actuators_xvert.c File Reference

#include "actuators_xvert.h"
#include "subsystems/actuators/actuators_pwm_arch.h"
#include "subsystems/actuators/actuators_pwm.h"
#include "mcu_periph/uart.h"

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Macros
#define	ESCS_PORT   (&((ESCS_UART).device))
#define	GP   0x107 /* x^8 + x^2 + x + 1 */
#define	DI   0xE7

Functions
static void	init_crc8 (void)
void	crc8 (unsigned char *crc, unsigned char m)
void	actuators_xvert_init (void)
void	actuators_xvert_commit (void)

Variables
int32_t	actuators_xvert_values [ACTUATORS_PWM_NB]
static unsigned char	crc8_table [256]
static int	made_table = 0

Detailed Description

Author

Kevin van Hecke Actuators driver for X-vert VTOL motor controllers. Contains two normal pwm servos, and two custom driven escs through a propriety uart protocol.

Definition in file actuators_xvert.c.

Macro Definition Documentation

#define DI   0xE7

Definition at line 41 of file actuators_xvert.c.

Referenced by init_crc8().

#define ESCS_PORT   (&((ESCS_UART).device))

Definition at line 33 of file actuators_xvert.c.

Referenced by actuators_xvert_commit().

#define GP   0x107 /* x^8 + x^2 + x + 1 */

Definition at line 40 of file actuators_xvert.c.

Function Documentation

void actuators_xvert_commit

(

void

)

Definition at line 91 of file actuators_xvert.c.

References actuators_pwm_commit(), actuators_pwm_values, actuators_xvert_values, crc, EscData::crc, crc8(), EscData::d1, EscData::d2, ESCS_DATA_FLIPBIT, ESCS_DATA_MYSTERYBIT, ESCS_PORT, ESCS_START_BYTE, EscData::id, EscData::len, PWM_SERVO_2, PWM_SERVO_3, EscData::start, XVERT_ESC_0, and XVERT_ESC_1.

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void actuators_xvert_init

(

void

)

Definition at line 84 of file actuators_xvert.c.

References actuators_pwm_arch_init().

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void crc8	(	unsigned char *	crc,
		unsigned char	m
	)

Definition at line 69 of file actuators_xvert.c.

References crc8_table, init_crc8(), and made_table.

Referenced by actuators_xvert_commit().

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static void init_crc8 ( void  )

static

Definition at line 47 of file actuators_xvert.c.

References crc, crc8_table, DI, and made_table.

Referenced by crc8().

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Variable Documentation

int32_t actuators_xvert_values[ACTUATORS_PWM_NB]

Definition at line 37 of file actuators_xvert.c.

Referenced by actuators_xvert_commit().

unsigned char crc8_table[256]

static

Definition at line 44 of file actuators_xvert.c.

Referenced by crc8(), and init_crc8().

int made_table = 0

static

Definition at line 45 of file actuators_xvert.c.

Referenced by crc8(), and init_crc8().