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/******************************************************************************
* Copyright (C) 2018 Colomar Andrés, Alejandro *
* Copyright (C) 2018 García Pedroche, Francisco Javier *
* SPDX-License-Identifier: GPL-2.0-only *
******************************************************************************/
/**
* @file actuators.c
* @author Colomar Andrés, Alejandro
* @author García Pedroche, Francisco Javier
* @copyright GPL-2.0-only
* @date 2018/dec/26
* @brief Actuators
* Set the actuators of the plane to the position received by CAN
*/
/******************************************************************************
******* headers **************************************************************
******************************************************************************/
/* Standard C ----------------------------------------------------------------*/
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
/* Drivers -------------------------------------------------------------------*/
#include "stm32l4xx_hal.h"
/* libalx --------------------------------------------------------------------*/
#include "libalx/alx_math.h"
/* STM32L4 modules -----------------------------------------------------------*/
#include "can.h"
#include "delay.h"
#include "errors.h"
#include "led.h"
#include "servo.h"
#include "tim.h"
/* Project -------------------------------------------------------------------*/
#include "actuators.h"
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
/******************************************************************************
******* enums ****************************************************************
******************************************************************************/
/******************************************************************************
******* structs **************************************************************
******************************************************************************/
/******************************************************************************
******* variables ************************************************************
******************************************************************************/
/* Volatile ------------------------------------------------------------------*/
/* Global --------------------------------------------------------------------*/
/* Static --------------------------------------------------------------------*/
static float pitch;
static float roll;
static float yaw;
/******************************************************************************
******* static functions (prototypes) ****************************************
******************************************************************************/
static int modules_init (void);
#if 0
static int proc_init (void);
#endif
static int proc_ref_read (void *data);
static int proc_actuators_set (void *data);
/******************************************************************************
******* global functions *****************************************************
******************************************************************************/
/**
* @brief Initialize actuators process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_actuators_init (void)
{
if (modules_init()) {
return ERROR_NOK;
}
#if 0
if (proc_init()) {
return ERROR_NOK;
}
#endif
return ERROR_OK;
}
/**
* @brief Run actuators process (based on timer interrupts)
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_actuators_1 (void)
{
while (true) {
__WFE();
if (tim_tim3_interrupt) {
if (tim_callback_exe()) {
prj_error_handle();
return ERROR_NOK;
}
tim_tim3_interrupt = false;
}
}
return ERROR_OK;
}
/**
* @brief Run actuators process (based on delays)
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_actuators_2 (void)
{
delay_us(1000u);
while (true) {
delay_us(20000u);
if (!proc_ref_read(NULL)) {
if (proc_actuators_set(NULL)) {
return ERROR_NOK;
}
}
}
return ERROR_OK;
}
/******************************************************************************
******* static functions (definitions) ***************************************
******************************************************************************/
static int modules_init (void)
{
#if 0
if (tim_tim3_init(REFRESH_FREQ)) {
return ERROR_NOK;
}
#endif
if (delay_us_init()) {
return ERROR_NOK;
}
if (can_init()) {
return ERROR_NOK;
}
if (servo_init()) {
return ERROR_NOK;
}
return ERROR_OK;
}
#if 0
static int proc_init (void)
{
if (tim_callback_push(&proc_ref_read, NULL)) {
return ERROR_NOK;
}
if (tim_callback_push(&proc_actuators_set, NULL)) {
return ERROR_NOK;
}
return ERROR_OK;
}
#endif
static int proc_ref_read (void *data)
{
int8_t plane_pos [CAN_DATA_LEN];
(void)data;
if (can_msg_read((uint8_t *)plane_pos)) {
return ERROR_NOK;
}
pitch = plane_pos[0];
roll = plane_pos[1];
yaw = plane_pos[2];
return ERROR_OK;
}
static int proc_actuators_set (void *data)
{
float tmp;
(void)data;
tmp = alx_scale_linear_f(pitch, -40, 40, -90, 90);
if (servo_position_set(SERVO_S1, tmp)) {
return ERROR_NOK;
}
tmp = alx_scale_linear_f(roll, -35, 35, -90, -20);
if (servo_position_set(SERVO_S2, tmp)) {
return ERROR_NOK;
}
if (yaw > 0) {
if (servo_position_set(SERVO_S3, 90)) {
return ERROR_NOK;
}
tmp = alx_scale_linear_f(yaw, 0, 10, -90, 90);
if (servo_position_set(SERVO_S4, tmp)) {
return ERROR_NOK;
}
} else {
tmp = alx_scale_linear_f(yaw, -10, 0, -90, 90);
if (servo_position_set(SERVO_S3, tmp)) {
return ERROR_NOK;
}
if (servo_position_set(SERVO_S4, -90)) {
return ERROR_NOK;
}
}
return ERROR_OK;
}
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
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