Buoyancy Firmware  1.0
Buoyancy Vehicle Firmware Documentation
motor.h
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1 #ifndef _MOTOR_H
2 #define _MOTOR_H
3 
4 #include "main.h"
5 
18 
21 typedef struct{
22  bool msgReceived;
26  long value;
27 }rxMotor_t;
28 
31 void motorUp(void);
32 
35 void motorDown(void);
36 
39 void motorStop(void);
40 
46 void motorEnableLimitSwitches(void);
47 
57 void sendCmd(uint8_t, uint8_t, uint8_t, uint8_t, long);
58 
66 void receiveReply(uint8_t*);
67 
75 void setPistonPosition(void);
76 
82 
87 float getPistonPosition(void);
88 
93 float getMotorSpeed(void);
94 
102 
110 
115 float getMotorFirmwareVersion(void);
116 
122 void MotorTest(void);
123 
128 void motorInit(void);
129 
136 void stopMotorAtSurface(void);
137 
145  void setSurfaceReferencePoint(void);
146 
147 #endif
148 
149 
float getMotorSpeed()
Definition: motor.c:153
Definition: motor.h:17
status_t status
Returned status.
Definition: motor.h:25
void motorStop()
Definition: motor.c:41
uint8_t address
Register address.
Definition: motor.h:23
void setPistonPosition()
Definition: motor.c:114
unsigned char uint8_t
Definition: nrf_drv_uart_PP.c:22
Definition: motor.h:17
long value
Returned data value in case of a read command.
Definition: motor.h:26
void motorUp()
Vehicle float up towards the surface - Move piston down.
Definition: motor.c:20
void setSurfaceReferencePoint()
Definition: motor.c:266
Definition: motor.h:17
void receiveReply(uint8_t *)
Receive reply message from motor controller interface.
enum motorstatus status_t
Status values returned in reply from command sent to motor interface.
float getPistonPosition()
Definition: motor.c:141
structure with received values from motor interface
Definition: motor.h:21
float getAxisParameterValue(uint8_t parameter)
Definition: motor.c:227
void MotorTest()
Definition: motor.c:174
Definition: motor.h:17
float getMotorFirmwareVersion()
Definition: motor.c:248
Definition: motor.h:17
void motorDown()
Definition: motor.c:30
bool msgReceived
Flag signal message is received.
Definition: motor.h:22
void stopMotorAtSurface()
Definition: motor.c:257
void motorInit()
Definition: motor.c:189
Definition: motor.h:17
float getMotorEEPROMValue(uint8_t parameter)
Definition: motor.c:237
Definition: motor.h:17
void sendCmd(uint8_t addr, uint8_t Cmd, uint8_t Type, uint8_t motor, long value)
Send command to motor controller interface.
Definition: motor.c:67
Definition: motor.h:17
void motorEnableLimitSwitches()
Definition: motor.c:167
motorstatus
Status values returned in reply from command sent to motor interface.
Definition: motor.h:17
void setReferencePositionToZero()
Definition: motor.c:131
uint8_t Id
Motor id.
Definition: motor.h:24