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407 lines
17 KiB
407 lines
17 KiB
// ESCDefines.c was generated by ProtoGen version 2.18.c |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "ESCDefines.h" |
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#include "fielddecode.h" |
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#include "fieldencode.h" |
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#include "scaleddecode.h" |
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#include "scaledencode.h" |
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/*! |
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* \brief Encode a ESC_StatusBits_t structure into a byte array |
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* |
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* The *status* of the ESC is represented using these status bits. ESC system |
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* functionality can be quickly determined using these bits |
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* \param _pg_data points to the byte array to add encoded data to |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes. |
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* \param _pg_user is the data to encode in the byte array |
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*/ |
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void encodeESC_StatusBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_StatusBits_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// 1 = Hardware inhibit is active (ESC is disabled) |
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_pg_data[_pg_byteindex] = (uint8_t)_pg_user->hwInhibit << 7; |
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// 1 = Software inhibit is active (ESC is disabled) |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->swInhibit << 6; |
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// 0 = Active Freewheeling is not enabled, 1 = Active Freewheeling is enabled |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->afwEnabled << 5; |
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// 0 = Motor direction is FORWARDS, 1= Motor direction is REVERSE |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->direction << 4; |
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// Set if the ESC command timeout period has elapsed (and the ESC is in STANDBY mode) |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->timeout << 3; |
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// 1 = in starting mode (0 = stopped or running) |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->starting << 2; |
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// 0 = most recent command from CAN, 1 = most recent command from PWM |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->commandSource << 1; |
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// ESC is running |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->running; |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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}// encodeESC_StatusBits_t |
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/*! |
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* \brief Decode a ESC_StatusBits_t structure from a byte array |
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* |
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* The *status* of the ESC is represented using these status bits. ESC system |
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* functionality can be quickly determined using these bits |
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* \param _pg_data points to the byte array to decoded data from |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded |
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* \param _pg_user is the data to decode from the byte array |
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* \return 1 if the data are decoded, else 0. If 0 is returned _pg_bytecount will not be updated. |
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*/ |
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int decodeESC_StatusBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_StatusBits_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// 1 = Hardware inhibit is active (ESC is disabled) |
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_pg_user->hwInhibit = (_pg_data[_pg_byteindex] >> 7); |
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// 1 = Software inhibit is active (ESC is disabled) |
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_pg_user->swInhibit = ((_pg_data[_pg_byteindex] >> 6) & 0x1); |
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// 0 = Active Freewheeling is not enabled, 1 = Active Freewheeling is enabled |
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_pg_user->afwEnabled = ((_pg_data[_pg_byteindex] >> 5) & 0x1); |
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// 0 = Motor direction is FORWARDS, 1= Motor direction is REVERSE |
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_pg_user->direction = ((_pg_data[_pg_byteindex] >> 4) & 0x1); |
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// Set if the ESC command timeout period has elapsed (and the ESC is in STANDBY mode) |
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_pg_user->timeout = ((_pg_data[_pg_byteindex] >> 3) & 0x1); |
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// 1 = in starting mode (0 = stopped or running) |
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_pg_user->starting = ((_pg_data[_pg_byteindex] >> 2) & 0x1); |
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// 0 = most recent command from CAN, 1 = most recent command from PWM |
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_pg_user->commandSource = ((_pg_data[_pg_byteindex] >> 1) & 0x1); |
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// ESC is running |
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_pg_user->running = ((_pg_data[_pg_byteindex]) & 0x1); |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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return 1; |
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}// decodeESC_StatusBits_t |
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/*! |
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* \brief Encode a ESC_WarningBits_t structure into a byte array |
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* |
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* The *warning* bits enumerate various system warnings/errors of which the user |
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* (or user software) should be made aware. These *warning* bits are transmitted |
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* in the telemetry packets such that user software is aware of any these |
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* *warning* conditions and can poll the ESC for particular packets if any |
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* further information is needed. The ESC will continue to function in the case |
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* of a *warning* state |
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* \param _pg_data points to the byte array to add encoded data to |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes. |
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* \param _pg_user is the data to encode in the byte array |
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*/ |
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void encodeESC_WarningBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_WarningBits_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// Set if RPM signal is not detected |
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_pg_data[_pg_byteindex] = (uint8_t)_pg_user->noRPMSignal << 7; |
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// Set if the ESC motor speed exceeds the configured warning threshold |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->overspeed << 6; |
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// Set if the ESC motor current (positive or negative) exceeds the configured warning threshold |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->overcurrent << 5; |
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// Set if the internal ESC temperature is above the warning threshold |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->escTemperature << 4; |
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// Set if the motor temperature is above the warning threshold |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->motorTemperature << 3; |
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// Set if the input voltage is below the minimum threshold |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->undervoltage << 2; |
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// Set if the input voltage is above the maximum threshold |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->overvoltage << 1; |
