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actuators_mkk_v2.h
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actuators_mkk_v2.h
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/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi 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 2, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** @file actuators_mkk_v2.h
* Actuators driver for Mikrokopter motor controllers.
*/
#ifndef ACTUATORS_MKK_V2_H
#define ACTUATORS_MKK_V2_H
#include "std.h"
#include "mcu_periph/i2c.h"
#include "generated/airframe.h"
struct actuators_mkk_v2_struct {
bool_t actuators_delay_done; // config_mkk module wants to know state
uint16_t setpoint[ACTUATORS_MKK_V2_NB];
struct i2c_transaction trans[ACTUATORS_MKK_V2_NB];
};
extern struct actuators_mkk_v2_struct actuators_mkk_v2;
extern void actuators_mkk_v2_init(void);
extern void actuators_mkk_v2_set(void);
#define ActuatorMkk_v2Set(_i, _v) { actuators_mkk_v2.setpoint[_i] = _v; }
#define ActuatorsMkk_v2Init() actuators_mkk_v2_init()
#define ActuatorsMkk_v2Commit() actuators_mkk_v2_set()
#endif /* ACTUATORS_MKK_V2_H */