df_bebop_bus_wrapper Namespace Reference

Functions
int	start ()
	Attempt to start driver on all available I2C busses. More...
int	stop ()
	Stop the driver. More...
int	info ()
	Print a little info about the driver. More...
int	clear_errors ()
	Clear errors present on the Bebop hardware. More...
void	usage ()
	Prints info about the driver argument usage. More...
void	task_main (int argc, char *argv[])
int	initialize_mixers (const char *mixers_filename)
int	mixers_control_callback (uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input)

Variables
DfBebopBusWrapper *	g_dev = nullptr
volatile bool	_task_should_exit = false
static bool	_is_running = false
static bool	_motors_running = false
static px4_task_t	_task_handle = -1
static const char *	MIXER_FILENAME = "/home/root/bebop.main.mix"
int	_controls_sub
int	_armed_sub
orb_advert_t	_outputs_pub = nullptr
orb_advert_t	_rc_pub = nullptr
actuator_controls_s	_controls [1]
actuator_outputs_s	_outputs
actuator_armed_s	_armed
MixerGroup *	_mixers = nullptr

Function Documentation

clear_errors()

int df_bebop_bus_wrapper::clear_errors

(

)

Clear errors present on the Bebop hardware.

Definition at line 562 of file df_bebop_bus_wrapper.cpp.

References DfBebopBusWrapper::clear_errors().

Referenced by df_bebop_bus_wrapper_main().

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info()

int df_bebop_bus_wrapper::info

(

)

Print a little info about the driver.

Definition at line 539 of file df_bebop_bus_wrapper.cpp.

References DfBebopBusWrapper::print_info().

Referenced by df_bebop_bus_wrapper_main(), and DfBebopBusWrapper::print_info().

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initialize_mixers()

int df_bebop_bus_wrapper::initialize_mixers

(

const char *

mixers_filename

)

Definition at line 297 of file df_bebop_bus_wrapper.cpp.

References _mixers, MixerGroup::load_from_buf(), load_mixer_file(), and mixers_control_callback().

Referenced by task_main().

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mixers_control_callback()

int df_bebop_bus_wrapper::mixers_control_callback	(	uintptr_t	handle,
		uint8_t	control_group,
		uint8_t	control_index,
		float &	input
	)

Definition at line 285 of file df_bebop_bus_wrapper.cpp.

References actuator_controls_s::control.

Referenced by initialize_mixers().

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start()

int df_bebop_bus_wrapper::start

(

)

Attempt to start driver on all available I2C busses.

This function will return as soon as the first sensor is detected on one of the available busses or if no sensors are detected.

Definition at line 460 of file df_bebop_bus_wrapper.cpp.

References DfBebopBusWrapper::DfBebopBusWrapper(), DfBebopBusWrapper::start(), and task_main().

Referenced by df_bebop_bus_wrapper_main().

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stop()

int df_bebop_bus_wrapper::stop

(

)

Stop the driver.

Stop the driver.

Definition at line 505 of file df_bebop_bus_wrapper.cpp.

References g_dev, and DfBebopBusWrapper::stop().

Referenced by df_bebop_bus_wrapper_main().

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task_main()

void df_bebop_bus_wrapper::task_main	(	int	argc,
		char *	argv[]
	)

Definition at line 331 of file df_bebop_bus_wrapper.cpp.

References _controls_sub, actuator_armed_s::armed, f(), actuator_armed_s::force_failsafe, initialize_mixers(), actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, MixerGroup::mix(), actuator_outputs_s::noutputs, orb_advertise(), orb_check(), orb_copy(), ORB_ID, orb_publish(), orb_subscribe(), orb_unsubscribe(), actuator_outputs_s::output, actuator_armed_s::prearmed, px4_poll(), DfBebopBusWrapper::set_esc_speeds(), DfBebopBusWrapper::set_last_throttle(), DfBebopBusWrapper::start_motors(), DfBebopBusWrapper::stop_motors(), actuator_outputs_s::timestamp, and actuator_controls_s::timestamp.

Referenced by start().

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usage()

void df_bebop_bus_wrapper::usage

(

void

)

Prints info about the driver argument usage.

Prints info about the driver argument usage.

Definition at line 582 of file df_bebop_bus_wrapper.cpp.

Referenced by df_bebop_bus_wrapper_main().

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Variable Documentation

_armed

actuator_armed_s df_bebop_bus_wrapper::_armed

Definition at line 269 of file df_bebop_bus_wrapper.cpp.

Referenced by MixingOutput::armed(), and MixingOutput::armNoThrottle().

_armed_sub

int df_bebop_bus_wrapper::_armed_sub

Definition at line 260 of file df_bebop_bus_wrapper.cpp.

Referenced by SafetyButton::FlashButton().

_controls

actuator_controls_s df_bebop_bus_wrapper::_controls[1]

Definition at line 267 of file df_bebop_bus_wrapper.cpp.

_controls_sub

int df_bebop_bus_wrapper::_controls_sub

Definition at line 259 of file df_bebop_bus_wrapper.cpp.

Referenced by task_main().

_is_running

bool df_bebop_bus_wrapper::_is_running = false

static

Definition at line 252 of file df_bebop_bus_wrapper.cpp.

_mixers

MixerGroup* df_bebop_bus_wrapper::_mixers = nullptr

Definition at line 271 of file df_bebop_bus_wrapper.cpp.

Referenced by initialize_mixers(), and MixingOutput::mixers().

_motors_running

bool df_bebop_bus_wrapper::_motors_running = false

static

Definition at line 253 of file df_bebop_bus_wrapper.cpp.

_outputs

actuator_outputs_s df_bebop_bus_wrapper::_outputs

Definition at line 268 of file df_bebop_bus_wrapper.cpp.

_outputs_pub

orb_advert_t df_bebop_bus_wrapper::_outputs_pub = nullptr

Definition at line 263 of file df_bebop_bus_wrapper.cpp.

_rc_pub

orb_advert_t df_bebop_bus_wrapper::_rc_pub = nullptr

Definition at line 264 of file df_bebop_bus_wrapper.cpp.

Referenced by RCUpdate::RCUpdate::Run().

_task_handle

px4_task_t df_bebop_bus_wrapper::_task_handle = -1

static

Definition at line 254 of file df_bebop_bus_wrapper.cpp.

_task_should_exit

volatile bool df_bebop_bus_wrapper::_task_should_exit = false

Definition at line 251 of file df_bebop_bus_wrapper.cpp.

Referenced by UavcanNode::run().

g_dev

DfBebopBusWrapper* df_bebop_bus_wrapper::g_dev = nullptr

Definition at line 250 of file df_bebop_bus_wrapper.cpp.

Referenced by stop().

MIXER_FILENAME

const char* df_bebop_bus_wrapper::MIXER_FILENAME = "/home/root/bebop.main.mix"

static

Definition at line 256 of file df_bebop_bus_wrapper.cpp.