mirror of https://github.com/ArduPilot/ardupilot
631 lines
20 KiB
C
631 lines
20 KiB
C
// ESCCommands.c was generated by ProtoGen version 3.5.c
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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 / Currawong Engineering Pty Ltd
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*/
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#include "ESCCommands.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 Create the ESC_SetNodeID packet
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*
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* Set the CAN Node ID of the target ESC
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* \param _pg_pkt points to the packet which will be created by this function
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* \param serialNumber is The serial number must match that of the target ESC for the command to be accepted
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* \param nodeID is The new Node ID of the ESC
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*/
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void encodeESC_SetNodeIDPacket(void* _pg_pkt, uint32_t serialNumber, uint8_t nodeID)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_SET_NODE_ID), _pg_data, &_pg_byteindex);
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// The serial number must match that of the target ESC for the command to be accepted
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// Range of serialNumber is 0 to 4294967295.
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uint32ToBeBytes(serialNumber, _pg_data, &_pg_byteindex);
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// The new Node ID of the ESC
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// Range of nodeID is 0 to 255.
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uint8ToBytes(nodeID, _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_SetNodeIDPacketID());
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}// encodeESC_SetNodeIDPacket
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/*!
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* \brief Decode the ESC_SetNodeID packet
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*
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* Set the CAN Node ID of the target ESC
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* \param _pg_pkt points to the packet being decoded by this function
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* \param serialNumber receives The serial number must match that of the target ESC for the command to be accepted
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* \param nodeID receives The new Node ID of the ESC
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_SetNodeIDPacket(const void* _pg_pkt, uint32_t* serialNumber, uint8_t* nodeID)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_SetNodeIDPacketID())
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return 0;
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if(_pg_numbytes < getESC_SetNodeIDMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_SET_NODE_ID)
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return 0;
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// The serial number must match that of the target ESC for the command to be accepted
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// Range of serialNumber is 0 to 4294967295.
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(*serialNumber) = uint32FromBeBytes(_pg_data, &_pg_byteindex);
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// The new Node ID of the ESC
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// Range of nodeID is 0 to 255.
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(*nodeID) = uint8FromBytes(_pg_data, &_pg_byteindex);
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return 1;
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}// decodeESC_SetNodeIDPacket
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/*!
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* \brief Create the ESC_SetUserIDA packet
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*
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* Set User ID A
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* \param _pg_pkt points to the packet which will be created by this function
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* \param id is
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*/
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void encodeESC_SetUserIDAPacket(void* _pg_pkt, uint16_t id)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_SET_USER_ID_A), _pg_data, &_pg_byteindex);
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// Range of id is 0 to 65535.
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uint16ToBeBytes(id, _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_SetUserIDAPacketID());
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}// encodeESC_SetUserIDAPacket
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/*!
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* \brief Decode the ESC_SetUserIDA packet
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*
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* Set User ID A
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* \param _pg_pkt points to the packet being decoded by this function
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* \param id receives
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_SetUserIDAPacket(const void* _pg_pkt, uint16_t* id)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_SetUserIDAPacketID())
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return 0;
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if(_pg_numbytes < getESC_SetUserIDAMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_SET_USER_ID_A)
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return 0;
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// Range of id is 0 to 65535.
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(*id) = uint16FromBeBytes(_pg_data, &_pg_byteindex);
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return 1;
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}// decodeESC_SetUserIDAPacket
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/*!
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* \brief Create the ESC_SetUserIDB packet
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*
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* Set User ID B
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* \param _pg_pkt points to the packet which will be created by this function
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* \param id is
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*/
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void encodeESC_SetUserIDBPacket(void* _pg_pkt, uint16_t id)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_SET_USER_ID_B), _pg_data, &_pg_byteindex);
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// Range of id is 0 to 65535.
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uint16ToBeBytes(id, _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_SetUserIDBPacketID());
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}// encodeESC_SetUserIDBPacket
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/*!
