Actuators driver for AutoQuad ESC32 motor controllers. More...

#include "std.h"
#include "generated/airframe.h"

Include dependency graph for actuators_esc32.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	ESC32_response

struct	ESC32_com

struct	ESC32

Macros
#define	ESC32_RESPONSE_CNT 12

#define	ESC32_CAN_LCC_MASK ((uint32_t)0x3<<30)

#define	ESC32_CAN_LCC_EXCEPTION ((uint32_t)0x0<<30)

#define	ESC32_CAN_LCC_HIGH ((uint32_t)0x1<<30)

#define	ESC32_CAN_LCC_NORMAL ((uint32_t)0x2<<30)

#define	ESC32_CAN_LCC_INFO ((uint32_t)0x3<<30)

#define	ESC32_CAN_TT_MASK ((uint32_t)0x1<<29)

#define	ESC32_CAN_TT_GROUP ((uint32_t)0x0<<29)

#define	ESC32_CAN_TT_NODE ((uint32_t)0x1<<29)

#define	ESC32_CAN_FID_MASK ((uint32_t)0xf<<25)

#define	ESC32_CAN_FID_RESET_BUS ((uint32_t)0x0<<25)

#define	ESC32_CAN_FID_ACK ((uint32_t)0x1<<25)

#define	ESC32_CAN_FID_NACK ((uint32_t)0x2<<25)

#define	ESC32_CAN_FID_CMD ((uint32_t)0x3<<25)

#define	ESC32_CAN_FID_GET ((uint32_t)0x4<<25)

#define	ESC32_CAN_FID_SET ((uint32_t)0x5<<25)

#define	ESC32_CAN_FID_REPLY ((uint32_t)0x6<<25)

#define	ESC32_CAN_FID_REQ_ADDR ((uint32_t)0x7<<25)

#define	ESC32_CAN_FID_GRANT_ADDR ((uint32_t)0x8<<25)

#define	ESC32_CAN_FID_ERROR ((uint32_t)0x9<<25)

#define	ESC32_CAN_FID_PING ((uint32_t)0xa<<25)

#define	ESC32_CAN_FID_TELEM ((uint32_t)0xb<<25)

#define	ESC32_CAN_DOC_MASK ((uint32_t)0x3f<<19)

#define	ESC32_CAN_SID_MASK ((uint32_t)0x1f<<14)

#define	ESC32_CAN_TID_MASK ((uint32_t)0x1f<<9)

#define	ESC32_CAN_SEQ_MASK ((uint32_t)0x3f<<3)

#define	ActuatorESC32Set(_i, _v) { actuators_esc32_set(_i, _v); }

#define	ActuatorsESC32Init() actuators_esc32_init()

#define	ActuatorsESC32Commit() actuators_esc32_commit()

Enumerations
enum	{ ESC32_CAN_TYPE_ESC = 1 , ESC32_CAN_TYPE_SERVO , ESC32_CAN_TYPE_SENSOR , ESC32_CAN_TYPE_SWITCH , ESC32_CAN_TYPE_OSD , ESC32_CAN_TYPE_UART , ESC32_CAN_TYPE_HUB , ESC32_CAN_TYPE_NUM }

enum	{ ESC32_CAN_CMD_DISARM = 1 , ESC32_CAN_CMD_ARM , ESC32_CAN_CMD_START , ESC32_CAN_CMD_STOP , ESC32_CAN_CMD_SETPOINT10 , ESC32_CAN_CMD_SETPOINT12 , ESC32_CAN_CMD_SETPOINT16 , ESC32_CAN_CMD_RPM , ESC32_CAN_CMD_CFG_READ , ESC32_CAN_CMD_CFG_WRITE , ESC32_CAN_CMD_CFG_DEFAULT , ESC32_CAN_CMD_TELEM_RATE , ESC32_CAN_CMD_TELEM_VALUE , ESC32_CAN_CMD_BEEP , ESC32_CAN_CMD_POS , ESC32_CAN_CMD_USER_DEFINED , ESC32_CAN_CMD_RESET , ESC32_CAN_CMD_STREAM , ESC32_CAN_CMD_ON , ESC32_CAN_CMD_OFF }

