motor_driver_params.h File Reference

Configuration for motor driver on Crazyflie 2.1. More...

Detailed Description

Configuration for motor driver on Crazyflie 2.1.

Author

Gilles DOFFE g.dof.nosp@m.fe@g.nosp@m.mail..nosp@m.com

Definition in file motor_driver_params.h.

#include "board.h"
#include "motor_driver.h"
#include "saul_reg.h"

Include dependency graph for motor_driver_params.h:

Go to the source code of this file.

Variables
static const motor_driver_params_t	motor_driver_params []
	MOTOR_DRIVER configuration.
static const saul_reg_info_t	motor_driver_saul_info []
	Additional meta information to keep in the SAUL registry.

Motor driver configuration for Crazyflie 2.1
#define	MOTOR_DRIVER_0_PARAMS
	Motor driver 0 parameters (3 motors on PWM device 1)
#define	MOTOR_DRIVER_1_PARAMS
	Motor driver 1 parameters (1 motor on PWM device 2)
#define	MOTOR_DRIVER_PARAMS
	Motor driver configuration array.
#define	MOTOR_DRIVER_SAUL_INFO
	SAUL registry information for motor drivers.

Macro Definition Documentation

MOTOR_DRIVER_0_PARAMS

#define MOTOR_DRIVER_0_PARAMS

Motor driver 0 parameters (3 motors on PWM device 1)

Definition at line 34 of file motor_driver_params.h.

MOTOR_DRIVER_1_PARAMS

#define MOTOR_DRIVER_1_PARAMS

Value:

    { \
        .mode            = MOTOR_DRIVER_1_DIR, \
        .pwm_dev         = 2, \
        .pwm_mode        = PWM_LEFT, \
        .pwm_frequency   = 20000U, \
        .pwm_resolution  = 4200U, \
        .brake_inverted  = true, \
        .enable_inverted = false, \
        .nb_motors       = 1, \
        .motors          = { \
            { \
                .pwm_channel      = 0, \
                .gpio_enable      = GPIO_UNDEF, \
                .gpio_dir0        = GPIO_UNDEF, \
                .gpio_dir1        = GPIO_UNDEF, \
                .gpio_dir_reverse = GPIO_UNDEF, \
            } \
        }, \
        .motor_set_post_cb = NULL \
    }

Motor driver 1 parameters (1 motor on PWM device 2)

Definition at line 73 of file motor_driver_params.h.

MOTOR_DRIVER_PARAMS

#define MOTOR_DRIVER_PARAMS

Value:

    MOTOR_DRIVER_0_PARAMS, \
    MOTOR_DRIVER_1_PARAMS

Motor driver configuration array.

Definition at line 99 of file motor_driver_params.h.

MOTOR_DRIVER_SAUL_INFO

#define MOTOR_DRIVER_SAUL_INFO

Value:

    { .name = "motor_driver_0" }, \
    { .name = "motor_driver_1" }

SAUL registry information for motor drivers.

Definition at line 108 of file motor_driver_params.h.

Variable Documentation

motor_driver_params

const motor_driver_params_t motor_driver_params[]

static

Initial value:

=
{
    MOTOR_DRIVER_PARAMS,
}

MOTOR_DRIVER configuration.

Definition at line 117 of file motor_driver_params.h.

motor_driver_saul_info

const saul_reg_info_t motor_driver_saul_info[]

static

Initial value:

=
{
    MOTOR_DRIVER_SAUL_INFO
}

Additional meta information to keep in the SAUL registry.

Definition at line 125 of file motor_driver_params.h.