mirror of https://github.com/ArduPilot/ardupilot
562 lines
24 KiB
C
562 lines
24 KiB
C
// ESCDefines.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 "ESCDefines.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_StatusBits_t into a byte array
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*
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* The *status* of the ESC is represented using these status bits. ESC system
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* functionality can be quickly determined using these bits
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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_StatusBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_StatusBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if hardware inhibit is active (ESC is disabled)
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_pg_data[_pg_byteindex] = (uint8_t)((_pg_user->hwInhibit == true) ? 1 : 0) << 7;
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// Set if software inhibit is active (ESC is disabled)
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->swInhibit == true) ? 1 : 0) << 6;
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// Set if Active Freewheeling is currently active
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->afwEnabled == true) ? 1 : 0) << 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)limitMax(_pg_user->direction, 1) << 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 == true) ? 1 : 0) << 3;
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// Set if ESC is in starting mode (Cleared if ESC is stopped or running)
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->starting == true) ? 1 : 0) << 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)limitMax(_pg_user->commandSource, 1) << 1;
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// Set if ESC is running
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->running == true) ? 1 : 0);
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// Warning active - refer to the PKT_ESC_WARNINGS_ERRORS packet
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_pg_data[_pg_byteindex + 1] = (uint8_t)((_pg_user->anyWarnings == true) ? 1 : 0) << 7;
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// Error active - refer to the PKT_ESC_WARNINGS_ERRORS packet
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->anyErrors == true) ? 1 : 0) << 6;
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// Reserved bits for future use
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// Set if the motor is spinning (even if it is not being driven)
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->spinning == true) ? 1 : 0);
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// Set if motor is spinning opposite to configured rotation direction
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_pg_data[_pg_byteindex + 2] = (uint8_t)((_pg_user->spinningReversed == true) ? 1 : 0) << 7;
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// Set if motor duty cycle is being limited due to ESC protection settings
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_pg_data[_pg_byteindex + 2] |= (uint8_t)((_pg_user->foldback == true) ? 1 : 0) << 6;
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// Set if the ESC is attempting to sync with the motor
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_pg_data[_pg_byteindex + 2] |= (uint8_t)((_pg_user->syncing == true) ? 1 : 0) << 5;
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// Reserved bits for future use
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// Set if the ESC is in debug mode (factory use only)
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_pg_data[_pg_byteindex + 2] |= (uint8_t)((_pg_user->debug == true) ? 1 : 0);
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_pg_byteindex += 3; // close bit field
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*_pg_bytecount = _pg_byteindex;
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}// encodeESC_StatusBits_t
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/*!
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* \brief Decode a ESC_StatusBits_t from a byte array
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*
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* The *status* of the ESC is represented using these status bits. ESC system
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* functionality can be quickly determined using these bits
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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_StatusBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_StatusBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if hardware inhibit is active (ESC is disabled)
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_pg_user->hwInhibit = ((_pg_data[_pg_byteindex] >> 7)) ? true : false;
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// Set if software inhibit is active (ESC is disabled)
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_pg_user->swInhibit = (((_pg_data[_pg_byteindex] >> 6) & 0x1)) ? true : false;
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// Set if Active Freewheeling is currently active
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_pg_user->afwEnabled = (((_pg_data[_pg_byteindex] >> 5) & 0x1)) ? true : false;
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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)) ? true : false;
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// Set if ESC is in starting mode (Cleared if ESC is stopped or running)
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_pg_user->starting = (((_pg_data[_pg_byteindex] >> 2) & 0x1)) ? true : false;
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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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// Set if ESC is running
