actuators.c File Reference

Actuator driver for ardrone2 version. More...

#include "subsystems/actuators.h"
#include "actuators.h"
#include "mcu_periph/gpio.h"
#include "led_hw.h"
#include "mcu_periph/sys_time.h"
#include "navdata.h"
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <stdint.h>
#include "autopilot.h"

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Macros
#define	ARDRONE_GPIO_PORT   0x32524
#define	ARDRONE_GPIO_PIN_MOTOR1   171
#define	ARDRONE_GPIO_PIN_MOTOR2   172
#define	ARDRONE_GPIO_PIN_MOTOR3   173
#define	ARDRONE_GPIO_PIN_MOTOR4   174
#define	ARDRONE_GPIO_PIN_IRQ_FLIPFLOP   175
#define	ARDRONE_GPIO_PIN_IRQ_INPUT   176
#define	BIT_NUMBER(VAL, BIT)   (((VAL)>>BIT)&0x03)

Functions
static void	actuators_ardrone_reset_flipflop (void)
void	actuators_ardrone_init (void)
int	actuators_ardrone_cmd (uint8_t cmd, uint8_t *reply, int replylen)
void	actuators_ardrone_motor_status (void)
void	actuators_ardrone_led_run (void)
void	actuators_ardrone_commit (void)
void	actuators_ardrone_set_pwm (uint16_t pwm0, uint16_t pwm1, uint16_t pwm2, uint16_t pwm3)
	Write motor speed command cmd = 001aaaaa aaaabbbb bbbbbccc ccccccdd ddddddd0. More...
void	actuators_ardrone_set_leds (uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3)
	Write LED command cmd = 011rrrr0 000gggg0 (this is ardrone1 format, we need ardrone2 format) More...
void	actuators_ardrone_close (void)

Variables
int	actuator_ardrone2_fd
	Power consumption @ 11V all 4 motors running PWM A 0 0.2 80 1.3 100 1.5 150 2.0 190 2.5 130 3.0. More...
uint32_t	led_hw_values

Detailed Description

Actuator driver for ardrone2 version.

Definition in file actuators.c.

Macro Definition Documentation

#define ARDRONE_GPIO_PIN_IRQ_FLIPFLOP   175

Definition at line 65 of file actuators.c.

Referenced by actuators_ardrone_init(), actuators_ardrone_motor_status(), and actuators_ardrone_reset_flipflop().

#define ARDRONE_GPIO_PIN_IRQ_INPUT   176

Definition at line 66 of file actuators.c.

Referenced by actuators_ardrone_init(), and actuators_ardrone_motor_status().

#define ARDRONE_GPIO_PIN_MOTOR1   171

Definition at line 60 of file actuators.c.

Referenced by actuators_ardrone_init().

#define ARDRONE_GPIO_PIN_MOTOR2   172

Definition at line 61 of file actuators.c.

Referenced by actuators_ardrone_init().

#define ARDRONE_GPIO_PIN_MOTOR3   173

Definition at line 62 of file actuators.c.

Referenced by actuators_ardrone_init().

#define ARDRONE_GPIO_PIN_MOTOR4   174

Definition at line 63 of file actuators.c.

Referenced by actuators_ardrone_init().

#define ARDRONE_GPIO_PORT   0x32524

Definition at line 58 of file actuators.c.

Referenced by actuators_ardrone_init(), actuators_ardrone_motor_status(), actuators_ardrone_reset_flipflop(), mag_freeze_check(), and navdata_init().

#define BIT_NUMBER	(		VAL,
			BIT
	)		(((VAL)>>BIT)&0x03)

Definition at line 207 of file actuators.c.

Referenced by actuators_ardrone_led_run().

Function Documentation

void actuators_ardrone_close

(

void

)

Definition at line 271 of file actuators.c.

References actuator_ardrone2_fd.

int actuators_ardrone_cmd	(	uint8_t	cmd,
		uint8_t *	reply,
		int	replylen
	)

Definition at line 158 of file actuators.c.

