mirror of https://github.com/ArduPilot/ardupilot
120 lines
5.2 KiB
C
120 lines
5.2 KiB
C
// LegacyESCDefines.h 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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#ifndef _LEGACYESCDEFINES_H
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#define _LEGACYESCDEFINES_H
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// Language target is C, 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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*/
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#include <stdbool.h>
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#include "ESCVelocityProtocol.h"
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/*!
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* Status bits associated with the legacy (gen-1) ESC
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*/
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typedef struct
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{
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unsigned hwInhibit : 1; //!< 1 = Hardware inhibit is active (ESC is disabled)
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unsigned swInhibit : 1; //!< 1 = Software inhibit is active (ESC is disabled)
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unsigned afwEnabled : 1; //!< 0 = Active Freewheeling is not enabled, 1 = Active Freewheeling is enabled
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unsigned direction : 1; //!< 0 = Motor direction is FORWARDS, 1= Motor direction is REVERSE
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unsigned timeout : 1; //!< Set if the ESC command timeout period has elapsed (and the ESC is in STANDBY mode)
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unsigned starting : 1; //!< 1 = in starting mode (0 = stopped or running)
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unsigned commandSource : 1; //!< 0 = most recent command from CAN, 1 = most recent command from PWM
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unsigned running : 1; //!< ESC is running
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}ESC_LegacyStatusBits_t;
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//! return the minimum encoded length for the ESC_LegacyStatusBits_t structure
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#define getMinLengthOfESC_LegacyStatusBits_t() (1)
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//! return the maximum encoded length for the ESC_LegacyStatusBits_t structure
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#define getMaxLengthOfESC_LegacyStatusBits_t() (1)
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//! Encode a ESC_LegacyStatusBits_t into a byte array
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void encodeESC_LegacyStatusBits_t(uint8_t* data, int* bytecount, const ESC_LegacyStatusBits_t* user);
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//! Decode a ESC_LegacyStatusBits_t from a byte array
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int decodeESC_LegacyStatusBits_t(const uint8_t* data, int* bytecount, ESC_LegacyStatusBits_t* user);
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/*!
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* Warning bits associated with the legacy (gen-1) ESC
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*/
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typedef struct
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{
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unsigned noRPMSignal : 1; //!< Set if RPM signal is not detected
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unsigned overspeed : 1; //!< Set if the ESC motor speed exceeds the configured warning threshold
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unsigned overcurrent : 1; //!< Set if the ESC motor current (positive or negative) exceeds the configured warning threshold
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unsigned escTemperature : 1; //!< Set if the internal ESC temperature is above the warning threshold
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unsigned motorTemperature : 1; //!< Set if the motor temperature is above the warning threshold
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unsigned undervoltage : 1; //!< Set if the input voltage is below the minimum threshold
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unsigned overvoltage : 1; //!< Set if the input voltage is above the maximum threshold
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unsigned invalidPWMsignal : 1; //!< Set if hardware PWM input is enabled but invalid
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}ESC_LegacyWarningBits_t;
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//! return the minimum encoded length for the ESC_LegacyWarningBits_t structure
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#define getMinLengthOfESC_LegacyWarningBits_t() (1)
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//! return the maximum encoded length for the ESC_LegacyWarningBits_t structure
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#define getMaxLengthOfESC_LegacyWarningBits_t() (1)
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//! Encode a ESC_LegacyWarningBits_t into a byte array
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void encodeESC_LegacyWarningBits_t(uint8_t* data, int* bytecount, const ESC_LegacyWarningBits_t* user);
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//! Decode a ESC_LegacyWarningBits_t from a byte array
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int decodeESC_LegacyWarningBits_t(const uint8_t* data, int* bytecount, ESC_LegacyWarningBits_t* user);
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/*!
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* Error bits associated with the legacy (gen-1) ESC
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*/
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typedef struct
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{
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unsigned linkError : 1; //!< Set if communication link to the motor controller is lost
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unsigned foldback : 1; //!< Set if the ESC has detected an overcurrent event and is actively folding back duty cycle
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unsigned settingsChecksum : 1; //!< Set if the settings checksum does not match the programmed values
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unsigned motorSettings : 1; //!< Set if the motor settings are invalid
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unsigned reservedD : 1; //!< Reserved for future use
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unsigned reservedE : 1; //!< Reserved for future use
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unsigned reservedF : 1; //!< Reserved for future use
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unsigned reservedG : 1; //!< Reserved for future use
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}ESC_LegacyErrorBits_t;
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//! return the minimum encoded length for the ESC_LegacyErrorBits_t structure
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#define getMinLengthOfESC_LegacyErrorBits_t() (1)
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//! return the maximum encoded length for the ESC_LegacyErrorBits_t structure
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#define getMaxLengthOfESC_LegacyErrorBits_t() (1)
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//! Encode a ESC_LegacyErrorBits_t into a byte array
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void encodeESC_LegacyErrorBits_t(uint8_t* data, int* bytecount, const ESC_LegacyErrorBits_t* user);
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//! Decode a ESC_LegacyErrorBits_t from a byte array
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int decodeESC_LegacyErrorBits_t(const uint8_t* data, int* bytecount, ESC_LegacyErrorBits_t* user);
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#ifdef __cplusplus
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}
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#endif
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#endif // _LEGACYESCDEFINES_H
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