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* \brief Decode the ESC_SetUserIDB packet
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*
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* Set User ID B
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* \param _pg_pkt points to the packet being decoded by this function
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* \param id receives
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_SetUserIDBPacket(const void* _pg_pkt, uint16_t* id)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_SetUserIDBPacketID())
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return 0;
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if(_pg_numbytes < getESC_SetUserIDBMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_SET_USER_ID_B)
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return 0;
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// Range of id is 0 to 65535.
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(*id) = uint16FromBeBytes(_pg_data, &_pg_byteindex);
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return 1;
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}// decodeESC_SetUserIDBPacket
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/*!
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* \brief Create the ESC_SetMotorDirection packet
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*
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* Set Motor Direction
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* \param _pg_pkt points to the packet which will be created by this function
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* \param direction is 0 = Motor direction is FORWARDS, 1 = Motor direction is REVERSE
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*/
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void encodeESC_SetMotorDirectionPacket(void* _pg_pkt, uint8_t direction)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_SET_MOTOR_DIRECTION), _pg_data, &_pg_byteindex);
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// 0 = Motor direction is FORWARDS, 1 = Motor direction is REVERSE
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// Range of direction is 0 to 255.
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uint8ToBytes(direction, _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_SetMotorDirectionPacketID());
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}// encodeESC_SetMotorDirectionPacket
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/*!
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* \brief Decode the ESC_SetMotorDirection packet
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*
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* Set Motor Direction
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* \param _pg_pkt points to the packet being decoded by this function
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* \param direction receives 0 = Motor direction is FORWARDS, 1 = Motor direction is REVERSE
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_SetMotorDirectionPacket(const void* _pg_pkt, uint8_t* direction)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_SetMotorDirectionPacketID())
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return 0;
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if(_pg_numbytes < getESC_SetMotorDirectionMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_SET_MOTOR_DIRECTION)
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return 0;
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// 0 = Motor direction is FORWARDS, 1 = Motor direction is REVERSE
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// Range of direction is 0 to 255.
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(*direction) = uint8FromBytes(_pg_data, &_pg_byteindex);
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return 1;
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}// decodeESC_SetMotorDirectionPacket
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/*!
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* \brief Create the ESC_UnlockSettings packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet which will be created by this function
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*/
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void encodeESC_UnlockSettingsPacket(void* _pg_pkt)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_UNLOCK_SETTINGS), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0xA0), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0xB0), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0xC0), _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_UnlockSettingsPacketID());
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}// encodeESC_UnlockSettingsPacket
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/*!
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* \brief Decode the ESC_UnlockSettings packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet being decoded by this function
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_UnlockSettingsPacket(const void* _pg_pkt)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_UnlockSettingsPacketID())
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return 0;
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if(_pg_numbytes < getESC_UnlockSettingsMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_UNLOCK_SETTINGS)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xA0)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xB0)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xC0)
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return 0;
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return 1;
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}// decodeESC_UnlockSettingsPacket
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/*!
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* \brief Create the ESC_LockSettings packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet which will be created by this function
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*/
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void encodeESC_LockSettingsPacket(void* _pg_pkt)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_LOCK_SETTINGS), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0x0A), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0x0B), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0x0C), _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_LockSettingsPacketID());
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}// encodeESC_LockSettingsPacket
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/*!
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* \brief Decode the ESC_LockSettings packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet being decoded by this function
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_LockSettingsPacket(const void* _pg_pkt)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_LockSettingsPacketID())
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return 0;
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if(_pg_numbytes < getESC_LockSettingsMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_LOCK_SETTINGS)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x0A)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x0B)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x0C)
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return 0;
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return 1;
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}// decodeESC_LockSettingsPacket
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/*!