References actuator_ardrone2_fd, full_read(), and full_write().

Referenced by actuators_ardrone_init().

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void actuators_ardrone_commit

(

void

)

Definition at line 220 of file actuators.c.

References actuators_ardrone_motor_status(), actuators_ardrone_set_pwm(), and actuators_pwm_values.

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void actuators_ardrone_init

(

void

)

Definition at line 81 of file actuators.c.

References actuator_ardrone2_fd, actuators_ardrone_cmd(), actuators_ardrone_reset_flipflop(), actuators_ardrone_set_leds(), ARDRONE_GPIO_PIN_IRQ_FLIPFLOP, ARDRONE_GPIO_PIN_IRQ_INPUT, ARDRONE_GPIO_PIN_MOTOR1, ARDRONE_GPIO_PIN_MOTOR2, ARDRONE_GPIO_PIN_MOTOR3, ARDRONE_GPIO_PIN_MOTOR4, ARDRONE_GPIO_PORT, B115200, gpio_clear(), gpio_set(), gpio_setup_input(), gpio_setup_output(), led_hw_values, MOT_LEDGREEN, and MOT_LEDRED.

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void actuators_ardrone_led_run

(

void

)

Definition at line 210 of file actuators.c.

References actuators_ardrone_set_leds(), BIT_NUMBER, and led_hw_values.

Referenced by actuators_ardrone_set_pwm().

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void actuators_ardrone_motor_status

(

void

)

Definition at line 170 of file actuators.c.

References ARDRONE_GPIO_PIN_IRQ_FLIPFLOP, ARDRONE_GPIO_PIN_IRQ_INPUT, ARDRONE_GPIO_PORT, autopilot_get_motors_on(), autopilot_set_motors_on(), FALSE, gpio_clear(), gpio_get(), gpio_set(), and gpio_setup_output().

Referenced by actuators_ardrone_commit().

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static void actuators_ardrone_reset_flipflop ( void  )

inlinestatic

Definition at line 70 of file actuators.c.

References ARDRONE_GPIO_PIN_IRQ_FLIPFLOP, ARDRONE_GPIO_PORT, gpio_clear(), gpio_set(), gpio_setup_output(), and sys_time::nb_sec.

Referenced by actuators_ardrone_init().

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void actuators_ardrone_set_leds	(	uint8_t	led0,
		uint8_t	led1,
		uint8_t	led2,
		uint8_t	led3
	)

Write LED command cmd = 011rrrr0 000gggg0 (this is ardrone1 format, we need ardrone2 format)

led0 = RearLeft led1 = RearRight led2 = FrontRight led3 = FrontLeft

Definition at line 254 of file actuators.c.

References actuator_ardrone2_fd, and full_write().

Referenced by actuators_ardrone_init(), and actuators_ardrone_led_run().

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void actuators_ardrone_set_pwm	(	uint16_t	pwm0,
		uint16_t	pwm1,
		uint16_t	pwm2,
		uint16_t	pwm3
	)

Write motor speed command cmd = 001aaaaa aaaabbbb bbbbbccc ccccccdd ddddddd0.

Definition at line 231 of file actuators.c.

References actuator_ardrone2_fd, actuators_ardrone_led_run(), and full_write().

Referenced by actuators_ardrone_commit().

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Variable Documentation

int actuator_ardrone2_fd

Power consumption @ 11V all 4 motors running PWM A 0 0.2 80 1.3 100 1.5 150 2.0 190 2.5 130 3.0.

File descriptor for the port

Definition at line 56 of file actuators.c.

Referenced by actuators_ardrone_close(), actuators_ardrone_cmd(), actuators_ardrone_init(), actuators_ardrone_set_leds(), and actuators_ardrone_set_pwm().

uint32_t led_hw_values

Definition at line 68 of file actuators.c.

Referenced by actuators_ardrone_init(), actuators_ardrone_led_run(), and actuators_bebop_commit().