mirror of https://github.com/ArduPilot/ardupilot
234 lines
8.7 KiB
C
234 lines
8.7 KiB
C
// ESCVelocityProtocol.h was generated by ProtoGen version 2.18.c
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _ESCVELOCITYPROTOCOL_H
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#define _ESCVELOCITYPROTOCOL_H
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// C++ compilers: don't mangle us
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* \file
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* \mainpage ESCVelocity protocol stack
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*
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* This is the ICD for the Currawong Engineering Electronic Speed Controller
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* (ESCVelocity). This document details the ESCVelocity command and packet
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* structure for communication with and configuration of the ESC
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*
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* The protocol API enumeration is incremented anytime the protocol is changed
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* in a way that affects compatibility with earlier versions of the protocol.
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* The protocol enumeration for this version is: 23
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*
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* The protocol version is 3.05
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*/
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#include <stdint.h>
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#include <string.h> // C string manipulation function header
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//! \return the protocol API enumeration
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#define getESCVelocityApi() 23
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//! \return the protocol version string
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#define getESCVelocityVersion() "3.05"
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/*!
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* ESC_Disable_Sequence
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*/
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typedef enum
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{
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ESC_DISABLE_A = 0xAA,//!< Constant value required for disabling the ESC
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ESC_DISABLE_B = 0xC3 //!< Constant value required for disabling the ESC
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} ESCDisableSequence;
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/*!
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* ESC_Enable_Sequence
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*/
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typedef enum
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{
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ESC_ENABLE_A = 0xAA, //!< Constant value required for enabling the ESC
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ESC_ENABLE_B = 0x3C //!< Constant value required for enabling the ESC
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} ESCEnableSequence;
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/*!
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* ESC Operational Modes
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*/
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typedef enum
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{
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ESC_MODE_STANDBY = 0x00, //!< ESC is in standby mode - the motor is OFF but the ESC is ready to accept motor commands
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ESC_MODE_PWM, //!< ESC is controlling motor in open-loop mode based on a 'PWM' (Pulse Width) input
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ESC_MODE_RPM, //!< ESC is controlling motor speed based on an RPM setpoint
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ESC_VALID_MODES //!< ESC mode counter
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} ESCOperatingModes;
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//! \return the label of a 'ESCOperatingModes' enum entry, based on its value
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const char* ESCOperatingModes_EnumLabel(int value);
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/*!
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* ESC Command Sources
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*/
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typedef enum
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{
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ESC_COMMAND_SOURCE_NONE = 0x00,//!< No valid command has been received
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ESC_COMMAND_SOURCE_CAN, //!< Most recent command from CAN
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ESC_COMMAND_SOURCE_PWM //!< Most recent command from PWM
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} ESCCommandSources;
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//! \return the label of a 'ESCCommandSources' enum entry, based on its value
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const char* ESCCommandSources_EnumLabel(int value);
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/*!
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* ESC motor temperature sensor options
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*/
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typedef enum
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{
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ESC_MOTOR_TEMP_SENSOR_OFF = 0x00,//!< No temperature sensor selected
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ESC_MOTOR_TEMP_SENSOR_KTY84, //!< KTY84 of equivalent
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ESC_MOTOR_TEMP_SENSOR_KTY83 //!< KTY83 or equivalent
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} ESCMotorTemperatureSensor;
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//! \return the label of a 'ESCMotorTemperatureSensor' enum entry, based on its value
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const char* ESCMotorTemperatureSensor_EnumLabel(int value);
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/*!
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* ESC Command Priorities
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*/
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typedef enum
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{
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ESC_COMMAND_PRIORITY_CAN_ONLY = 0x00,//!< Commands only from CAN, PWM hardware input is disabled
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ESC_COMMAND_PRIORITY_CAN_PRIORITY, //!< Commands from CAN or PWM hardware input, CAN takes priority
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ESC_COMMAND_PRIORITY_PWM_PRIORITY //!< Commands from CAN or PWM hardware input, PWM takes priority
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} ESCCommandPriorities;
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//! \return the label of a 'ESCCommandPriorities' enum entry, based on its value
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const char* ESCCommandPriorities_EnumLabel(int value);
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/*!
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* Motor Direction Enumeration
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*/
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typedef enum
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{
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ESC_MOTOR_DIR_FORWARD = 0x00,//!< Forward motor direction
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ESC_MOTOR_DIR_REVERSE = 0x01 //!< Reverse motor direction
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} ESCMotorDirections;
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/*!
