mirror of https://github.com/ArduPilot/ardupilot
282 lines
11 KiB
C
282 lines
11 KiB
C
// LegacyESCDefines.c was generated by ProtoGen version 3.2.a
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Oliver Walters
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*/
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#include "LegacyESCDefines.h"
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#include "fielddecode.h"
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#include "fieldencode.h"
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#include "scaleddecode.h"
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#include "scaledencode.h"
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/*!
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* \brief Encode a ESC_LegacyStatusBits_t into a byte array
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*
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* Status bits associated with the legacy (gen-1) ESC
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* \param _pg_data points to the byte array to add encoded data to
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes.
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* \param _pg_user is the data to encode in the byte array
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*/
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void encodeESC_LegacyStatusBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_LegacyStatusBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// 1 = Hardware inhibit is active (ESC is disabled)
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_pg_data[_pg_byteindex] = (uint8_t)_pg_user->hwInhibit << 7;
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// 1 = Software inhibit is active (ESC is disabled)
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->swInhibit << 6;
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// 0 = Active Freewheeling is not enabled, 1 = Active Freewheeling is enabled
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->afwEnabled << 5;
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// 0 = Motor direction is FORWARDS, 1= Motor direction is REVERSE
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->direction << 4;
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// Set if the ESC command timeout period has elapsed (and the ESC is in STANDBY mode)
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->timeout << 3;
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// 1 = in starting mode (0 = stopped or running)
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->starting << 2;
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// 0 = most recent command from CAN, 1 = most recent command from PWM
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->commandSource << 1;
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// ESC is running
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->running;
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_pg_byteindex += 1; // close bit field
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*_pg_bytecount = _pg_byteindex;
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}// encodeESC_LegacyStatusBits_t
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/*!
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* \brief Decode a ESC_LegacyStatusBits_t from a byte array
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*
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* Status bits associated with the legacy (gen-1) ESC
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* \param _pg_data points to the byte array to decoded data from
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded
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* \param _pg_user is the data to decode from the byte array
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* \return 1 if the data are decoded, else 0.
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*/
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int decodeESC_LegacyStatusBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_LegacyStatusBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// 1 = Hardware inhibit is active (ESC is disabled)
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_pg_user->hwInhibit = (_pg_data[_pg_byteindex] >> 7);
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// 1 = Software inhibit is active (ESC is disabled)
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_pg_user->swInhibit = ((_pg_data[_pg_byteindex] >> 6) & 0x1);
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// 0 = Active Freewheeling is not enabled, 1 = Active Freewheeling is enabled
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_pg_user->afwEnabled = ((_pg_data[_pg_byteindex] >> 5) & 0x1);
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// 0 = Motor direction is FORWARDS, 1= Motor direction is REVERSE
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_pg_user->direction = ((_pg_data[_pg_byteindex] >> 4) & 0x1);
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// Set if the ESC command timeout period has elapsed (and the ESC is in STANDBY mode)
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_pg_user->timeout = ((_pg_data[_pg_byteindex] >> 3) & 0x1);
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// 1 = in starting mode (0 = stopped or running)
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_pg_user->starting = ((_pg_data[_pg_byteindex] >> 2) & 0x1);
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// 0 = most recent command from CAN, 1 = most recent command from PWM
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_pg_user->commandSource = ((_pg_data[_pg_byteindex] >> 1) & 0x1);
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// ESC is running
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_pg_user->running = ((_pg_data[_pg_byteindex]) & 0x1);
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_pg_byteindex += 1; // close bit field
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*_pg_bytecount = _pg_byteindex;
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return 1;
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}// decodeESC_LegacyStatusBits_t
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/*!
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* \brief Encode a ESC_LegacyWarningBits_t into a byte array
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*
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* Warning bits associated with the legacy (gen-1) ESC
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* \param _pg_data points to the byte array to add encoded data to
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes.
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* \param _pg_user is the data to encode in the byte array
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*/
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void encodeESC_LegacyWarningBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_LegacyWarningBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if RPM signal is not detected
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_pg_data[_pg_byteindex] = (uint8_t)_pg_user->noRPMSignal << 7;
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// Set if the ESC motor speed exceeds the configured warning threshold
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->overspeed << 6;
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// Set if the ESC motor current (positive or negative) exceeds the configured warning threshold
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->overcurrent << 5;
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// Set if the internal ESC temperature is above the warning threshold
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->escTemperature << 4;
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// Set if the motor temperature is above the warning threshold
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->motorTemperature << 3;
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// Set if the input voltage is below the minimum threshold
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->undervoltage << 2;
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// Set if the input voltage is above the maximum threshold
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->overvoltage << 1;
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// Set if hardware PWM input is enabled but invalid
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->invalidPWMsignal;
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_pg_byteindex += 1; // close bit field
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*_pg_bytecount = _pg_byteindex;
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}// encodeESC_LegacyWarningBits_t
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/*!
