63 lines
1.2 KiB
C
63 lines
1.2 KiB
C
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/*
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ESC Telemetry for Hobbywing Pro 80A HV ESC. This will be
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incorporated into a broader ESC telemetry library in ArduPilot
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master in the future
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#ifdef HAL_PERIPH_ENABLE_HWESC
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class HWESC_Telem {
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public:
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HWESC_Telem();
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void init(AP_HAL::UARTDriver *uart);
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bool update();
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struct HWESC {
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uint32_t counter;
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uint16_t throttle_req;
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uint16_t throttle;
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uint16_t rpm;
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float voltage;
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uint16_t load;
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float current;
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uint16_t temperature;
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uint16_t unknown;
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};
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const HWESC &get_telem(void) {
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return decoded;
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}
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private:
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AP_HAL::UARTDriver *uart;
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struct PACKED {
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uint8_t header; // 0x9B
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uint8_t pkt_len; // 0x16
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uint32_t counter;
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uint16_t throttle_req;
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uint16_t throttle;
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uint16_t rpm;
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uint16_t voltage;
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uint16_t load;
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uint16_t current;
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uint16_t temperature;
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uint16_t unknown;
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uint16_t crc;
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} pkt;
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uint8_t len;
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uint32_t last_read_ms;
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struct HWESC decoded;
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bool parse_packet(void);
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};
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#endif // HAL_PERIPH_ENABLE_HWESC
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