actuators_asctec module

Actuators Driver for Asctec V1 ESC

required xml configuration:

• servo section with driver="Asctec"
• command_laws section to map motor_mixing commands to servos

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="actuators_asctec">
  <configure name="ACTUATORS_ASCTEC_I2C_DEV" value="i2cX" />
  <configure name="ACTUATORS_ASCTEC_I2C_SCL_TIME" value="150" />
</module>

Module configuration options

Configure Options

• name: ACTUATORS_ASCTEC_I2C_DEV value: i2cX
  Description: I2C port (default i2c1)
• name: ACTUATORS_ASCTEC_I2C_SCL_TIME value: 150
  Description: configurable I2C timing on lpc21 boards

Files

Header Files

The following headers are automatically included in modules.h

• actuators_asctec.h

Source Files

• subsystems/actuators/actuators_asctec.c
• subsystems/actuators/actuators_asctec.c

Raw actuators_asctec.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="actuators_asctec" dir="actuators" task="actuators">
  <doc>
    <description>
      Actuators Driver for Asctec V1 ESC

      required xml configuration:
      - servo section with driver="Asctec"
      - command_laws section to map motor_mixing commands to servos
    </description>
    <configure name="ACTUATORS_ASCTEC_I2C_DEV" value="i2cX" description="I2C port (default i2c1)"/>
    <configure name="ACTUATORS_ASCTEC_I2C_SCL_TIME" value="150" description="configurable I2C timing on lpc21 boards"/>
  </doc>
  <header>
    <file name="actuators_asctec.h" dir="subsystems/actuators"/>
  </header>
  <makefile target="!sim|nps">
    <configure name="ACTUATORS_ASCTEC_I2C_DEV" default="i2c1" case="upper|lower"/>
    <configure name="ACTUATORS_ASCTEC_I2C_SCL_TIME" default="150"/>
    <define name="ACTUATORS"/>
    <define name="ACTUATORS_ASCTEC_I2C_DEV" value="$(ACTUATORS_ASCTEC_I2C_DEV_LOWER)"/>
    <define name="USE_$(ACTUATORS_ASCTEC_I2C_DEV_UPPER)"/>
    <define name="$(ACTUATORS_ASCTEC_I2C_DEV_UPPER)_SCLL" value="$(ACTUATORS_ASCTEC_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
    <define name="$(ACTUATORS_ASCTEC_I2C_DEV_UPPER)_SCLH" value="$(ACTUATORS_ASCTEC_I2C_SCL_TIME)" cond="ifeq ($(ARCH), lpc21)"/>
    <file name="actuators_asctec.c" dir="subsystems/actuators"/>
  </makefile>
  <makefile target="nps">
    <define name="USE_I2C0"/>
    <define name="ACTUATORS_ASCTEC_I2C_DEV" value="i2c0"/>
    <file name="actuators_asctec.c" dir="subsystems/actuators"/>
  </makefile>
</module>