mirror of https://github.com/ArduPilot/ardupilot
193 lines
8.9 KiB
C
193 lines
8.9 KiB
C
// ESCDefines.h was generated by ProtoGen version 3.2.a
|
|
|
|
/*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* Author: Oliver Walters
|
|
*/
|
|
|
|
#ifndef _ESCDEFINES_H
|
|
#define _ESCDEFINES_H
|
|
|
|
// Language target is C, C++ compilers: don't mangle us
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/*!
|
|
* \file
|
|
*/
|
|
|
|
#include <stdbool.h>
|
|
#include "ESCVelocityProtocol.h"
|
|
|
|
/*!
|
|
* The *status* of the ESC is represented using these status bits. ESC system
|
|
* functionality can be quickly determined using these bits
|
|
*/
|
|
typedef struct
|
|
{
|
|
bool hwInhibit; //!< Set if hardware inhibit is active (ESC is disabled)
|
|
bool swInhibit; //!< Set if software inhibit is active (ESC is disabled)
|
|
bool afwEnabled; //!< Set if Active Freewheeling is currently active
|
|
uint8_t direction; //!< 0 = Motor direction is FORWARDS, 1= Motor direction is REVERSE
|
|
bool timeout; //!< Set if the ESC command timeout period has elapsed (and the ESC is in STANDBY mode)
|
|
bool starting; //!< Set if ESC is in starting mode (Cleared if ESC is stopped or running)
|
|
uint8_t commandSource; //!< 0 = most recent command from CAN, 1 = most recent command from PWM
|
|
bool running; //!< Set if ESC is running
|
|
bool anyWarnings; //!< Warning active - refer to the PKT_ESC_WARNINGS_ERRORS packet
|
|
bool anyErrors; //!< Error active - refer to the PKT_ESC_WARNINGS_ERRORS packet
|
|
bool spinning; //!< Set if the motor is spinning (even if it is not being driven)
|
|
bool spinningReversed; //!< Set if motor is spinning opposite to configured rotation direction
|
|
bool foldback; //!< Set if motor duty cycle is being limited due to ESC protection settings
|
|
bool syncing; //!< Set if the ESC is attempting to sync with the motor
|
|
bool debug; //!< Set if the ESC is in debug mode (factory use only)
|
|
}ESC_StatusBits_t;
|
|
|
|
//! return the minimum encoded length for the ESC_StatusBits_t structure
|
|
#define getMinLengthOfESC_StatusBits_t() (3)
|
|
|
|
//! return the maximum encoded length for the ESC_StatusBits_t structure
|
|
#define getMaxLengthOfESC_StatusBits_t() (3)
|
|
|
|
//! Encode a ESC_StatusBits_t into a byte array
|
|
void encodeESC_StatusBits_t(uint8_t* data, int* bytecount, const ESC_StatusBits_t* user);
|
|
|
|
//! Decode a ESC_StatusBits_t from a byte array
|
|
int decodeESC_StatusBits_t(const uint8_t* data, int* bytecount, ESC_StatusBits_t* user);
|
|
|
|
/*!
|
|
* The *warning* bits enumerate various system warnings/errors of which the
|
|
* user (or user software) should be made aware. These *warning* bits are
|
|
* transmitted in the telemetry packets such that user software is aware of any
|
|
* these *warning* conditions and can poll the ESC for particular packets if
|
|
* any further information is needed. The ESC will continue to function in the
|
|
* case of a *warning* state
|
|
*/
|
|
typedef struct
|
|
{
|
|
bool overspeed; //!< Set if the ESC motor speed exceeds the configured warning threshold
|
|
bool overcurrent; //!< Set if the ESC motor current (positive or negative) exceeds the configured warning threshold
|
|
bool escTemperature; //!< Set if the internal ESC temperature is above the warning threshold
|
|
bool motorTemperature; //!< Set if the motor temperature is above the warning threshold
|
|
bool undervoltage; //!< Set if the input voltage is below the minimum threshold
|
|
bool overvoltage; //!< Set if the input voltage is above the maximum threshold
|
|
bool invalidPWMsignal; //!< Set if hardware PWM input is enabled but invalid
|
|
bool demagAngle; //!< Set if the motor demag angle exceeds the maximum threshold
|
|
bool advanceLimit; //!< Set if the auto-advance exceeds 25 degrees
|
|
bool longDemag; //!< Set if the measured demag pulse is exceptionally long
|
|
bool missedZeroCrossing; //!< Set if a zero-crossing measurement was missed
|
|
bool spinningReversed; //!< Motor is spinning in the wrong direction
|
|
bool commSpeedLimit; //!< Motor has reached maximum allowable commutation speed
|
|
bool settingsChecksum; //!< Settings checksum does not match programmed value
|
|
}ESC_WarningBits_t;
|
|
|
|
//! return the minimum encoded length for the ESC_WarningBits_t structure
|
|
#define getMinLengthOfESC_WarningBits_t() (2)
|
|
|
|
//! return the maximum encoded length for the ESC_WarningBits_t structure
|
|
#define getMaxLengthOfESC_WarningBits_t() (2)
|
|
|
|
//! Encode a ESC_WarningBits_t into a byte array
|
|
void encodeESC_WarningBits_t(uint8_t* data, int* bytecount, const ESC_WarningBits_t* user);
|
|
|
|
//! Decode a ESC_WarningBits_t from a byte array
|
|
int decodeESC_WarningBits_t(const uint8_t* data, int* bytecount, ESC_WarningBits_t* user);
|
|
|
|
/*!
