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LibrePilot/flight/OpenPilot/UAVObjects/inc/actuatorcommand.h
peabody124 b173d74821 OP-237 I2C ESC support. This _will_ require you to reconfigure your
ActuatorSettings although for PWM aircrafts it should be done exactly as before

Actuator: Store the update times and maximum update time

OP-14 I2C: Start tracking short history of events and states in driver for
logging
OP-237 Flight/Actuator: Support for I2C based ESCs

OP-237 MK_ESC: Send all four motors as one atomic transfer

OP-237 Flight/Actuator: Allow channels to be mapped to MK I2C interface.  Currently
mixer channels are either PWM or MK but in the future this will change to
support more than 8 channels.

OP-16 PiOS/I2C: Further work to try and make I2C more stable, mstly special case
handline in IRQ

OP-237 I2C ESC: Support for Astect 4 channel ESCs

OP-237: When the I2C Actuator write update fails track this

OP-237 Actuator Settings: Change the way motor types are selected to keep that
information more appropriately within ActuatorSettings instead of MixerSettings

Also make motors stay at or above neutral when armed and throttle > 0

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2366 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-01-10 01:11:44 +00:00

100 lines
4.0 KiB
C

/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup ActuatorCommand ActuatorCommand
* @brief Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule
*
* Autogenerated files and functions for ActuatorCommand Object
* @{
*
* @file actuatorcommand.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ActuatorCommand object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: actuatorcommand.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ACTUATORCOMMAND_H
#define ACTUATORCOMMAND_H
// Object constants
#define ACTUATORCOMMAND_OBJID 3907024856U
#define ACTUATORCOMMAND_NAME "ActuatorCommand"
#define ACTUATORCOMMAND_METANAME "ActuatorCommandMeta"
#define ACTUATORCOMMAND_ISSINGLEINST 1
#define ACTUATORCOMMAND_ISSETTINGS 0
#define ACTUATORCOMMAND_NUMBYTES sizeof(ActuatorCommandData)
// Object access macros
/**
* @function ActuatorCommandGet(dataOut)
* @brief Populate a ActuatorCommandData object
* @param[out] dataOut
*/
#define ActuatorCommandGet(dataOut) UAVObjGetData(ActuatorCommandHandle(), dataOut)
#define ActuatorCommandSet(dataIn) UAVObjSetData(ActuatorCommandHandle(), dataIn)
#define ActuatorCommandInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorCommandHandle(), instId, dataOut)
#define ActuatorCommandInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorCommandHandle(), instId, dataIn)
#define ActuatorCommandConnectQueue(queue) UAVObjConnectQueue(ActuatorCommandHandle(), queue, EV_MASK_ALL_UPDATES)
#define ActuatorCommandConnectCallback(cb) UAVObjConnectCallback(ActuatorCommandHandle(), cb, EV_MASK_ALL_UPDATES)
#define ActuatorCommandCreateInstance() UAVObjCreateInstance(ActuatorCommandHandle())
#define ActuatorCommandRequestUpdate() UAVObjRequestUpdate(ActuatorCommandHandle())
#define ActuatorCommandRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorCommandHandle(), instId)
#define ActuatorCommandUpdated() UAVObjUpdated(ActuatorCommandHandle())
#define ActuatorCommandInstUpdated(instId) UAVObjUpdated(ActuatorCommandHandle(), instId)
#define ActuatorCommandGetMetadata(dataOut) UAVObjGetMetadata(ActuatorCommandHandle(), dataOut)
#define ActuatorCommandSetMetadata(dataIn) UAVObjSetMetadata(ActuatorCommandHandle(), dataIn)
#define ActuatorCommandReadOnly(dataIn) UAVObjReadOnly(ActuatorCommandHandle())
// Object data
typedef struct {
int16_t Channel[8];
uint8_t UpdateTime;
uint8_t MaxUpdateTime;
uint8_t NumFailedUpdates;
} __attribute__((packed)) ActuatorCommandData;
// Field information
// Field Channel information
/* Number of elements for field Channel */
#define ACTUATORCOMMAND_CHANNEL_NUMELEM 8
// Field UpdateTime information
// Field MaxUpdateTime information
// Field NumFailedUpdates information
// Generic interface functions
int32_t ActuatorCommandInitialize();
UAVObjHandle ActuatorCommandHandle();
#endif // ACTUATORCOMMAND_H
/**
* @}
* @}
*/