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12 years ago
21 changed files with 288 additions and 58 deletions
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/****************************************************************************
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* |
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* Copyright (C) 2013 PX4 Development Team. All rights reserved. |
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* Author: @author Marco Bauer <marco@wtns.de> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file esc_status.h |
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* Definition of the esc_status uORB topic. |
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* |
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* Published the state machine and the system status bitfields |
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* (see SYS_STATUS mavlink message), published only by commander app. |
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* |
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* All apps should write to subsystem_info: |
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* |
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* (any app) --> subsystem_info (published) --> (commander app state machine) --> esc_status --> (mavlink app) |
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*/ |
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#ifndef ESC_STATUS_H_ |
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#define ESC_STATUS_H_ |
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#include <stdint.h> |
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#include <stdbool.h> |
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#include "../uORB.h" |
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/**
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* @addtogroup topics @{ |
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*/ |
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/**
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* The number of ESCs supported. |
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* Current (Q2/2013) we support 8 ESCs, |
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*/ |
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#define CONNECTED_ESC_MAX 8 |
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enum ESC_VENDOR { |
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ESC_VENDOR_GENERIC = 0, /**< generic ESC */ |
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ESC_VENDOR_MIKROKOPTER /**< Mikrokopter */ |
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}; |
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enum ESC_CONNECTION_TYPE { |
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ESC_CONNECTION_TYPE_PPM = 0, /**< Traditional PPM ESC */ |
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ESC_CONNECTION_TYPE_SERIAL, /**< Serial Bus connected ESC */ |
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ESC_CONNECTION_TYPE_ONESHOOT, /**< One Shoot PPM */ |
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ESC_CONNECTION_TYPE_I2C, /**< I2C */ |
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ESC_CONNECTION_TYPE_CAN /**< CAN-Bus */ |
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}; |
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/**
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* |
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*/ |
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struct esc_status_s |
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{ |
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/* use of a counter and timestamp recommended (but not necessary) */ |
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uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ |
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uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ |
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uint8_t esc_count; /**< number of connected ESCs */ |
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enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ |
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struct { |
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uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ |
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enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ |
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uint16_t esc_version; /**< Version of current ESC - if supported */ |
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uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */ |
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uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */ |
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uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */ |
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uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */ |
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float esc_setpoint; /**< setpoint of current ESC */ |
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uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */ |
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uint16_t esc_state; /**< State of ESC - depend on Vendor */ |
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uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ |
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} esc[CONNECTED_ESC_MAX]; |
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}; |
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/**
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* @} |
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*/ |
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/* register this as object request broker structure */ |
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//ORB_DECLARE(esc_status);
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ORB_DECLARE_OPTIONAL(esc_status); |
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#endif |
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