actuators.h File Reference

Actuator driver for the bebop. More...

#include <stdint.h>
#include "mcu_periph/i2c.h"

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Data Structures
struct	ActuatorsBebop

Macros
#define	ACTUATORS_BEBOP_ADDR   0x10
#define	ACTUATORS_BEBOP_SET_REF_SPEED   0x02
	Set reference speed. More...
#define	ACTUATORS_BEBOP_GET_OBS_DATA   0x20
	Get observation data. More...
#define	ACTUATORS_BEBOP_START_PROP   0x40
	Start the propellers. More...
#define	ACTUATORS_BEBOP_TOGGLE_GPIO   0x4D
	Toggle GPIO (reset, red led, green led) More...
#define	ACTUATORS_BEBOP_STOP_PROP   0x60
	Stop the propellers. More...
#define	ACTUATORS_BEBOP_CLEAR_ERROR   0x80
	Clear all current erros. More...
#define	ACTUATORS_BEBOP_PLAY_SOUND   0x82
	Play a sound (0=stop, 1=short beep, 2=boot beep, 3=Be-Bop-Ah-Lula, negative=repeat) More...
#define	ACTUATORS_BEBOP_GET_INFO   0xA0
	Get version information. More...
#define	ActuatorsBebopSet(_i, _v)   { actuators_bebop.rpm_ref[_i] = _v; }
#define	ActuatorsBebopCommit()   actuators_bebop_commit();
#define	ActuatorsBebopInit()   actuators_bebop_init();

Functions
void	actuators_bebop_commit (void)
void	actuators_bebop_init (void)

Variables
struct ActuatorsBebop	actuators_bebop

Detailed Description

Actuator driver for the bebop.

Definition in file actuators.h.

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Data Structure Documentation

struct ActuatorsBebop

Definition at line 48 of file actuators.h.

Collaboration diagram for ActuatorsBebop:

Data Fields
struct i2c_transaction	i2c_trans	I2C transaction for communicating with the bebop BLDC driver.
uint8_t	led	Current led status.
uint16_t	rpm_obs[4]	Observed RPM.
uint16_t	rpm_ref[4]	Reference RPM.

Macro Definition Documentation

#define ACTUATORS_BEBOP_ADDR   0x10

Definition at line 35 of file actuators.h.

Referenced by actuators_bebop_init().

#define ACTUATORS_BEBOP_CLEAR_ERROR   0x80

Clear all current erros.

Definition at line 43 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_GET_INFO   0xA0

Get version information.

Definition at line 45 of file actuators.h.

#define ACTUATORS_BEBOP_GET_OBS_DATA   0x20

Get observation data.

Definition at line 39 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_PLAY_SOUND   0x82

Play a sound (0=stop, 1=short beep, 2=boot beep, 3=Be-Bop-Ah-Lula, negative=repeat)

Definition at line 44 of file actuators.h.

#define ACTUATORS_BEBOP_SET_REF_SPEED   0x02

Set reference speed.

Definition at line 38 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_START_PROP   0x40

Start the propellers.

Definition at line 40 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_STOP_PROP   0x60

Stop the propellers.

Definition at line 42 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ACTUATORS_BEBOP_TOGGLE_GPIO   0x4D

Toggle GPIO (reset, red led, green led)

Definition at line 41 of file actuators.h.

Referenced by actuators_bebop_commit().

#define ActuatorsBebopCommit

(

)

actuators_bebop_commit();

Definition at line 56 of file actuators.h.

#define ActuatorsBebopInit

(

)

actuators_bebop_init();

Definition at line 57 of file actuators.h.

#define ActuatorsBebopSet	(		_i,
			_v
	)		{ actuators_bebop.rpm_ref[_i] = _v; }

Definition at line 55 of file actuators.h.

Function Documentation

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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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().