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// Set if hardware PWM input is enabled but invalid |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->invalidPWMsignal; |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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}// encodeESC_WarningBits_t |
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/*! |
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* \brief Decode a ESC_WarningBits_t structure from a byte array |
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* |
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* The *warning* bits enumerate various system warnings/errors of which the user |
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* (or user software) should be made aware. These *warning* bits are transmitted |
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* in the telemetry packets such that user software is aware of any these |
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* *warning* conditions and can poll the ESC for particular packets if any |
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* further information is needed. The ESC will continue to function in the case |
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* of a *warning* state |
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* \param _pg_data points to the byte array to decoded data from |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded |
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* \param _pg_user is the data to decode from the byte array |
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* \return 1 if the data are decoded, else 0. If 0 is returned _pg_bytecount will not be updated. |
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*/ |
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int decodeESC_WarningBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_WarningBits_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// Set if RPM signal is not detected |
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_pg_user->noRPMSignal = (_pg_data[_pg_byteindex] >> 7); |
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// Set if the ESC motor speed exceeds the configured warning threshold |
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_pg_user->overspeed = ((_pg_data[_pg_byteindex] >> 6) & 0x1); |
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// Set if the ESC motor current (positive or negative) exceeds the configured warning threshold |
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_pg_user->overcurrent = ((_pg_data[_pg_byteindex] >> 5) & 0x1); |
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// Set if the internal ESC temperature is above the warning threshold |
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_pg_user->escTemperature = ((_pg_data[_pg_byteindex] >> 4) & 0x1); |
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// Set if the motor temperature is above the warning threshold |
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_pg_user->motorTemperature = ((_pg_data[_pg_byteindex] >> 3) & 0x1); |
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// Set if the input voltage is below the minimum threshold |
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_pg_user->undervoltage = ((_pg_data[_pg_byteindex] >> 2) & 0x1); |
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// Set if the input voltage is above the maximum threshold |
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_pg_user->overvoltage = ((_pg_data[_pg_byteindex] >> 1) & 0x1); |
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// Set if hardware PWM input is enabled but invalid |
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_pg_user->invalidPWMsignal = ((_pg_data[_pg_byteindex]) & 0x1); |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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return 1; |
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}// decodeESC_WarningBits_t |
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/*! |
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* \brief Encode a ESC_ErrorBits_t structure into a byte array |
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* |
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* The *error* bits enumerate critical system errors that will cause the ESC to |
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* stop functioning until the error cases are alleviated |
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* \param _pg_data points to the byte array to add encoded data to |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes. |
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* \param _pg_user is the data to encode in the byte array |
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*/ |
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void encodeESC_ErrorBits_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_ErrorBits_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// Set if communication link to the motor controller is lost |
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_pg_data[_pg_byteindex] = (uint8_t)_pg_user->linkError << 7; |
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// Set if the ESC has detected an overcurrent event and is actively folding back duty cycle |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->foldback << 6; |
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// Set if the settings checksum does not match the programmed values |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->settingsChecksum << 5; |
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// Set if the motor settings are invalid |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->motorSettings << 4; |
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// Reserved for future use |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedD << 3; |
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// Reserved for future use |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedE << 2; |
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// Reserved for future use |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedF << 1; |
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// Reserved for future use |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedG; |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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}// encodeESC_ErrorBits_t |
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/*! |
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* \brief Decode a ESC_ErrorBits_t structure from a byte array |
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* |
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* The *error* bits enumerate critical system errors that will cause the ESC to |
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* stop functioning until the error cases are alleviated |
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* \param _pg_data points to the byte array to decoded data from |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded |
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* \param _pg_user is the data to decode from the byte array |
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* \return 1 if the data are decoded, else 0. If 0 is returned _pg_bytecount will not be updated. |
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*/ |
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int decodeESC_ErrorBits_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_ErrorBits_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// Set if communication link to the motor controller is lost |
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_pg_user->linkError = (_pg_data[_pg_byteindex] >> 7); |
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// Set if the ESC has detected an overcurrent event and is actively folding back duty cycle |
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_pg_user->foldback = ((_pg_data[_pg_byteindex] >> 6) & 0x1); |
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// Set if the settings checksum does not match the programmed values |
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_pg_user->settingsChecksum = ((_pg_data[_pg_byteindex] >> 5) & 0x1); |
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// Set if the motor settings are invalid |
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_pg_user->motorSettings = ((_pg_data[_pg_byteindex] >> 4) & 0x1); |
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// Reserved for future use |
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_pg_user->reservedD = ((_pg_data[_pg_byteindex] >> 3) & 0x1); |
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// Reserved for future use |
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_pg_user->reservedE = ((_pg_data[_pg_byteindex] >> 2) & 0x1); |
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// Reserved for future use |
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_pg_user->reservedF = ((_pg_data[_pg_byteindex] >> 1) & 0x1); |