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_pg_user->running = (((_pg_data[_pg_byteindex]) & 0x1)) ? true : false;
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// Warning active - refer to the PKT_ESC_WARNINGS_ERRORS packet
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_pg_user->anyWarnings = ((_pg_data[_pg_byteindex + 1] >> 7)) ? true : false;
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// Error active - refer to the PKT_ESC_WARNINGS_ERRORS packet
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_pg_user->anyErrors = (((_pg_data[_pg_byteindex + 1] >> 6) & 0x1)) ? true : false;
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// Reserved bits for future use
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// Set if the motor is spinning (even if it is not being driven)
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_pg_user->spinning = (((_pg_data[_pg_byteindex + 1]) & 0x1)) ? true : false;
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// Set if motor is spinning opposite to configured rotation direction
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_pg_user->spinningReversed = ((_pg_data[_pg_byteindex + 2] >> 7)) ? true : false;
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// Set if motor duty cycle is being limited due to ESC protection settings
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_pg_user->foldback = (((_pg_data[_pg_byteindex + 2] >> 6) & 0x1)) ? true : false;
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// Set if the ESC is attempting to sync with the motor
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_pg_user->syncing = (((_pg_data[_pg_byteindex + 2] >> 5) & 0x1)) ? true : false;
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// Reserved bits for future use
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// Set if the ESC is in debug mode (factory use only)
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_pg_user->debug = (((_pg_data[_pg_byteindex + 2]) & 0x1)) ? true : false;
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_pg_byteindex += 3; // close bit field
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*_pg_bytecount = _pg_byteindex;
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return 1;
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}// decodeESC_StatusBits_t
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/*!
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* \brief Encode a ESC_WarningBits_t into a byte array
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*
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* The *warning* bits enumerate various system warnings/errors of which the
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* user (or user software) should be made aware. These *warning* bits are
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* transmitted in the telemetry packets such that user software is aware of any
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* these *warning* conditions and can poll the ESC for particular packets if
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* any further information is needed. The ESC will continue to function in the
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* case of a *warning* state
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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_WarningBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_WarningBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Reserved for future use
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_pg_data[_pg_byteindex] = 0;
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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 == true) ? 1 : 0) << 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 == true) ? 1 : 0) << 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 == true) ? 1 : 0) << 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 == true) ? 1 : 0) << 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 == true) ? 1 : 0) << 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 == true) ? 1 : 0) << 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 == true) ? 1 : 0);
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// Set if the motor demag angle exceeds the maximum threshold
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_pg_data[_pg_byteindex + 1] = (uint8_t)((_pg_user->demagAngle == true) ? 1 : 0) << 7;
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// Set if the auto-advance exceeds 25 degrees
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->advanceLimit == true) ? 1 : 0) << 6;
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// Set if the measured demag pulse is exceptionally long
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->longDemag == true) ? 1 : 0) << 5;
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// Set if a zero-crossing measurement was missed
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->missedZeroCrossing == true) ? 1 : 0) << 4;
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// Motor is spinning in the wrong direction
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->spinningReversed == true) ? 1 : 0) << 3;
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// Motor has reached maximum allowable commutation speed
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->commSpeedLimit == true) ? 1 : 0) << 2;
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// Settings checksum does not match programmed value
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_pg_data[_pg_byteindex + 1] |= (uint8_t)((_pg_user->settingsChecksum == true) ? 1 : 0) << 1;
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// Reserved for future use
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_pg_byteindex += 2; // close bit field
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*_pg_bytecount = _pg_byteindex;
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}// encodeESC_WarningBits_t
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/*!