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* \brief Decode a ESC_LegacyWarningBits_t from a byte array
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*
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* Warning bits associated with the legacy (gen-1) ESC
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* \param _pg_data points to the byte array to decoded data from
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded
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* \param _pg_user is the data to decode from the byte array
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* \return 1 if the data are decoded, else 0.
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*/
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int decodeESC_LegacyWarningBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_LegacyWarningBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if RPM signal is not detected
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_pg_user->noRPMSignal = (_pg_data[_pg_byteindex] >> 7);
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// Set if the ESC motor speed exceeds the configured warning threshold
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_pg_user->overspeed = ((_pg_data[_pg_byteindex] >> 6) & 0x1);
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// Set if the ESC motor current (positive or negative) exceeds the configured warning threshold
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_pg_user->overcurrent = ((_pg_data[_pg_byteindex] >> 5) & 0x1);
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// Set if the internal ESC temperature is above the warning threshold
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_pg_user->escTemperature = ((_pg_data[_pg_byteindex] >> 4) & 0x1);
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// Set if the motor temperature is above the warning threshold
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_pg_user->motorTemperature = ((_pg_data[_pg_byteindex] >> 3) & 0x1);
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// Set if the input voltage is below the minimum threshold
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_pg_user->undervoltage = ((_pg_data[_pg_byteindex] >> 2) & 0x1);
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// Set if the input voltage is above the maximum threshold
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_pg_user->overvoltage = ((_pg_data[_pg_byteindex] >> 1) & 0x1);
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// Set if hardware PWM input is enabled but invalid
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_pg_user->invalidPWMsignal = ((_pg_data[_pg_byteindex]) & 0x1);
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_pg_byteindex += 1; // close bit field
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*_pg_bytecount = _pg_byteindex;
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return 1;
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}// decodeESC_LegacyWarningBits_t
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/*!
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* \brief Encode a ESC_LegacyErrorBits_t into a byte array
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*
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* Error bits associated with the legacy (gen-1) ESC
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* \param _pg_data points to the byte array to add encoded data to
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes.
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* \param _pg_user is the data to encode in the byte array
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*/
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void encodeESC_LegacyErrorBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_LegacyErrorBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if communication link to the motor controller is lost
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_pg_data[_pg_byteindex] = (uint8_t)_pg_user->linkError << 7;
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// Set if the ESC has detected an overcurrent event and is actively folding back duty cycle
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->foldback << 6;
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// Set if the settings checksum does not match the programmed values
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->settingsChecksum << 5;
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// Set if the motor settings are invalid
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->motorSettings << 4;
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// Reserved for future use
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedD << 3;
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// Reserved for future use
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedE << 2;
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// Reserved for future use
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedF << 1;
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// Reserved for future use
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedG;
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_pg_byteindex += 1; // close bit field
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*_pg_bytecount = _pg_byteindex;
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}// encodeESC_LegacyErrorBits_t
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/*!
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* \brief Decode a ESC_LegacyErrorBits_t from a byte array
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*
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* Error bits associated with the legacy (gen-1) ESC
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* \param _pg_data points to the byte array to decoded data from
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded
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* \param _pg_user is the data to decode from the byte array
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* \return 1 if the data are decoded, else 0.
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*/
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int decodeESC_LegacyErrorBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_LegacyErrorBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if communication link to the motor controller is lost
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_pg_user->linkError = (_pg_data[_pg_byteindex] >> 7);
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// Set if the ESC has detected an overcurrent event and is actively folding back duty cycle
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_pg_user->foldback = ((_pg_data[_pg_byteindex] >> 6) & 0x1);
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// Set if the settings checksum does not match the programmed values
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_pg_user->settingsChecksum = ((_pg_data[_pg_byteindex] >> 5) & 0x1);
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// Set if the motor settings are invalid
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_pg_user->motorSettings = ((_pg_data[_pg_byteindex] >> 4) & 0x1);
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// Reserved for future use
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_pg_user->reservedD = ((_pg_data[_pg_byteindex] >> 3) & 0x1);
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// Reserved for future use
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_pg_user->reservedE = ((_pg_data[_pg_byteindex] >> 2) & 0x1);
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// Reserved for future use
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_pg_user->reservedF = ((_pg_data[_pg_byteindex] >> 1) & 0x1);
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// Reserved for future use
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_pg_user->reservedG = ((_pg_data[_pg_byteindex]) & 0x1);
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_pg_byteindex += 1; // close bit field
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*_pg_bytecount = _pg_byteindex;
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return 1;
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}// decodeESC_LegacyErrorBits_t
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// end of LegacyESCDefines.c
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