mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.8 KiB
C
68 lines
2.8 KiB
C
// LegacyESCPackets.h was generated by ProtoGen version 3.2.a
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Oliver Walters
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*/
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#ifndef _LEGACYESCPACKETS_H
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#define _LEGACYESCPACKETS_H
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// Language target is C, C++ compilers: don't mangle us
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* \file
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*/
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#include <stdbool.h>
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#include "ESCVelocityProtocol.h"
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#include "LegacyESCDefines.h"
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/*!
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* Legacy (gen-1) definition for the STATUS_A packet
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*/
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typedef struct
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{
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uint8_t mode; //!< ESC operating mode. The lower four bits indicate the operational mode of the ESC, in accordance with the ESCOperatingModes enumeration. The upper 3 bits are used for debugging and should be ignored for general use.
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ESC_LegacyStatusBits_t status; //!< ESC status bits
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ESC_LegacyWarningBits_t warnings; //!< ESC warning bits
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ESC_LegacyErrorBits_t errors; //!< ESC *error* bits
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uint16_t command; //!< ESC operational command - value depends on 'mode' available in this packet. If the ESC is disabled, data reads 0x0000. If the ESC is in open-loop PWM mode, this value is the PWM command in units of 1us, in the range 1000us to 2000us. If the ESC is in closed-loop RPM mode, this value is the RPM command in units of 1RPM
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uint16_t rpm; //!< Motor speed
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}ESC_LegacyStatusA_t;
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//! Create the ESC_LegacyStatusA packet from parameters
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void encodeESC_LegacyStatusAPacket(void* pkt, uint8_t mode, const ESC_LegacyStatusBits_t* status, const ESC_LegacyWarningBits_t* warnings, const ESC_LegacyErrorBits_t* errors, uint16_t command, uint16_t rpm);
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//! Decode the ESC_LegacyStatusA packet to parameters
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int decodeESC_LegacyStatusAPacket(const void* pkt, uint8_t* mode, ESC_LegacyStatusBits_t* status, ESC_LegacyWarningBits_t* warnings, ESC_LegacyErrorBits_t* errors, uint16_t* command, uint16_t* rpm);
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//! return the packet ID for the ESC_LegacyStatusA packet
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#define getESC_LegacyStatusAPacketID() (PKT_ESC_STATUS_A)
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//! return the minimum encoded length for the ESC_LegacyStatusA packet
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#define getESC_LegacyStatusAMinDataLength() (8)
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//! return the maximum encoded length for the ESC_LegacyStatusA packet
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#define getESC_LegacyStatusAMaxDataLength() (8)
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#ifdef __cplusplus
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}
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#endif
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#endif // _LEGACYESCPACKETS_H
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