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* \brief Decode a ESC_WarningBits_t from a byte array
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*
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* The *warning* bits enumerate various system warnings/errors of which the
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* user (or user software) should be made aware. These *warning* bits are
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* transmitted in the telemetry packets such that user software is aware of any
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* these *warning* conditions and can poll the ESC for particular packets if
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* any further information is needed. The ESC will continue to function in the
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* case of a *warning* state
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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_WarningBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_WarningBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Reserved for future use
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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)) ? true : false;
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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)) ? true : false;
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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)) ? true : false;
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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)) ? true : false;
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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)) ? true : false;
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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)) ? true : false;
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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)) ? true : false;
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// Set if the motor demag angle exceeds the maximum threshold
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_pg_user->demagAngle = ((_pg_data[_pg_byteindex + 1] >> 7)) ? true : false;
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// Set if the auto-advance exceeds 25 degrees
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_pg_user->advanceLimit = (((_pg_data[_pg_byteindex + 1] >> 6) & 0x1)) ? true : false;
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// Set if the measured demag pulse is exceptionally long
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_pg_user->longDemag = (((_pg_data[_pg_byteindex + 1] >> 5) & 0x1)) ? true : false;
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// Set if a zero-crossing measurement was missed
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_pg_user->missedZeroCrossing = (((_pg_data[_pg_byteindex + 1] >> 4) & 0x1)) ? true : false;
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// Motor is spinning in the wrong direction
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_pg_user->spinningReversed = (((_pg_data[_pg_byteindex + 1] >> 3) & 0x1)) ? true : false;
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// Motor has reached maximum allowable commutation speed
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_pg_user->commSpeedLimit = (((_pg_data[_pg_byteindex + 1] >> 2) & 0x1)) ? true : false;
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// Settings checksum does not match programmed value
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_pg_user->settingsChecksum = (((_pg_data[_pg_byteindex + 1] >> 1) & 0x1)) ? true : false;
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// Reserved for future use
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_pg_byteindex += 2; // close bit field
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*_pg_bytecount = _pg_byteindex;
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return 1;
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}// decodeESC_WarningBits_t
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/*!
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* \brief Encode a ESC_ErrorBits_t into a byte array
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*
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* The *error* bits enumerate critical system errors that will cause the ESC to
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* stop functioning until the error cases are alleviated
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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_ErrorBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_ErrorBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if the ESC failed to start the motor
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_pg_data[_pg_byteindex] = (uint8_t)((_pg_user->failedStart == true) ? 1 : 0) << 7;
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// Lost commutation
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->commutation == true) ? 1 : 0) << 6;
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// Set if hall sensor error detected
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->hallSensor == true) ? 1 : 0) << 5;
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// Current exceeded hard-limit
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->overcurrent == true) ? 1 : 0) << 4;
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// Temperature exceeded hard-limit
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->overtemperature == true) ? 1 : 0) << 3;
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// Motor commutation speed exceeded hard-limit
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->overspeed == true) ? 1 : 0) << 2;
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// Motor stopped due to high demag angle
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->demag == true) ? 1 : 0) << 1;
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// Reserved for future use
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_pg_data[_pg_byteindex + 1] = 0;
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// Reserved for future use
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_pg_byteindex += 2; // close bit field
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*_pg_bytecount = _pg_byteindex;
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}// encodeESC_ErrorBits_t
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/*!
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* \brief Decode a ESC_ErrorBits_t from a byte array
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*
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* The *error* bits enumerate critical system errors that will cause the ESC to
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* stop functioning until the error cases are alleviated
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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_ErrorBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_ErrorBits_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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// Set if the ESC failed to start the motor
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_pg_user->failedStart = ((_pg_data[_pg_byteindex] >> 7)) ? true : false;
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// Lost commutation
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_pg_user->commutation = (((_pg_data[_pg_byteindex] >> 6) & 0x1)) ? true : false;
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// Set if hall sensor error detected
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_pg_user->hallSensor = (((_pg_data[_pg_byteindex] >> 5) & 0x1)) ? true : false;
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// Current exceeded hard-limit
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_pg_user->overcurrent = (((_pg_data[_pg_byteindex] >> 4) & 0x1)) ? true : false;
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// Temperature exceeded hard-limit
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_pg_user->overtemperature = (((_pg_data[_pg_byteindex] >> 3) & 0x1)) ? true : false;
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// Motor commutation speed exceeded hard-limit
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_pg_user->overspeed = (((_pg_data[_pg_byteindex] >> 2) & 0x1)) ? true : false;
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// Motor stopped due to high demag angle
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_pg_user->demag = (((_pg_data[_pg_byteindex] >> 1) & 0x1)) ? true : false;
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// Reserved for future use
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// Reserved for future use
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_pg_byteindex += 2; // close bit field
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*_pg_bytecount = _pg_byteindex;
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return 1;
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}// decodeESC_ErrorBits_t
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/*!
