actuators_ostrich.c File Reference

#include "modules/actuators/actuators_ostrich.h"
#include "mcu_periph/uart.h"
#include "generated/airframe.h"

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Data Structures
struct	SpeedMessagePayload
union	rawData
struct	SpeedMessage
union	RawMessage

Macros
#define	SPEED_NEUTRAL   500
#define	SPEED_FACTOR   1.0
#define	TURN_NEUTRAL   500
#define	TURN_FACTOR   0.5
#define	SPEED_OF_CMD(_s)   ((_s-SPEED_NEUTRAL)*SPEED_FACTOR)
#define	TURN_OF_CMD(_w)   ((_w-TURN_NEUTRAL)*TURN_FACTOR)
#define	START_BYTE   0x7F

Functions
static uint16_t	speed_cmd_to_msg (uint16_t speed_cmd)
static uint16_t	turn_cmd_to_msg (uint16_t turn_cmd)
static uint8_t	compute_checksum (uint8_t bytes[], int len)
void	actuators_ostrich_init ()
void	actuators_ostrich_periodic ()

Variables
struct ActuatorsOstrich	actuators_ostrich
static struct uart_periph *	ostrich_dev

Detailed Description

Author

Fabien Bonneval Driver for the Ostrich rover controller board

Definition in file actuators_ostrich.c.

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Data Structure Documentation

SpeedMessagePayload

struct SpeedMessagePayload

Definition at line 42 of file actuators_ostrich.c.

Data Fields
uint16_t	vtheta
uint16_t	vx
uint16_t	vy

rawData

union rawData

Definition at line 48 of file actuators_ostrich.c.

Collaboration diagram for rawData:

Data Fields
uint8_t	bytes[6]
struct SpeedMessagePayload	data

SpeedMessage

struct SpeedMessage

Definition at line 53 of file actuators_ostrich.c.

Collaboration diagram for SpeedMessage:

Data Fields
uint8_t	checksum
uint8_t	msg_type
union rawData	raw_data
uint8_t	start_byte

RawMessage

union RawMessage

Definition at line 60 of file actuators_ostrich.c.

Collaboration diagram for RawMessage:

Data Fields
uint8_t	bytes[9]
struct SpeedMessage	speed_message

Macro Definition Documentation

SPEED_FACTOR

#define SPEED_FACTOR   1.0

Definition at line 31 of file actuators_ostrich.c.

SPEED_NEUTRAL

#define SPEED_NEUTRAL   500

Definition at line 30 of file actuators_ostrich.c.

SPEED_OF_CMD

#define SPEED_OF_CMD

(

_s

)

((_s-SPEED_NEUTRAL)*SPEED_FACTOR)

Definition at line 35 of file actuators_ostrich.c.

START_BYTE

#define START_BYTE   0x7F

Definition at line 40 of file actuators_ostrich.c.

TURN_FACTOR

#define TURN_FACTOR   0.5

Definition at line 33 of file actuators_ostrich.c.

TURN_NEUTRAL

#define TURN_NEUTRAL   500

Definition at line 32 of file actuators_ostrich.c.

TURN_OF_CMD

#define TURN_OF_CMD

(

_w

)

((_w-TURN_NEUTRAL)*TURN_FACTOR)

Definition at line 36 of file actuators_ostrich.c.

Function Documentation

actuators_ostrich_init()

void actuators_ostrich_init

(

)

Definition at line 88 of file actuators_ostrich.c.

References actuators_ostrich, ActuatorsOstrich::cmds, ostrich_dev, SPEED_NEUTRAL, and TURN_NEUTRAL.

actuators_ostrich_periodic()

void actuators_ostrich_periodic

(

)

Definition at line 96 of file actuators_ostrich.c.

References actuators_ostrich, rawData::bytes, RawMessage::bytes, SpeedMessage::checksum, ActuatorsOstrich::cmds, compute_checksum(), rawData::data, SpeedMessage::msg_type, ostrich_dev, SpeedMessage::raw_data, speed_cmd_to_msg(), RawMessage::speed_message, START_BYTE, SpeedMessage::start_byte, turn_cmd_to_msg(), uart_put_buffer(), SpeedMessagePayload::vtheta, SpeedMessagePayload::vx, and SpeedMessagePayload::vy.

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compute_checksum()

static uint8_t compute_checksum ( uint8_t  bytes[], int  len  )

static

Definition at line 78 of file actuators_ostrich.c.

References checksum.

Referenced by actuators_ostrich_periodic().

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speed_cmd_to_msg()

static uint16_t speed_cmd_to_msg ( uint16_t  speed_cmd )

static

Definition at line 68 of file actuators_ostrich.c.

References SPEED_OF_CMD.

Referenced by actuators_ostrich_periodic().

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turn_cmd_to_msg()

static uint16_t turn_cmd_to_msg ( uint16_t  turn_cmd )

static

Definition at line 73 of file actuators_ostrich.c.

References TURN_OF_CMD.

Referenced by actuators_ostrich_periodic().

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Variable Documentation

actuators_ostrich

struct ActuatorsOstrich actuators_ostrich

Definition at line 38 of file actuators_ostrich.c.

Referenced by actuators_ostrich_init(), and actuators_ostrich_periodic().

ostrich_dev

struct uart_periph* ostrich_dev

static

Definition at line 66 of file actuators_ostrich.c.

Referenced by actuators_ostrich_init(), and actuators_ostrich_periodic().