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b173d74821
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
100 lines
4.0 KiB
C
100 lines
4.0 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup ActuatorCommand ActuatorCommand
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* @brief Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule
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*
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* Autogenerated files and functions for ActuatorCommand Object
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* @{
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*
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* @file actuatorcommand.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the ActuatorCommand object. This file has been
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* automatically generated by the UAVObjectGenerator.
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*
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* @note Object definition file: actuatorcommand.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef ACTUATORCOMMAND_H
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#define ACTUATORCOMMAND_H
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// Object constants
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#define ACTUATORCOMMAND_OBJID 3907024856U
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#define ACTUATORCOMMAND_NAME "ActuatorCommand"
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#define ACTUATORCOMMAND_METANAME "ActuatorCommandMeta"
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#define ACTUATORCOMMAND_ISSINGLEINST 1
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#define ACTUATORCOMMAND_ISSETTINGS 0
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#define ACTUATORCOMMAND_NUMBYTES sizeof(ActuatorCommandData)
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// Object access macros
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/**
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* @function ActuatorCommandGet(dataOut)
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* @brief Populate a ActuatorCommandData object
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* @param[out] dataOut
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*/
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#define ActuatorCommandGet(dataOut) UAVObjGetData(ActuatorCommandHandle(), dataOut)
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#define ActuatorCommandSet(dataIn) UAVObjSetData(ActuatorCommandHandle(), dataIn)
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#define ActuatorCommandInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorCommandHandle(), instId, dataOut)
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#define ActuatorCommandInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorCommandHandle(), instId, dataIn)
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#define ActuatorCommandConnectQueue(queue) UAVObjConnectQueue(ActuatorCommandHandle(), queue, EV_MASK_ALL_UPDATES)
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#define ActuatorCommandConnectCallback(cb) UAVObjConnectCallback(ActuatorCommandHandle(), cb, EV_MASK_ALL_UPDATES)
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#define ActuatorCommandCreateInstance() UAVObjCreateInstance(ActuatorCommandHandle())
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#define ActuatorCommandRequestUpdate() UAVObjRequestUpdate(ActuatorCommandHandle())
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#define ActuatorCommandRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorCommandHandle(), instId)
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#define ActuatorCommandUpdated() UAVObjUpdated(ActuatorCommandHandle())
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#define ActuatorCommandInstUpdated(instId) UAVObjUpdated(ActuatorCommandHandle(), instId)
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#define ActuatorCommandGetMetadata(dataOut) UAVObjGetMetadata(ActuatorCommandHandle(), dataOut)
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#define ActuatorCommandSetMetadata(dataIn) UAVObjSetMetadata(ActuatorCommandHandle(), dataIn)
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#define ActuatorCommandReadOnly(dataIn) UAVObjReadOnly(ActuatorCommandHandle())
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// Object data
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typedef struct {
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int16_t Channel[8];
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uint8_t UpdateTime;
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uint8_t MaxUpdateTime;
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uint8_t NumFailedUpdates;
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} __attribute__((packed)) ActuatorCommandData;
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// Field information
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// Field Channel information
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/* Number of elements for field Channel */
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#define ACTUATORCOMMAND_CHANNEL_NUMELEM 8
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// Field UpdateTime information
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// Field MaxUpdateTime information
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// Field NumFailedUpdates information
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// Generic interface functions
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int32_t ActuatorCommandInitialize();
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UAVObjHandle ActuatorCommandHandle();
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#endif // ACTUATORCOMMAND_H
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/**
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* @}
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* @}
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*/
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