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* \brief Create the ESC_ValidateSettings packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet which will be created by this function
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*/
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void encodeESC_ValidateSettingsPacket(void* _pg_pkt)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_VALIDATE_SETTINGS), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0x1A), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0x2B), _pg_data, &_pg_byteindex);
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uint8ToBytes((uint8_t)(0x3C), _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_ValidateSettingsPacketID());
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}// encodeESC_ValidateSettingsPacket
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/*!
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* \brief Decode the ESC_ValidateSettings packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet being decoded by this function
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_ValidateSettingsPacket(const void* _pg_pkt)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_ValidateSettingsPacketID())
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return 0;
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if(_pg_numbytes < getESC_ValidateSettingsMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_VALIDATE_SETTINGS)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x1A)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x2B)
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x3C)
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return 0;
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return 1;
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}// decodeESC_ValidateSettingsPacket
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/*!
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* \brief Create the ESC_ResetMotorRunTime packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet which will be created by this function
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* \param serialNumber is Serial number must match ESC
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*/
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void encodeESC_ResetMotorRunTimePacket(void* _pg_pkt, uint16_t serialNumber)
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{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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uint8ToBytes((uint8_t)(CMD_ESC_RESET_MOTOR_RUN_TIME), _pg_data, &_pg_byteindex);
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// This byte is required for the command to be accepted
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uint8ToBytes((uint8_t)(0xAB), _pg_data, &_pg_byteindex);
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// This byte is required for the command to be accepted
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uint8ToBytes((uint8_t)(0xCD), _pg_data, &_pg_byteindex);
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// Serial number must match ESC
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// Range of serialNumber is 0 to 65535.
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uint16ToBeBytes(serialNumber, _pg_data, &_pg_byteindex);
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// complete the process of creating the packet
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_ResetMotorRunTimePacketID());
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}// encodeESC_ResetMotorRunTimePacket
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/*!
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* \brief Decode the ESC_ResetMotorRunTime packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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* bytes)
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* \param _pg_pkt points to the packet being decoded by this function
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* \param serialNumber receives Serial number must match ESC
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* \return 0 is returned if the packet ID or size is wrong, else 1
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*/
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int decodeESC_ResetMotorRunTimePacket(const void* _pg_pkt, uint16_t* serialNumber)
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{
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int _pg_byteindex = 0;
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const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
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int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
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// Verify the packet identifier
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if(getESCVelocityPacketID(_pg_pkt) != getESC_ResetMotorRunTimePacketID())
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return 0;
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if(_pg_numbytes < getESC_ResetMotorRunTimeMinDataLength())
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return 0;
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_RESET_MOTOR_RUN_TIME)
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return 0;
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// This byte is required for the command to be accepted
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xAB)
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return 0;
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// This byte is required for the command to be accepted
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xCD)
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return 0;
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// Serial number must match ESC
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// Range of serialNumber is 0 to 65535.
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(*serialNumber) = uint16FromBeBytes(_pg_data, &_pg_byteindex);
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return 1;
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}// decodeESC_ResetMotorRunTimePacket
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/*!
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* \brief Create the ESC_EnterBootloader packet
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*
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* Send a configuration command to the ESC (followed by optional command data
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|
* bytes)
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* \param _pg_pkt points to the packet which will be created by this function
|
|
*/
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void encodeESC_EnterBootloaderPacket(void* _pg_pkt)
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|
{
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uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
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int _pg_byteindex = 0;
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|
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uint8ToBytes((uint8_t)(CMD_ESC_ENTER_BOOTLOADER), _pg_data, &_pg_byteindex);
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// This byte is required for the command to be accepted
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uint8ToBytes((uint8_t)(0xAA), _pg_data, &_pg_byteindex);
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|
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// This byte is required for the command to be accepted
|
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uint8ToBytes((uint8_t)(0x55), _pg_data, &_pg_byteindex);
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|
|
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// complete the process of creating the packet
|
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finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_EnterBootloaderPacketID());
|
|
|
|
}// encodeESC_EnterBootloaderPacket
|
|
|
|
/*!
