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msg: extend field definition in msg/esc_report (arming & failure states) 

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2020-04-02 14:46:55 +02:00 committed by Beat Küng
parent 4e091a369d
commit dc29a994b7
6 changed files with 20 additions and 0 deletions
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12
msg/esc_report.msg
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@ -5,4 +5,16 @@ float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
uint8 esc_temperature # Temperature measured from current ESC [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_state # State of ESC - depend on Vendor
uint8 failures # Bitmask to indicate the internal ESC faults
uint8 FAILURE_NONE = 0
uint8 FAILURE_OVER_CURRENT_MASK = 1 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE_MASK = 2 # (1 << 1)
uint8 FAILURE_OVER_TEMPERATURE_MASK = 4 # (1 << 2)
uint8 FAILURE_OVER_RPM_MASK = 8 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD_MASK = 16 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK_MASK = 32 # (1 << 5)
uint8 FAILURE_GENERIC_MASK = 64 # (1 << 6)

2
msg/esc_status.msg
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@ -23,4 +23,6 @@ uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
# esc_online_flags bit 6 : Set to 1 if ESC6 is online
# esc_online_flags bit 7 : Set to 1 if ESC7 is online
uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
esc_report[8] esc

1
src/drivers/dshot/dshot.cpp
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@ -604,6 +604,7 @@ void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry::
++esc_status.counter;
// FIXME: mark all ESC's as online, otherwise commander complains even for a single dropout
esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;
esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1;
_telemetry->esc_status_pub.update();

2
src/drivers/mkblctrl/mkblctrl.cpp
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@ -611,6 +611,8 @@ MK::task_main()
esc.timestamp = hrt_absolute_time();
esc.esc_count = (uint8_t) _num_outputs;
esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_I2C;
esc.esc_online_flags = (1 << esc.esc_count) - 1;
esc.esc_armed_flags = (1 << esc.esc_count) - 1;
for (unsigned int i = 0; i < _num_outputs; i++) {
esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;

2
src/drivers/tap_esc/tap_esc.cpp
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@ -573,6 +573,8 @@ void TAP_ESC::cycle()
_esc_feedback.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_SERIAL;
_esc_feedback.counter++;
_esc_feedback.esc_count = num_outputs;
_esc_feedback.esc_online_flags = (1 << num_outputs) - 1;
_esc_feedback.esc_armed_flags = (1 << num_outputs) - 1;
_esc_feedback.timestamp = hrt_absolute_time();

1
src/drivers/uavcan/actuators/esc.cpp
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@ -163,6 +163,7 @@ UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent &)
_esc_status.counter += 1;
_esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN;
_esc_status.esc_online_flags = check_escs_status();
_esc_status.esc_armed_flags = (1 << _rotor_count) - 1;
_esc_status_pub.publish(_esc_status);
}