actuators_asctec_v2_new.c File Reference

Actuators driver for Asctec v2 motor controllers with the new I2C protocol. More...

#include "subsystems/actuators.h"
#include "subsystems/actuators/actuators_asctec_v2_new.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	ACTUATORS_ASCTEC_V2_SLAVE_ADDR   0x00

Functions
static uint16_t	crc_update (uint16_t crc, uint8_t data)
void	actuators_asctec_v2_init (void)
void	actuators_asctec_v2_set (void)

Variables
struct ActuatorsAsctecV2	actuators_asctec_v2

Detailed Description

Actuators driver for Asctec v2 motor controllers with the new I2C protocol.

Definition in file actuators_asctec_v2_new.c.

Macro Definition Documentation

#define ACTUATORS_ASCTEC_V2_SLAVE_ADDR   0x00

Definition at line 32 of file actuators_asctec_v2_new.c.

Referenced by actuators_asctec_v2_init(), and actuators_asctec_v2_set().

Function Documentation

void actuators_asctec_v2_init

(

void

)

Definition at line 40 of file actuators_asctec_v2_new.c.

References ACTUATORS_ASCTEC_V2_SLAVE_ADDR, ActuatorsAsctecV2::cmd, ActuatorsAsctecV2::cur_addr, FRONT, ActuatorsAsctecV2::i2c_trans, I2CTransSuccess, I2CTransTx, i2c_transaction::len_w, ActuatorsAsctecV2::nb_err, ActuatorsAsctecV2::new_addr, NONE, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

void actuators_asctec_v2_set

(

void

)

Definition at line 53 of file actuators_asctec_v2_new.c.

References actuators_asctec_v2, ACTUATORS_ASCTEC_V2_SLAVE_ADDR, i2c_transaction::buf, ActuatorsAsctecV2::cmd, ActuatorsAsctecV2::cmds, crc, crc_update(), ActuatorsAsctecV2::cur_addr, i2c_receive(), i2c_submit(), ActuatorsAsctecV2::i2c_trans, i2c_transmit(), I2CTransDone, I2CTransFailed, I2CTransSuccess, I2CTransTx, i2c_transaction::len_w, ActuatorsAsctecV2::nb_err, ActuatorsAsctecV2::new_addr, NONE, REVERSE, SET_ADDR, i2c_transaction::status, SysTimeTimer, TEST, TRUE, i2c_transaction::type, and USEC_OF_SEC.

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static uint16_t crc_update ( uint16_t  crc, uint8_t  data  )

static

Definition at line 181 of file actuators_asctec_v2_new.c.

Referenced by actuators_asctec_v2_set().

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Variable Documentation

struct ActuatorsAsctecV2 actuators_asctec_v2

Definition at line 36 of file actuators_asctec_v2_new.c.

Referenced by actuators_asctec_v2_set().