|
|
* \brief Decode the ESC_EnterBootloader packet
|
|
*
|
|
* Send a configuration command to the ESC (followed by optional command data
|
|
* bytes)
|
|
* \param _pg_pkt points to the packet being decoded by this function
|
|
* \return 0 is returned if the packet ID or size is wrong, else 1
|
|
*/
|
|
int decodeESC_EnterBootloaderPacket(const void* _pg_pkt)
|
|
{
|
|
int _pg_byteindex = 0;
|
|
const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
|
|
int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
|
|
|
|
// Verify the packet identifier
|
|
if(getESCVelocityPacketID(_pg_pkt) != getESC_EnterBootloaderPacketID())
|
|
return 0;
|
|
|
|
if(_pg_numbytes < getESC_EnterBootloaderMinDataLength())
|
|
return 0;
|
|
|
|
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_ENTER_BOOTLOADER)
|
|
return 0;
|
|
|
|
// This byte is required for the command to be accepted
|
|
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xAA)
|
|
return 0;
|
|
|
|
// This byte is required for the command to be accepted
|
|
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x55)
|
|
return 0;
|
|
|
|
return 1;
|
|
|
|
}// decodeESC_EnterBootloaderPacket
|
|
|
|
/*!
|
|
* \brief Create the ESC_ResetESC packet
|
|
*
|
|
* Send a configuration command to the ESC (followed by optional command data
|
|
* bytes)
|
|
* \param _pg_pkt points to the packet which will be created by this function
|
|
*/
|
|
void encodeESC_ResetESCPacket(void* _pg_pkt)
|
|
{
|
|
uint8_t* _pg_data = getESCVelocityPacketData(_pg_pkt);
|
|
int _pg_byteindex = 0;
|
|
|
|
uint8ToBytes((uint8_t)(CMD_ESC_RESET), _pg_data, &_pg_byteindex);
|
|
|
|
// This byte is required for the command to be accepted
|
|
uint8ToBytes((uint8_t)(0xAA), _pg_data, &_pg_byteindex);
|
|
|
|
// This byte is required for the command to be accepted
|
|
uint8ToBytes((uint8_t)(0xCC), _pg_data, &_pg_byteindex);
|
|
|
|
// complete the process of creating the packet
|
|
finishESCVelocityPacket(_pg_pkt, _pg_byteindex, getESC_ResetESCPacketID());
|
|
|
|
}// encodeESC_ResetESCPacket
|
|
|
|
/*!
|
|
* \brief Decode the ESC_ResetESC packet
|
|
*
|
|
* Send a configuration command to the ESC (followed by optional command data
|
|
* bytes)
|
|
* \param _pg_pkt points to the packet being decoded by this function
|
|
* \return 0 is returned if the packet ID or size is wrong, else 1
|
|
*/
|
|
int decodeESC_ResetESCPacket(const void* _pg_pkt)
|
|
{
|
|
int _pg_byteindex = 0;
|
|
const uint8_t* _pg_data = getESCVelocityPacketDataConst(_pg_pkt);
|
|
int _pg_numbytes = getESCVelocityPacketSize(_pg_pkt);
|
|
|
|
// Verify the packet identifier
|
|
if(getESCVelocityPacketID(_pg_pkt) != getESC_ResetESCPacketID())
|
|
return 0;
|
|
|
|
if(_pg_numbytes < getESC_ResetESCMinDataLength())
|
|
return 0;
|
|
|
|
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_ESC_RESET)
|
|
return 0;
|
|
|
|
// This byte is required for the command to be accepted
|
|
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xAA)
|
|
return 0;
|
|
|
|
// This byte is required for the command to be accepted
|
|
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xCC)
|
|
return 0;
|
|
|
|
return 1;
|
|
|
|
}// decodeESC_ResetESCPacket
|
|
// end of ESCCommands.c
|