enum	{ ESC32_CAN_DATA_GROUP = 1 , ESC32_CAN_DATA_TYPE , ESC32_CAN_DATA_ID , ESC32_CAN_DATA_INPUT_MODE , ESC32_CAN_DATA_RUN_MODE , ESC32_CAN_DATA_STATE , ESC32_CAN_DATA_PARAM_ID , ESC32_CAN_DATA_TELEM , ESC32_CAN_DATA_VERSION , ESC32_CAN_DATA_VALUE , ESC32_CAN_DATA_PARAM_NAME1 , ESC32_CAN_DATA_PARAM_NAME2 }

enum	{ ESC32_CAN_TELEM_NONE = 0 , ESC32_CAN_TELEM_STATUS , ESC32_CAN_TELEM_STATE , ESC32_CAN_TELEM_TEMP , ESC32_CAN_TELEM_VIN , ESC32_CAN_TELEM_AMPS , ESC32_CAN_TELEM_RPM , ESC32_CAN_TELEM_ERRORS , ESC32_CAN_TELEM_VALUE , ESC32_CAN_TELEM_NUM }

enum	ESC32_esc_status { ESC32_STATUS_ESC_FREE = 0 , ESC32_STATUS_ESC_INIT , ESC32_STATUS_ESC_RDY }

enum	ESC32_status { ESC32_STATUS_INIT = 0 , ESC32_STATUS_MELODY , ESC32_STATUS_UNARMED , ESC32_STATUS_RUNNING }

enum	ESC32_config_cmd { ESC32_CONFIG_CMD_IDLE = 0 , ESC32_CONFIG_CMD_BEEP , ESC32_CONFIG_CMD_TURN , ESC32_CONFIG_CMD_DIR }

Functions
void	actuators_esc32_init (void)
	Initializes the ESCs. More...

void	actuators_esc32_commit (void)
	Commits the commands and sends them to the ESCs. More...

void	actuators_esc32_set (uint8_t i, uint16_t v)
	Set the commands (either RPM or duty cycle) More...

void	actuators_esc32_config_cmd (uint8_t i)
	When receiving a configuration setting command. More...

Variables
struct ESC32	actuators_esc32

Detailed Description

Actuators driver for AutoQuad ESC32 motor controllers.

Definition in file actuators_esc32.h.

Data Structure Documentation

◆ ESC32_response

struct ESC32_response

Definition at line 146 of file actuators_esc32.h.

Data Fields
uint8_t	data[8]	The data of the response.
uint8_t	fid	The FID of the response.

◆ ESC32_com

struct ESC32_com

Definition at line 158 of file actuators_esc32.h.

Data Fields
uint8_t	can_id	The CAN identifier.
uint8_t	network_id	Index in the array +1.
enum ESC32_esc_status	status	The current status of the esc.
uint8_t	type	The type of ESC.
uint32_t	uuid	The UUID of the ESC.

◆ ESC32

struct ESC32

Definition at line 182 of file actuators_esc32.h.

Collaboration diagram for ESC32:

Data Fields
uint8_t	can_seq_idx	CAN seq ID used for communicating.
uint16_t	cmds[SERVOS_ESC32_NB]	Commands which need to be committed.
enum ESC32_config_cmd	config_cmd	The command.
uint8_t	config_idx	Selected ESC.
struct ESC32_com	escs[SERVOS_ESC32_NB]	The ESCs connected via CAN.
uint8_t	escs_sorted[SERVOS_ESC32_NB]	The ESCs sorted by uuid.
uint32_t	melody_status	The status of the melody.
struct ESC32_response	responses[ESC32_RESPONSE_CNT]	Responses of CAN messages.
enum ESC32_status	status	The current status of all actuators.

Macro Definition Documentation

◆ ActuatorESC32Set

#define ActuatorESC32Set	(	_i,
		_v
	)	{ actuators_esc32_set(_i, _v); }

Definition at line 205 of file actuators_esc32.h.

◆ ActuatorsESC32Commit

#define ActuatorsESC32Commit ( ) actuators_esc32_commit()

Definition at line 207 of file actuators_esc32.h.

