mirror of https://github.com/ArduPilot/ardupilot
151 lines
7.0 KiB
C
151 lines
7.0 KiB
C
// ESCDefines.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 _ESCDEFINES_H
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#define _ESCDEFINES_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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*/
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#include "ESCVelocityProtocol.h"
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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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*/
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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_StatusBits_t;
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//! return the minimum encoded length for the ESC_StatusBits_t structure
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#define getMinLengthOfESC_StatusBits_t() (1)
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//! Encode a ESC_StatusBits_t structure into a byte array
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void encodeESC_StatusBits_t(uint8_t* data, int* bytecount, const ESC_StatusBits_t* user);
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//! Decode a ESC_StatusBits_t structure from a byte array
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int decodeESC_StatusBits_t(const uint8_t* data, int* bytecount, ESC_StatusBits_t* user);
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/*!
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* The *warning* bits enumerate various system warnings/errors of which the user
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* (or user software) should be made aware. These *warning* bits are transmitted
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* in the telemetry packets such that user software is aware of any these
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* *warning* conditions and can poll the ESC for particular packets if any
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* further information is needed. The ESC will continue to function in the case
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* of a *warning* state
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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_WarningBits_t;
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//! return the minimum encoded length for the ESC_WarningBits_t structure
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#define getMinLengthOfESC_WarningBits_t() (1)
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//! Encode a ESC_WarningBits_t structure into a byte array
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void encodeESC_WarningBits_t(uint8_t* data, int* bytecount, const ESC_WarningBits_t* user);
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//! Decode a ESC_WarningBits_t structure from a byte array
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int decodeESC_WarningBits_t(const uint8_t* data, int* bytecount, ESC_WarningBits_t* user);
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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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*/
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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_ErrorBits_t;
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//! return the minimum encoded length for the ESC_ErrorBits_t structure
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#define getMinLengthOfESC_ErrorBits_t() (1)
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//! Encode a ESC_ErrorBits_t structure into a byte array
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void encodeESC_ErrorBits_t(uint8_t* data, int* bytecount, const ESC_ErrorBits_t* user);
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//! Decode a ESC_ErrorBits_t structure from a byte array
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int decodeESC_ErrorBits_t(const uint8_t* data, int* bytecount, ESC_ErrorBits_t* user);
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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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*/
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typedef struct
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{
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unsigned statusA : 1; //!< If this bit is set, the STATUS_A packet will be transmitted at the configured rate
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unsigned statusB : 1; //!< If this bit is set, the STATUS_B packet will be transmitted at the configured rate
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unsigned statusC : 1; //!< If this bit is set, the STATUS_C packet will be transmitted at the configured rate
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unsigned accelerometer : 1; //!< If this bit is set, the ACCELEROMETER packet will be transmitted at the configured rate
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unsigned statusD : 1; //!< If this bit is set, the STATUS_D packet will be transmitted at the configured rate
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unsigned reservedB : 1; //!< Reserved for future use
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unsigned piccoloDownlink : 1; //!< If this bit is set, any STATUS_x packets selected for telemetry will be mirrored on the Piccolo Downlink packet group (0x14)
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unsigned reservedD : 1; //!< Reserved for future use
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}ESC_TelemetryPackets_t;
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// Initial and verify values for TelemetryPackets
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#define ESCVelocity_TelemetryPackets_statusA_InitValue 1
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#define ESCVelocity_TelemetryPackets_statusB_InitValue 1
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#define ESCVelocity_TelemetryPackets_statusC_InitValue 1
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#define ESCVelocity_TelemetryPackets_accelerometer_InitValue 0
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//! return the minimum encoded length for the ESC_TelemetryPackets_t structure
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#define getMinLengthOfESC_TelemetryPackets_t() (1)
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//! Encode a ESC_TelemetryPackets_t structure into a byte array
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void encodeESC_TelemetryPackets_t(uint8_t* data, int* bytecount, const ESC_TelemetryPackets_t* user);
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//! Decode a ESC_TelemetryPackets_t structure from a byte array
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int decodeESC_TelemetryPackets_t(const uint8_t* data, int* bytecount, ESC_TelemetryPackets_t* user);
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//! Set a ESC_TelemetryPackets_t structure to initial values
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void initESC_TelemetryPackets_t(ESC_TelemetryPackets_t* user);
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#ifdef __cplusplus
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}
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#endif
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#endif
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