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* Motor beep modes enumeration
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*/
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typedef enum
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{
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ESC_BEEP_NONE = 0b00,
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ESC_BEEP_STATUS = 0b01,//!< Motor status beeps only
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ESC_BEEP_ERROR = 0b10,//!< Motor error beeps only
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ESC_BEEP_ALL = 0b11 //!< All motor beeps
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} ESCBeepModes;
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/*!
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* ESC Multi Command Packets
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*/
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typedef enum
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{
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PKT_ESC_SETPOINT_1 = 0,//!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 1 - 4
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PKT_ESC_SETPOINT_2, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 5 - 8
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PKT_ESC_SETPOINT_3, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 9 - 12
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PKT_ESC_SETPOINT_4, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 13 - 16
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PKT_ESC_SETPOINT_5, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 17 - 20
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PKT_ESC_SETPOINT_6, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 21 - 24
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PKT_ESC_SETPOINT_7, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 25 - 28
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PKT_ESC_SETPOINT_8, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 29 - 32
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PKT_ESC_SETPOINT_9, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 33 - 36
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PKT_ESC_SETPOINT_10, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 37 - 40
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PKT_ESC_SETPOINT_11, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 41 - 44
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PKT_ESC_SETPOINT_12, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 45 - 48
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PKT_ESC_SETPOINT_13, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 49 - 52
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PKT_ESC_SETPOINT_14, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 53 - 56
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PKT_ESC_SETPOINT_15, //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 57 - 60
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PKT_ESC_SETPOINT_16 //!< This packet is used to send commands to multiple ESCs with sequential CAN IDs 61 - 64
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} ESCMultiCommandPackets;
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//! \return the label of a 'ESCMultiCommandPackets' enum entry, based on its value
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const char* ESCMultiCommandPackets_EnumLabel(int value);
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/*!
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* ESC Command Packets
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*/
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typedef enum
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{
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PKT_ESC_PWM_CMD = 0x10,//!< Send a PWM (Pulse width) command to a particular ESC
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PKT_ESC_RPM_CMD, //!< Send an RPM (Speed) command to a particular ESC
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PKT_ESC_DISABLE = 0x20,//!< Send this packet to an ESC to disable the ESC
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PKT_ESC_STANDBY //!< Send this packet to an ESC to enable the ESC and place it in Standby mode
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} ESCCommandPackets;
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//! \return the label of a 'ESCCommandPackets' enum entry, based on its value
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const char* ESCCommandPackets_EnumLabel(int value);
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/*!
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* ESC Status Packets
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*/
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typedef enum
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{
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PKT_ESC_STATUS_A = 0x80, //!< ESC Status A telemetry packet transmitted by the ESC at regular intervals
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PKT_ESC_STATUS_B, //!< ESC Status B telemetry packet transmitted by the ESC at regular intervals
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PKT_ESC_ACCELEROMETER = 0x88 //!< Raw accelerometer data
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} ESCStatusPackets;
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//! \return the label of a 'ESCStatusPackets' enum entry, based on its value
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const char* ESCStatusPackets_EnumLabel(int value);
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/*!
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* ESC Packets Definitions
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*/
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typedef enum
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{
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PKT_ESC_SERIAL_NUMBER = 0x90,//!< ESC Serial Number and User ID information
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PKT_ESC_TITLE, //!< Human-readable string descriptor (max 8 chars) of the particular ESC
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PKT_ESC_FIRMWARE, //!< ESC Firmware information
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PKT_ESC_SYSTEM_INFO, //!< ESC system information packet
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PKT_ESC_TELEMETRY_SETTINGS, //!< Telemetry packet configuration
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PKT_ESC_EEPROM //!< ESC non-volatile data information and settings
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} ESCPackets;
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//! \return the label of a 'ESCPackets' enum entry, based on its value
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const char* ESCPackets_EnumLabel(int value);
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// The prototypes below provide an interface to the packets.
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// They are not auto-generated functions, but must be hand-written
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//! \return the packet data pointer from the packet
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uint8_t* getESCVelocityPacketData(void* pkt);
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//! \return the packet data pointer from the packet, const
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const uint8_t* getESCVelocityPacketDataConst(const void* pkt);
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//! Complete a packet after the data have been encoded
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void finishESCVelocityPacket(void* pkt, int size, uint32_t packetID);
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//! \return the size of a packet from the packet header
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int getESCVelocityPacketSize(const void* pkt);
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//! \return the ID of a packet from the packet header
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uint32_t getESCVelocityPacketID(const void* pkt);
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#ifdef __cplusplus
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}
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#endif
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#endif
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