actuators_asctec.c File Reference

#include "subsystems/actuators.h"
#include "subsystems/actuators/actuators_asctec.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	ASCTEC_MIN_CMD   -100
#define	ASCTEC_MAX_CMD   100
#define	ASCTEC_MIN_THROTTLE   0
#define	ASCTEC_MAX_THROTTLE   200
#define	ACTUATORS_ASCTEC_SLAVE_ADDR   0x02

Functions
void	actuators_asctec_init (void)
void	actuators_asctec_set (bool motors_on)

Variables
struct ActuatorsAsctec	actuators_asctec

Detailed Description

Actuators driver for Asctec motor controllers.

Definition in file actuators_asctec.c.

Macro Definition Documentation

ACTUATORS_ASCTEC_SLAVE_ADDR

#define ACTUATORS_ASCTEC_SLAVE_ADDR   0x02

Definition at line 38 of file actuators_asctec.c.

ASCTEC_MAX_CMD

#define ASCTEC_MAX_CMD   100

Definition at line 33 of file actuators_asctec.c.

ASCTEC_MAX_THROTTLE

#define ASCTEC_MAX_THROTTLE   200

Definition at line 36 of file actuators_asctec.c.

ASCTEC_MIN_CMD

#define ASCTEC_MIN_CMD   -100

Definition at line 32 of file actuators_asctec.c.

ASCTEC_MIN_THROTTLE

#define ASCTEC_MIN_THROTTLE   0

Definition at line 35 of file actuators_asctec.c.

Function Documentation

actuators_asctec_init()

void actuators_asctec_init

(

void

)

Definition at line 44 of file actuators_asctec.c.

References actuators_asctec, ACTUATORS_ASCTEC_SLAVE_ADDR, ActuatorsAsctec::cmd, ActuatorsAsctec::cur_addr, FRONT, ActuatorsAsctec::i2c_trans, I2CTransSuccess, I2CTransTx, i2c_transaction::len_w, ActuatorsAsctec::nb_err, ActuatorsAsctec::new_addr, NONE, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

actuators_asctec_set()

void actuators_asctec_set

(

bool

motors_on

)

Definition at line 56 of file actuators_asctec.c.

References actuators_asctec, ACTUATORS_ASCTEC_SLAVE_ADDR, ASCTEC_MAX_CMD, ASCTEC_MAX_THROTTLE, ASCTEC_MIN_CMD, ASCTEC_MIN_THROTTLE, i2c_transaction::buf, ActuatorsAsctec::cmd, ActuatorsAsctec::cmds, ActuatorsAsctec::cur_addr, ActuatorsAsctec::i2c_trans, i2c_transmit(), I2CTransDone, I2CTransFailed, I2CTransSuccess, ActuatorsAsctec::nb_err, ActuatorsAsctec::new_addr, NONE, PITCH, REVERSE, ROLL, SET_ADDR, i2c_transaction::status, SysTimeTimer, TEST, THRUST, USEC_OF_SEC, and YAW.

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Variable Documentation

actuators_asctec

struct ActuatorsAsctec actuators_asctec

Definition at line 42 of file actuators_asctec.c.

Referenced by actuators_asctec_init(), and actuators_asctec_set().