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* \brief Encode a ESC_TelemetryPackets_t into a byte array
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*
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* These bits are used to determine which packets are automatically transmitted
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* as telemetry data by the ESC. Only the packets described here can be
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* configured as telemetry packets
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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_TelemetryPackets_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_TelemetryPackets_t* _pg_user)
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{
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int _pg_byteindex = *_pg_bytecount;
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|
|
|
// If this bit is set, the STATUS_A packet will be transmitted at the configured rate
|
|
_pg_data[_pg_byteindex] = (uint8_t)((_pg_user->statusA == true) ? 1 : 0) << 7;
|
|
|
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// If this bit is set, the STATUS_B packet will be transmitted at the configured rate
|
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_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->statusB == true) ? 1 : 0) << 6;
|
|
|
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// If this bit is set, the STATUS_C packet will be transmitted at the configured rate
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->statusC == true) ? 1 : 0) << 5;
|
|
|
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// If this bit is set, the ACCELEROMETER packet will be transmitted at the configured rate
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->accelerometer == true) ? 1 : 0) << 4;
|
|
|
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// If this bit is set, the STATUS_D packet will be transmitted at the configured rate
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->statusD == true) ? 1 : 0) << 3;
|
|
|
|
// Reserved for future use
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->reservedTelemA == true) ? 1 : 0) << 2;
|
|
|
|
// If this bit is set, any STATUS_x packets selected for telemetry will be mirrored on the Piccolo Downlink packet group (0x14)
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->piccoloDownlink == true) ? 1 : 0) << 1;
|
|
|
|
// Reserved for future use
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->reservedTelemC == true) ? 1 : 0);
|
|
_pg_byteindex += 1; // close bit field
|
|
|
|
*_pg_bytecount = _pg_byteindex;
|
|
|
|
}// encodeESC_TelemetryPackets_t
|
|
|
|
/*!
|
|
* \brief Decode a ESC_TelemetryPackets_t from a byte array
|
|
*
|
|
* These bits are used to determine which packets are automatically transmitted
|
|
* as telemetry data by the ESC. Only the packets described here can be
|
|
* configured as telemetry packets
|
|
* \param _pg_data points to the byte array to decoded data from
|
|
* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded
|
|
* \param _pg_user is the data to decode from the byte array
|
|
* \return 1 if the data are decoded, else 0.
|
|
*/
|
|
int decodeESC_TelemetryPackets_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_TelemetryPackets_t* _pg_user)
|
|
{
|
|
int _pg_byteindex = *_pg_bytecount;
|
|
|
|
// If this bit is set, the STATUS_A packet will be transmitted at the configured rate
|
|
_pg_user->statusA = ((_pg_data[_pg_byteindex] >> 7)) ? true : false;
|
|
|
|
// If this bit is set, the STATUS_B packet will be transmitted at the configured rate
|
|
_pg_user->statusB = (((_pg_data[_pg_byteindex] >> 6) & 0x1)) ? true : false;
|
|
|
|
// If this bit is set, the STATUS_C packet will be transmitted at the configured rate
|
|
_pg_user->statusC = (((_pg_data[_pg_byteindex] >> 5) & 0x1)) ? true : false;
|
|
|
|
// If this bit is set, the ACCELEROMETER packet will be transmitted at the configured rate
|
|
_pg_user->accelerometer = (((_pg_data[_pg_byteindex] >> 4) & 0x1)) ? true : false;
|
|
|
|
// If this bit is set, the STATUS_D packet will be transmitted at the configured rate
|
|
_pg_user->statusD = (((_pg_data[_pg_byteindex] >> 3) & 0x1)) ? true : false;
|
|
|
|
// Reserved for future use
|
|
_pg_user->reservedTelemA = (((_pg_data[_pg_byteindex] >> 2) & 0x1)) ? true : false;
|
|
|
|
// If this bit is set, any STATUS_x packets selected for telemetry will be mirrored on the Piccolo Downlink packet group (0x14)
|
|
_pg_user->piccoloDownlink = (((_pg_data[_pg_byteindex] >> 1) & 0x1)) ? true : false;
|
|
|
|
// Reserved for future use
|
|
_pg_user->reservedTelemC = (((_pg_data[_pg_byteindex]) & 0x1)) ? true : false;
|
|
_pg_byteindex += 1; // close bit field
|
|
|
|
*_pg_bytecount = _pg_byteindex;
|
|
|
|
return 1;
|
|
|
|
}// decodeESC_TelemetryPackets_t
|
|
|
|
/*!