◆ ActuatorsESC32Init

#define ActuatorsESC32Init ( ) actuators_esc32_init()

Definition at line 206 of file actuators_esc32.h.

◆ ESC32_CAN_DOC_MASK

#define ESC32_CAN_DOC_MASK ((uint32_t)0x3f<<19)

Definition at line 66 of file actuators_esc32.h.

◆ ESC32_CAN_FID_ACK

#define ESC32_CAN_FID_ACK ((uint32_t)0x1<<25)

Definition at line 52 of file actuators_esc32.h.

◆ ESC32_CAN_FID_CMD

#define ESC32_CAN_FID_CMD ((uint32_t)0x3<<25)

Definition at line 54 of file actuators_esc32.h.

◆ ESC32_CAN_FID_ERROR

#define ESC32_CAN_FID_ERROR ((uint32_t)0x9<<25)

Definition at line 60 of file actuators_esc32.h.

◆ ESC32_CAN_FID_GET

#define ESC32_CAN_FID_GET ((uint32_t)0x4<<25)

Definition at line 55 of file actuators_esc32.h.

◆ ESC32_CAN_FID_GRANT_ADDR

#define ESC32_CAN_FID_GRANT_ADDR ((uint32_t)0x8<<25)

Definition at line 59 of file actuators_esc32.h.

◆ ESC32_CAN_FID_MASK

#define ESC32_CAN_FID_MASK ((uint32_t)0xf<<25)

Definition at line 50 of file actuators_esc32.h.

◆ ESC32_CAN_FID_NACK

#define ESC32_CAN_FID_NACK ((uint32_t)0x2<<25)

Definition at line 53 of file actuators_esc32.h.

◆ ESC32_CAN_FID_PING

#define ESC32_CAN_FID_PING ((uint32_t)0xa<<25)

Definition at line 61 of file actuators_esc32.h.

◆ ESC32_CAN_FID_REPLY

#define ESC32_CAN_FID_REPLY ((uint32_t)0x6<<25)

Definition at line 57 of file actuators_esc32.h.

◆ ESC32_CAN_FID_REQ_ADDR

#define ESC32_CAN_FID_REQ_ADDR ((uint32_t)0x7<<25)

Definition at line 58 of file actuators_esc32.h.

◆ ESC32_CAN_FID_RESET_BUS

#define ESC32_CAN_FID_RESET_BUS ((uint32_t)0x0<<25)

Definition at line 51 of file actuators_esc32.h.

◆ ESC32_CAN_FID_SET

#define ESC32_CAN_FID_SET ((uint32_t)0x5<<25)

Definition at line 56 of file actuators_esc32.h.

◆ ESC32_CAN_FID_TELEM

#define ESC32_CAN_FID_TELEM ((uint32_t)0xb<<25)

Definition at line 62 of file actuators_esc32.h.

◆ ESC32_CAN_LCC_EXCEPTION

#define ESC32_CAN_LCC_EXCEPTION ((uint32_t)0x0<<30)

Definition at line 37 of file actuators_esc32.h.

◆ ESC32_CAN_LCC_HIGH

#define ESC32_CAN_LCC_HIGH ((uint32_t)0x1<<30)

Definition at line 38 of file actuators_esc32.h.

◆ ESC32_CAN_LCC_INFO

#define ESC32_CAN_LCC_INFO ((uint32_t)0x3<<30)

Definition at line 40 of file actuators_esc32.h.

◆ ESC32_CAN_LCC_MASK

#define ESC32_CAN_LCC_MASK ((uint32_t)0x3<<30)

Definition at line 36 of file actuators_esc32.h.

◆ ESC32_CAN_LCC_NORMAL

#define ESC32_CAN_LCC_NORMAL ((uint32_t)0x2<<30)

Definition at line 39 of file actuators_esc32.h.

◆ ESC32_CAN_SEQ_MASK

#define ESC32_CAN_SEQ_MASK ((uint32_t)0x3f<<3)

Definition at line 78 of file actuators_esc32.h.

◆ ESC32_CAN_SID_MASK

#define ESC32_CAN_SID_MASK ((uint32_t)0x1f<<14)

Definition at line 70 of file actuators_esc32.h.