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// Reserved for future use |
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_pg_user->reservedG = ((_pg_data[_pg_byteindex]) & 0x1); |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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return 1; |
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}// decodeESC_ErrorBits_t |
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/*! |
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* \brief Encode a ESC_TelemetryPackets_t structure into a byte array |
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* |
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* These bits are used to determine which packets are automatically transmitted |
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* as telemetry data by the ESC. Only the packets described here can be |
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* configured as telemetry packets |
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* \param _pg_data points to the byte array to add encoded data to |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of encoded bytes. |
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* \param _pg_user is the data to encode in the byte array |
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*/ |
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void encodeESC_TelemetryPackets_t(uint8_t* _pg_data, int* _pg_bytecount, const ESC_TelemetryPackets_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// If this bit is set, the STATUS_A packet will be transmitted at the configured rate |
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_pg_data[_pg_byteindex] = (uint8_t)_pg_user->statusA << 7; |
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// If this bit is set, the STATUS_B packet will be transmitted at the configured rate |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->statusB << 6; |
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// If this bit is set, the STATUS_C packet will be transmitted at the configured rate |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->statusC << 5; |
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// If this bit is set, the ACCELEROMETER packet will be transmitted at the configured rate |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->accelerometer << 4; |
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// If this bit is set, the STATUS_D packet will be transmitted at the configured rate |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->statusD << 3; |
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// Reserved for future use |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedB << 2; |
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// If this bit is set, any STATUS_x packets selected for telemetry will be mirrored on the Piccolo Downlink packet group (0x14) |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->piccoloDownlink << 1; |
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// Reserved for future use |
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_pg_data[_pg_byteindex] |= (uint8_t)_pg_user->reservedD; |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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}// encodeESC_TelemetryPackets_t |
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/*! |
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* \brief Decode a ESC_TelemetryPackets_t structure from a byte array |
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* |
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* These bits are used to determine which packets are automatically transmitted |
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* as telemetry data by the ESC. Only the packets described here can be |
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* configured as telemetry packets |
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* \param _pg_data points to the byte array to decoded data from |
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* \param _pg_bytecount points to the starting location in the byte array, and will be incremented by the number of bytes decoded |
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* \param _pg_user is the data to decode from the byte array |
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* \return 1 if the data are decoded, else 0. If 0 is returned _pg_bytecount will not be updated. |
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*/ |
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int decodeESC_TelemetryPackets_t(const uint8_t* _pg_data, int* _pg_bytecount, ESC_TelemetryPackets_t* _pg_user) |
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{ |
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int _pg_byteindex = *_pg_bytecount; |
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// If this bit is set, the STATUS_A packet will be transmitted at the configured rate |
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_pg_user->statusA = (_pg_data[_pg_byteindex] >> 7); |
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// If this bit is set, the STATUS_B packet will be transmitted at the configured rate |
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_pg_user->statusB = ((_pg_data[_pg_byteindex] >> 6) & 0x1); |
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// If this bit is set, the STATUS_C packet will be transmitted at the configured rate |
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_pg_user->statusC = ((_pg_data[_pg_byteindex] >> 5) & 0x1); |
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// If this bit is set, the ACCELEROMETER packet will be transmitted at the configured rate |
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_pg_user->accelerometer = ((_pg_data[_pg_byteindex] >> 4) & 0x1); |
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// If this bit is set, the STATUS_D packet will be transmitted at the configured rate |
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_pg_user->statusD = ((_pg_data[_pg_byteindex] >> 3) & 0x1); |
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// Reserved for future use |
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_pg_user->reservedB = ((_pg_data[_pg_byteindex] >> 2) & 0x1); |
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// If this bit is set, any STATUS_x packets selected for telemetry will be mirrored on the Piccolo Downlink packet group (0x14) |
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_pg_user->piccoloDownlink = ((_pg_data[_pg_byteindex] >> 1) & 0x1); |
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// Reserved for future use |
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_pg_user->reservedD = ((_pg_data[_pg_byteindex]) & 0x1); |
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_pg_byteindex += 1; // close bit field |
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*_pg_bytecount = _pg_byteindex; |
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return 1; |
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}// decodeESC_TelemetryPackets_t |
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/*! |
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* \brief Set a ESC_TelemetryPackets_t structure to initial values. |
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* |
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* Set a ESC_TelemetryPackets_t structure to initial values. Not all fields are set, |
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* only those which the protocol specifies. |
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* \param _pg_user is the structure whose data are set to initial values |
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*/ |
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void initESC_TelemetryPackets_t(ESC_TelemetryPackets_t* _pg_user) |
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{ |
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// If this bit is set, the STATUS_A packet will be transmitted at the configured rate |
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_pg_user->statusA = 1; |
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// If this bit is set, the STATUS_B packet will be transmitted at the configured rate |
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_pg_user->statusB = 1; |
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// If this bit is set, the STATUS_C packet will be transmitted at the configured rate |
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_pg_user->statusC = 1; |
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// If this bit is set, the ACCELEROMETER packet will be transmitted at the configured rate |
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_pg_user->accelerometer = 0; |
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}// initESC_TelemetryPackets_t |
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// end of ESCDefines.c
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