1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | // created: 2013/12/19
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6 | // filename: ParrotBldc_impl.h
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7 | //
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8 | // author: Guillaume Sanahuja
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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10 | //
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11 | // version: $Id: $
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12 | //
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13 | // purpose: Classe integrant les moteurs ardrone
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14 | //
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15 | //
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16 | /*********************************************************************/
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17 |
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18 |
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19 | #ifndef PARROTBLDC_IMPL_H
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20 | #define PARROTBLDC_IMPL_H
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21 |
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22 | #include <IODevice.h>
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23 | #include <stdint.h>
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24 |
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25 | namespace flair {
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26 | namespace core {
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27 | class SerialPort;
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28 | }
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29 | namespace actuator {
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30 | class ParrotBldc;
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31 | }
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32 | }
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33 |
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34 | class ParrotBldc_impl {
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35 |
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36 | public:
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37 | ParrotBldc_impl(flair::actuator::ParrotBldc* self,flair::core::SerialPort* serialport);
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38 | ~ParrotBldc_impl();
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39 | void UpdateFrom(flair::core::io_data *data);
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40 | void SetMotors(float* value);
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41 |
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42 | private:
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43 | typedef struct GpioData_t {
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44 | int gpio;
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45 | int value;
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46 | } GpioData_t;
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47 |
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48 | enum class GpioMode_t {
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49 | GpioInput = 0, // Pin configured for input
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50 | GpioOutputLow, // Pin configured for output with low level
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51 | GpioOutputHigh, // Pin configured for output with high level
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52 | };
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53 |
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54 | typedef struct GpioDirection_t {
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55 | int gpio;
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56 | GpioMode_t mode;
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57 | } GpioDirection_t;
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58 |
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59 | void StartTest(void);
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60 | void StopTest(void);
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61 | void ResetBldc(void);
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62 | void SetGPIODirection(int gpio,GpioMode_t mode);
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63 | void SetGPIOValue(int gpio,bool value);
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64 | int WriteCmd(uint8_t cmd, uint8_t *reply, int replylen);
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65 | void SetLeds(uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3);
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66 |
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67 | flair::actuator::ParrotBldc* self;
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68 | flair::core::SerialPort* serialport;
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69 | bool is_reseted;
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70 | int fd;
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71 | };
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72 |
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73 | #endif // PARROTBLDC_IMPL_H
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