◆ ESC32_CAN_TID_MASK

#define ESC32_CAN_TID_MASK ((uint32_t)0x1f<<9)

Definition at line 74 of file actuators_esc32.h.

◆ ESC32_CAN_TT_GROUP

#define ESC32_CAN_TT_GROUP ((uint32_t)0x0<<29)

Definition at line 45 of file actuators_esc32.h.

◆ ESC32_CAN_TT_MASK

#define ESC32_CAN_TT_MASK ((uint32_t)0x1<<29)

Definition at line 44 of file actuators_esc32.h.

◆ ESC32_CAN_TT_NODE

#define ESC32_CAN_TT_NODE ((uint32_t)0x1<<29)

Definition at line 46 of file actuators_esc32.h.

◆ ESC32_RESPONSE_CNT

#define ESC32_RESPONSE_CNT 12

Definition at line 32 of file actuators_esc32.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
ESC32_CAN_TYPE_ESC
ESC32_CAN_TYPE_SERVO
ESC32_CAN_TYPE_SENSOR
ESC32_CAN_TYPE_SWITCH
ESC32_CAN_TYPE_OSD
ESC32_CAN_TYPE_UART
ESC32_CAN_TYPE_HUB
ESC32_CAN_TYPE_NUM

Definition at line 81 of file actuators_esc32.h.

◆ anonymous enum

anonymous enum

Enumerator
ESC32_CAN_CMD_DISARM
ESC32_CAN_CMD_ARM
ESC32_CAN_CMD_START
ESC32_CAN_CMD_STOP
ESC32_CAN_CMD_SETPOINT10
ESC32_CAN_CMD_SETPOINT12
ESC32_CAN_CMD_SETPOINT16
ESC32_CAN_CMD_RPM
ESC32_CAN_CMD_CFG_READ
ESC32_CAN_CMD_CFG_WRITE
ESC32_CAN_CMD_CFG_DEFAULT
ESC32_CAN_CMD_TELEM_RATE
ESC32_CAN_CMD_TELEM_VALUE
ESC32_CAN_CMD_BEEP
ESC32_CAN_CMD_POS
ESC32_CAN_CMD_USER_DEFINED
ESC32_CAN_CMD_RESET
ESC32_CAN_CMD_STREAM
ESC32_CAN_CMD_ON
ESC32_CAN_CMD_OFF

Definition at line 93 of file actuators_esc32.h.

◆ anonymous enum

anonymous enum

Enumerator
ESC32_CAN_DATA_GROUP
ESC32_CAN_DATA_TYPE
ESC32_CAN_DATA_ID
ESC32_CAN_DATA_INPUT_MODE
ESC32_CAN_DATA_RUN_MODE
ESC32_CAN_DATA_STATE
ESC32_CAN_DATA_PARAM_ID
ESC32_CAN_DATA_TELEM
ESC32_CAN_DATA_VERSION
ESC32_CAN_DATA_VALUE
ESC32_CAN_DATA_PARAM_NAME1
ESC32_CAN_DATA_PARAM_NAME2

Definition at line 117 of file actuators_esc32.h.

◆ anonymous enum

anonymous enum

Enumerator
ESC32_CAN_TELEM_NONE
ESC32_CAN_TELEM_STATUS
ESC32_CAN_TELEM_STATE
ESC32_CAN_TELEM_TEMP
ESC32_CAN_TELEM_VIN
ESC32_CAN_TELEM_AMPS
ESC32_CAN_TELEM_RPM
ESC32_CAN_TELEM_ERRORS
ESC32_CAN_TELEM_VALUE
ESC32_CAN_TELEM_NUM

Definition at line 133 of file actuators_esc32.h.

◆ ESC32_config_cmd

enum ESC32_config_cmd

Enumerator
ESC32_CONFIG_CMD_IDLE
ESC32_CONFIG_CMD_BEEP
ESC32_CONFIG_CMD_TURN
ESC32_CONFIG_CMD_DIR

Definition at line 175 of file actuators_esc32.h.

