c.

#define MD25_MODE0   0

Definition at line 50 of file actuators_md25.c.

#define MD25_MODE1   1

Definition at line 51 of file actuators_md25.c.

#define MD25_MODE2   2

Definition at line 52 of file actuators_md25.c.

#define MD25_MODE3   3

Definition at line 53 of file actuators_md25.c.

#define MD25_REG_ACCEL_RATE   0x0E

Definition at line 39 of file actuators_md25.c.

Referenced by actuators_md25_periodic().

#define MD25_REG_BAT   0x0A

Definition at line 35 of file actuators_md25.c.

#define MD25_REG_COMMAND   0x10

Definition at line 41 of file actuators_md25.c.

#define MD25_REG_CURRENT1   0x0B

Definition at line 36 of file actuators_md25.c.

#define MD25_REG_CURRENT2   0x0C

Definition at line 37 of file actuators_md25.c.

#define MD25_REG_ENCODER1   0x02

Definition at line 33 of file actuators_md25.c.

Referenced by actuators_md25_periodic().

#define MD25_REG_ENCODER2   0x06

Definition at line 34 of file actuators_md25.c.

#define MD25_REG_MODE   0x0F

Definition at line 40 of file actuators_md25.c.

#define MD25_REG_SOFT_REV   0x0D

Definition at line 38 of file actuators_md25.c.

#define MD25_REG_SPEED1   0x00

Definition at line 31 of file actuators_md25.c.

Referenced by actuators_md25_set().

#define MD25_REG_SPEED2   0x01

Definition at line 32 of file actuators_md25.c.

Function Documentation

void actuators_md25_event

(

void

)

Definition at line 120 of file actuators_md25.c.

References actuators_md25, ActuatorsMD25::bat, i2c_transaction::buf, ActuatorsMD25::current, ActuatorsMD25::encoders, I2CTransDone, I2CTransFailed, I2CTransSuccess, ActuatorsMD25::initialized, Int32FromBuf, i2c_transaction::status, ActuatorsMD25::trans_cmd, and ActuatorsMD25::trans_sensors.

void actuators_md25_init

(

void

)

Definition at line 75 of file actuators_md25.c.

References ActuatorsMD25::accel_rate, ACTUATORS_MD25_ACCEL_RATE, ACTUATORS_MD25_MODE, ActuatorsMD25::bat, ActuatorsMD25::cmds, ActuatorsMD25::encoders, I2CTransDone, ActuatorsMD25::initialized, ActuatorsMD25::mode, i2c_transaction::status, ActuatorsMD25::trans_cmd, and ActuatorsMD25::trans_sensors.

void actuators_md25_periodic

(

void

)

Definition at line 90 of file actuators_md25.c.

References ActuatorsMD25::accel_rate, actuators_md25, ACTUATORS_MD25_I2C_ADDR, i2c_transaction::buf, i2c_transceive(), i2c_transmit(), I2CTransDone, ActuatorsMD25::initialized, MD25_REG_ACCEL_RATE, MD25_REG_ENCODER1, ActuatorsMD25::mode, i2c_transaction::status, and ActuatorsMD25::trans_sensors.

Here is the call graph for this function:

void actuators_md25_set

(

void

)

Definition at line 108 of file actuators_md25.c.

References actuators_md25, ACTUATORS_MD25_I2C_ADDR, i2c_transaction::buf, ActuatorsMD25::cmds, i2c_transmit(), I2CTransDone, ActuatorsMD25::initialized, MD25_REG_SPEED1, i2c_transaction::status, and ActuatorsMD25::trans_cmd.

Here is the call graph for this function:

Variable Documentation

struct ActuatorsMD25 actuators_md25

Definition at line 73 of file actuators_md25.c.

Referenced by actuators_md25_event(), actuators_md25_periodic(), and actuators_md25_set().