|
|
* \brief Encode a ESC_DebugPackets_t into a byte array
|
|
*
|
|
* These bits are used to select which debug packets are transmitted at
|
|
* high-frequency by the ESC
|
|
* \param _pg_data points to the byte array to add encoded data to
|
|
* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes.
|
|
* \param _pg_user is the data to encode in the byte array
|
|
*/
|
|
void encodeESC_DebugPackets_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_DebugPackets_t* _pg_user)
|
|
{
|
|
int _pg_byteindex = *_pg_bytecount;
|
|
|
|
// Control loop terms
|
|
_pg_data[_pg_byteindex] = (uint8_t)((_pg_user->ctrlLoopOutputs == true) ? 1 : 0) << 7;
|
|
|
|
// Hall sensor debug information
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->hallSensors == true) ? 1 : 0) << 6;
|
|
|
|
// Commutation debug information
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->commutation == true) ? 1 : 0) << 5;
|
|
|
|
// Demag debug information
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->demag == true) ? 1 : 0) << 4;
|
|
|
|
// PWM input debug information
|
|
_pg_data[_pg_byteindex] |= (uint8_t)((_pg_user->pwmInput == true) ? 1 : 0) << 3;
|
|
|
|
// Reserved for future use
|
|
_pg_byteindex += 1; // close bit field
|
|
|
|
// Reserved for future use
|
|
uint8ToBytes((uint8_t)(0), _pg_data, &_pg_byteindex);
|
|
|
|
*_pg_bytecount = _pg_byteindex;
|
|
|
|
}// encodeESC_DebugPackets_t
|
|
|
|
/*!
|
|
* \brief Decode a ESC_DebugPackets_t from a byte array
|
|
*
|
|
* These bits are used to select which debug packets are transmitted at
|
|
* high-frequency by the ESC
|
|
* \param _pg_data points to the byte array to decoded data from
|
|
* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded
|
|
* \param _pg_user is the data to decode from the byte array
|
|
* \return 1 if the data are decoded, else 0.
|
|
*/
|
|
int decodeESC_DebugPackets_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_DebugPackets_t* _pg_user)
|
|
{
|
|
int _pg_byteindex = *_pg_bytecount;
|
|
|
|
// Control loop terms
|
|
_pg_user->ctrlLoopOutputs = ((_pg_data[_pg_byteindex] >> 7)) ? true : false;
|
|
|
|
// Hall sensor debug information
|
|
_pg_user->hallSensors = (((_pg_data[_pg_byteindex] >> 6) & 0x1)) ? true : false;
|
|
|
|
// Commutation debug information
|
|
_pg_user->commutation = (((_pg_data[_pg_byteindex] >> 5) & 0x1)) ? true : false;
|
|
|
|
// Demag debug information
|
|
_pg_user->demag = (((_pg_data[_pg_byteindex] >> 4) & 0x1)) ? true : false;
|
|
|
|
// PWM input debug information
|
|
_pg_user->pwmInput = (((_pg_data[_pg_byteindex] >> 3) & 0x1)) ? true : false;
|
|
|
|
// Reserved for future use
|
|
_pg_byteindex += 1; // close bit field
|
|
|
|
// Reserved for future use
|
|
_pg_byteindex += 1;
|
|
|
|
*_pg_bytecount = _pg_byteindex;
|
|
|
|
return 1;
|
|
|
|
}// decodeESC_DebugPackets_t
|
|
|
|
// end of ESCDefines.c
|