actuators_md25.h File Reference

#include "std.h"
#include "mcu_periph/i2c.h"

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Data Structures
struct	ActuatorsMD25

Macros
#define	ActuatorMD25Set(_i, _v)   { actuators_md25.cmds[_i] = _v; }
#define	ActuatorsMD25Init()   actuators_md25_init()
#define	ActuatorsMD25Commit()   actuators_md25_set()

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

Variables
struct ActuatorsMD25	actuators_md25

Detailed Description

Author

Gautier Hattenberger Driver for the MD25 rover controller board

Definition in file actuators_md25.h.

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Data Structure Documentation

struct ActuatorsMD25

Definition at line 34 of file actuators_md25.h.

Collaboration diagram for ActuatorsMD25:

Data Fields
uint8_t	accel_rate	accel rate (from 1 to 10)
uint8_t	bat	batterie voltage (in decivolt)
uint8_t	cmds[2]	commands
uint8_t	current[2]	current in motors (in deciamp)
int32_t	encoders[2]	encoder values
bool	initialized	init flag
uint8_t	mode	control mode
struct i2c_transaction	trans_cmd	i2c struct for command
struct i2c_transaction	trans_sensors	i2c struct for sensors

Macro Definition Documentation

#define ActuatorMD25Set	(		_i,
			_v
	)		{ actuators_md25.cmds[_i] = _v; }

Definition at line 54 of file actuators_md25.h.

#define ActuatorsMD25Commit

(

)

actuators_md25_set()

Definition at line 56 of file actuators_md25.h.

#define ActuatorsMD25Init

(

)

actuators_md25_init()

Definition at line 55 of file actuators_md25.h.

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.

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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.

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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().