actuators.c File Reference

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

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

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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_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.

Function Documentation

static uint8_t actuators_bebop_checksum ( uint8_t *  bytes, uint8_t  size  )

static

Definition at line 144 of file actuators.c.

References checksum.

Referenced by actuators_bebop_commit().

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void actuators_bebop_commit

(

void

)

Definition at line 73 of file actuators.c.

References actuators_bebop, actuators_bebop_checksum(), ACTUATORS_BEBOP_CLEAR_ERROR, ACTUATORS_BEBOP_GET_OBS_DATA, 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, FALSE, i2c_blocking_transceive(), i2c_blocking_transmit(), ActuatorsBebop::i2c_trans, ActuatorsBebop::led, led_hw_values, ActuatorsBebop::rpm_obs, ActuatorsBebop::rpm_ref, RPM_SENSOR_ID, i2c_transaction::slave_addr, and Electrical::vsupply.

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void actuators_bebop_init

(

void

)

Definition at line 61 of file actuators.c.

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

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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, ActuatorsBebop::rpm_obs, ActuatorsBebop::rpm_ref, and stabilization_cmd.

Referenced by actuators_bebop_init().

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Variable Documentation

struct ActuatorsBebop actuators_bebop

Definition at line 58 of file actuators.c.

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

uint32_t led_hw_values

Definition at line 57 of file actuators.c.