|
|
* The *error* bits enumerate critical system errors that will cause the ESC to
|
|
* stop functioning until the error cases are alleviated
|
|
*/
|
|
typedef struct
|
|
{
|
|
bool failedStart; //!< Set if the ESC failed to start the motor
|
|
bool commutation; //!< Lost commutation
|
|
bool hallSensor; //!< Set if hall sensor error detected
|
|
bool overcurrent; //!< Current exceeded hard-limit
|
|
bool overtemperature; //!< Temperature exceeded hard-limit
|
|
bool overspeed; //!< Motor commutation speed exceeded hard-limit
|
|
bool demag; //!< Motor stopped due to high demag angle
|
|
}ESC_ErrorBits_t;
|
|
|
|
//! return the minimum encoded length for the ESC_ErrorBits_t structure
|
|
#define getMinLengthOfESC_ErrorBits_t() (2)
|
|
|
|
//! return the maximum encoded length for the ESC_ErrorBits_t structure
|
|
#define getMaxLengthOfESC_ErrorBits_t() (2)
|
|
|
|
//! Encode a ESC_ErrorBits_t into a byte array
|
|
void encodeESC_ErrorBits_t(uint8_t* data, int* bytecount, const ESC_ErrorBits_t* user);
|
|
|
|
//! Decode a ESC_ErrorBits_t from a byte array
|
|
int decodeESC_ErrorBits_t(const uint8_t* data, int* bytecount, ESC_ErrorBits_t* user);
|
|
|
|
/*!
|
|
* 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
|
|
*/
|
|
typedef struct
|
|
{
|
|
bool statusA; //!< If this bit is set, the STATUS_A packet will be transmitted at the configured rate
|
|
bool statusB; //!< If this bit is set, the STATUS_B packet will be transmitted at the configured rate
|
|
bool statusC; //!< If this bit is set, the STATUS_C packet will be transmitted at the configured rate
|
|
bool accelerometer; //!< If this bit is set, the ACCELEROMETER packet will be transmitted at the configured rate
|
|
bool statusD; //!< If this bit is set, the STATUS_D packet will be transmitted at the configured rate
|
|
bool reservedTelemA; //!< Reserved for future use
|
|
bool piccoloDownlink; //!< If this bit is set, any STATUS_x packets selected for telemetry will be mirrored on the Piccolo Downlink packet group (0x14)
|
|
bool reservedTelemC; //!< Reserved for future use
|
|
}ESC_TelemetryPackets_t;
|
|
|
|
//! return the minimum encoded length for the ESC_TelemetryPackets_t structure
|
|
#define getMinLengthOfESC_TelemetryPackets_t() (1)
|
|
|
|
//! return the maximum encoded length for the ESC_TelemetryPackets_t structure
|
|
#define getMaxLengthOfESC_TelemetryPackets_t() (1)
|
|
|
|
//! Encode a ESC_TelemetryPackets_t into a byte array
|
|
void encodeESC_TelemetryPackets_t(uint8_t* data, int* bytecount, const ESC_TelemetryPackets_t* user);
|
|
|
|
//! Decode a ESC_TelemetryPackets_t from a byte array
|
|
int decodeESC_TelemetryPackets_t(const uint8_t* data, int* bytecount, ESC_TelemetryPackets_t* user);
|
|
|
|
/*!
|
|
* These bits are used to select which debug packets are transmitted at
|
|
* high-frequency by the ESC
|
|
*/
|
|
typedef struct
|
|
{
|
|
bool ctrlLoopOutputs; //!< Control loop terms
|
|
bool hallSensors; //!< Hall sensor debug information
|
|
bool commutation; //!< Commutation debug information
|
|
bool demag; //!< Demag debug information
|
|
bool pwmInput; //!< PWM input debug information
|
|
}ESC_DebugPackets_t;
|
|
|
|
//! return the minimum encoded length for the ESC_DebugPackets_t structure
|
|
#define getMinLengthOfESC_DebugPackets_t() (2)
|
|
|
|
//! return the maximum encoded length for the ESC_DebugPackets_t structure
|
|
#define getMaxLengthOfESC_DebugPackets_t() (2)
|
|
|
|
//! Encode a ESC_DebugPackets_t into a byte array
|
|
void encodeESC_DebugPackets_t(uint8_t* data, int* bytecount, const ESC_DebugPackets_t* user);
|
|
|
|
//! Decode a ESC_DebugPackets_t from a byte array
|
|
int decodeESC_DebugPackets_t(const uint8_t* data, int* bytecount, ESC_DebugPackets_t* user);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
#endif // _ESCDEFINES_H
|