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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
172 lines
12 KiB
C
172 lines
12 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup ActuatorSettings ActuatorSettings
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* @brief Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType
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*
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* Autogenerated files and functions for ActuatorSettings Object
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* @{
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*
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* @file actuatorsettings.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the ActuatorSettings 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: actuatorsettings.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 ACTUATORSETTINGS_H
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#define ACTUATORSETTINGS_H
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// Object constants
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#define ACTUATORSETTINGS_OBJID 844831578U
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#define ACTUATORSETTINGS_NAME "ActuatorSettings"
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#define ACTUATORSETTINGS_METANAME "ActuatorSettingsMeta"
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#define ACTUATORSETTINGS_ISSINGLEINST 1
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#define ACTUATORSETTINGS_ISSETTINGS 1
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#define ACTUATORSETTINGS_NUMBYTES sizeof(ActuatorSettingsData)
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// Object access macros
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/**
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* @function ActuatorSettingsGet(dataOut)
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* @brief Populate a ActuatorSettingsData object
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* @param[out] dataOut
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*/
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#define ActuatorSettingsGet(dataOut) UAVObjGetData(ActuatorSettingsHandle(), dataOut)
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#define ActuatorSettingsSet(dataIn) UAVObjSetData(ActuatorSettingsHandle(), dataIn)
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#define ActuatorSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorSettingsHandle(), instId, dataOut)
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#define ActuatorSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorSettingsHandle(), instId, dataIn)
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#define ActuatorSettingsConnectQueue(queue) UAVObjConnectQueue(ActuatorSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
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#define ActuatorSettingsConnectCallback(cb) UAVObjConnectCallback(ActuatorSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
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#define ActuatorSettingsCreateInstance() UAVObjCreateInstance(ActuatorSettingsHandle())
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#define ActuatorSettingsRequestUpdate() UAVObjRequestUpdate(ActuatorSettingsHandle())
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#define ActuatorSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorSettingsHandle(), instId)
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#define ActuatorSettingsUpdated() UAVObjUpdated(ActuatorSettingsHandle())
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#define ActuatorSettingsInstUpdated(instId) UAVObjUpdated(ActuatorSettingsHandle(), instId)
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#define ActuatorSettingsGetMetadata(dataOut) UAVObjGetMetadata(ActuatorSettingsHandle(), dataOut)
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#define ActuatorSettingsSetMetadata(dataIn) UAVObjSetMetadata(ActuatorSettingsHandle(), dataIn)
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#define ActuatorSettingsReadOnly(dataIn) UAVObjReadOnly(ActuatorSettingsHandle())
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// Object data
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typedef struct {
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uint8_t FixedWingRoll1;
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uint8_t FixedWingRoll2;
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uint8_t FixedWingPitch1;
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uint8_t FixedWingPitch2;
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uint8_t FixedWingYaw;
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uint8_t FixedWingThrottle;
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uint8_t VTOLMotorN;
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uint8_t VTOLMotorNE;
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uint8_t VTOLMotorE;
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uint8_t VTOLMotorSE;
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uint8_t VTOLMotorS;
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uint8_t VTOLMotorSW;
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uint8_t VTOLMotorW;
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uint8_t VTOLMotorNW;
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int16_t ChannelUpdateFreq[2];
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int16_t ChannelMax[8];
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int16_t ChannelNeutral[8];
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int16_t ChannelMin[8];
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uint8_t ChannelType[8];
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uint8_t ChannelAddr[8];
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} __attribute__((packed)) ActuatorSettingsData;
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// Field information
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// Field FixedWingRoll1 information
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/* Enumeration options for field FixedWingRoll1 */
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typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGROLL1_NONE=8 } ActuatorSettingsFixedWingRoll1Options;
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// Field FixedWingRoll2 information
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/* Enumeration options for field FixedWingRoll2 */
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typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGROLL2_NONE=8 } ActuatorSettingsFixedWingRoll2Options;
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// Field FixedWingPitch1 information
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/* Enumeration options for field FixedWingPitch1 */
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typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE=8 } ActuatorSettingsFixedWingPitch1Options;
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// Field FixedWingPitch2 information
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/* Enumeration options for field FixedWingPitch2 */
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typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE=8 } ActuatorSettingsFixedWingPitch2Options;
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// Field FixedWingYaw information
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/* Enumeration options for field FixedWingYaw */
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typedef enum { ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGYAW_NONE=8 } ActuatorSettingsFixedWingYawOptions;
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// Field FixedWingThrottle information
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/* Enumeration options for field FixedWingThrottle */
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typedef enum { ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE=8 } ActuatorSettingsFixedWingThrottleOptions;
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// Field VTOLMotorN information
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/* Enumeration options for field VTOLMotorN */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORN_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORN_NONE=8 } ActuatorSettingsVTOLMotorNOptions;
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// Field VTOLMotorNE information
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/* Enumeration options for field VTOLMotorNE */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORNE_NONE=8 } ActuatorSettingsVTOLMotorNEOptions;
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// Field VTOLMotorE information
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/* Enumeration options for field VTOLMotorE */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORE_NONE=8 } ActuatorSettingsVTOLMotorEOptions;
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// Field VTOLMotorSE information
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/* Enumeration options for field VTOLMotorSE */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORSE_NONE=8 } ActuatorSettingsVTOLMotorSEOptions;
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// Field VTOLMotorS information
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/* Enumeration options for field VTOLMotorS */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORS_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORS_NONE=8 } ActuatorSettingsVTOLMotorSOptions;
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// Field VTOLMotorSW information
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/* Enumeration options for field VTOLMotorSW */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORSW_NONE=8 } ActuatorSettingsVTOLMotorSWOptions;
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// Field VTOLMotorW information
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/* Enumeration options for field VTOLMotorW */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORW_NONE=8 } ActuatorSettingsVTOLMotorWOptions;
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// Field VTOLMotorNW information
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/* Enumeration options for field VTOLMotorNW */
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typedef enum { ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORNW_NONE=8 } ActuatorSettingsVTOLMotorNWOptions;
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// Field ChannelUpdateFreq information
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/* Number of elements for field ChannelUpdateFreq */
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#define ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM 2
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// Field ChannelMax information
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/* Number of elements for field ChannelMax */
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#define ACTUATORSETTINGS_CHANNELMAX_NUMELEM 8
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// Field ChannelNeutral information
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/* Number of elements for field ChannelNeutral */
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#define ACTUATORSETTINGS_CHANNELNEUTRAL_NUMELEM 8
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// Field ChannelMin information
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/* Number of elements for field ChannelMin */
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#define ACTUATORSETTINGS_CHANNELMIN_NUMELEM 8
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// Field ChannelType information
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/* Enumeration options for field ChannelType */
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typedef enum { ACTUATORSETTINGS_CHANNELTYPE_PWM=0, ACTUATORSETTINGS_CHANNELTYPE_MK=1, ACTUATORSETTINGS_CHANNELTYPE_ASTEC4=2 } ActuatorSettingsChannelTypeOptions;
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/* Number of elements for field ChannelType */
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#define ACTUATORSETTINGS_CHANNELTYPE_NUMELEM 8
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// Field ChannelAddr information
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/* Number of elements for field ChannelAddr */
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#define ACTUATORSETTINGS_CHANNELADDR_NUMELEM 8
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// Generic interface functions
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int32_t ActuatorSettingsInitialize();
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UAVObjHandle ActuatorSettingsHandle();
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#endif // ACTUATORSETTINGS_H
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/**
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* @}
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* @}
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*/
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