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115 lines
3.7 KiB
C
115 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file roboclaw_params.c
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*
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* Parameters defined by the Roboclaw driver.
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*
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* The Roboclaw will need to be configured to match these parameters. For information about configuring the
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* Roboclaw, see http://downloads.ionmc.com/docs/roboclaw_user_manual.pdf
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*
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* @author Timothy Scott <timothy@auterion.com>
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*/
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/**
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* Uart write period
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*
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* How long to wait, in Milliseconds, between writing actuator controls over Uart to the Roboclaw
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* @unit ms
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* @min 1
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* @max 1000
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* @group Roboclaw driver
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*/
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PARAM_DEFINE_INT32(RBCLW_WRITE_PER, 10);
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/**
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* Encoder read period
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*
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* How long to wait, in Milliseconds, between reading wheel encoder values over Uart from the Roboclaw
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* @unit ms
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* @min 1
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* @max 1000
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* @group Roboclaw driver
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*/
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PARAM_DEFINE_INT32(RBCLW_READ_PER, 10);
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/**
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* Encoder counts per revolution
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*
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* Number of encoder counts for one revolution. The roboclaw treats analog encoders (potentiometers) as having 2047
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* counts per rev. The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
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* @min 1
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* @group Roboclaw driver
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*/
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PARAM_DEFINE_INT32(RBCLW_COUNTS_REV, 1200);
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/**
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* Address of the Roboclaw
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*
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* The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match
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* this parameter.
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* @min 128
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* @max 135
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* @value 128 0x80
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* @value 129 0x81
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* @value 130 0x82
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* @value 131 0x83
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* @value 132 0x84
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* @value 133 0x85
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* @value 134 0x86
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* @value 135 0x87
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* @group Roboclaw driver
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*/
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PARAM_DEFINE_INT32(RBCLW_ADDRESS, 128);
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/**
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* Roboclaw serial baud rate
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*
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* Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.
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* @min 2400
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* @max 460800
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* @value 2400 2400 baud
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* @value 9600 9600 baud
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* @value 19200 19200 baud
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* @value 38400 38400 baud
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* @value 57600 57600 baud
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* @value 115200 115200 baud
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* @value 230400 230400 baud
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* @value 460800 460800 baud
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* @group Roboclaw driver
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(RBCLW_BAUD, 2400);
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