◆ ESC32_esc_status

enum ESC32_esc_status

Enumerator
ESC32_STATUS_ESC_FREE
ESC32_STATUS_ESC_INIT
ESC32_STATUS_ESC_RDY

Definition at line 152 of file actuators_esc32.h.

◆ ESC32_status

enum ESC32_status

Enumerator
ESC32_STATUS_INIT
ESC32_STATUS_MELODY
ESC32_STATUS_UNARMED
ESC32_STATUS_RUNNING

Definition at line 167 of file actuators_esc32.h.

Function Documentation

◆ actuators_esc32_commit()

void actuators_esc32_commit ( void )

Commits the commands and sends them to the ESCs.

Definition at line 147 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_arm(), actuators_esc32_disarm(), actuators_esc32_duty(), actuators_esc32_melody, actuators_esc32_melody_size, actuators_esc32_play_melody(), actuators_esc32_start(), autopilot_get_motors_on(), ESC32::cmds, ESC32_CAN_TT_GROUP, ESC32_STATUS_MELODY, ESC32_STATUS_RUNNING, ESC32_STATUS_UNARMED, ESC32::melody_status, and ESC32::status.

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◆ actuators_esc32_config_cmd()

void actuators_esc32_config_cmd ( uint8_t i )

When receiving a configuration setting command.

Definition at line 83 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_arm(), actuators_esc32_beep(), actuators_esc32_dir(), actuators_esc32_disarm(), actuators_esc32_duty(), actuators_esc32_start(), cmds, ESC32::config_cmd, ESC32::config_idx, ESC32_CAN_TT_NODE, ESC32_CONFIG_CMD_BEEP, ESC32_CONFIG_CMD_DIR, ESC32_CONFIG_CMD_IDLE, ESC32_CONFIG_CMD_TURN, ESC32_STATUS_UNARMED, ESC32::escs_sorted, and ESC32::status.

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◆ actuators_esc32_init()

void actuators_esc32_init ( void )

Initializes the ESCs.

Definition at line 122 of file actuators_esc32.c.

References actuators_esc32, actuators_esc32_can_rx_cb(), actuators_esc32_melody, actuators_esc32_melody_size, actuators_esc32_send(), ESC32_CAN_FID_RESET_BUS, ESC32_CAN_LCC_EXCEPTION, ESC32_CAN_TT_GROUP, ESC32_STATUS_ESC_FREE, ESC32_STATUS_INIT, ESC32::escs, ESC32::melody_status, ppz_can_init(), ESC32_com::status, and ESC32::status.

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◆ actuators_esc32_set()

void actuators_esc32_set	(	uint8_t	i,
		uint16_t	v
	)

Set the commands (either RPM or duty cycle)

Definition at line 73 of file actuators_esc32.c.

References actuators_esc32, ESC32::cmds, and ESC32::escs_sorted.

Variable Documentation

◆ actuators_esc32

struct ESC32 actuators_esc32

extern

Definition at line 1 of file actuators_esc32.c.

Referenced by actuators_esc32_can_rx_cb(), actuators_esc32_commit(), actuators_esc32_config_cmd(), actuators_esc32_dir(), actuators_esc32_grant_idx(), actuators_esc32_init(), actuators_esc32_send(), and actuators_esc32_set().

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Data Structure Documentation

◆ ESC32_response

◆ ESC32_com

◆ ESC32

Macro Definition Documentation

◆ ActuatorESC32Set

◆ ActuatorsESC32Commit

◆ ActuatorsESC32Init

◆ ESC32_CAN_DOC_MASK

◆ ESC32_CAN_FID_ACK

◆ ESC32_CAN_FID_CMD

◆ ESC32_CAN_FID_ERROR

◆ ESC32_CAN_FID_GET

◆ ESC32_CAN_FID_GRANT_ADDR

◆ ESC32_CAN_FID_MASK

◆ ESC32_CAN_FID_NACK

◆ ESC32_CAN_FID_PING

◆ ESC32_CAN_FID_REPLY

◆ ESC32_CAN_FID_REQ_ADDR

◆ ESC32_CAN_FID_RESET_BUS

◆ ESC32_CAN_FID_SET

◆ ESC32_CAN_FID_TELEM

◆ ESC32_CAN_LCC_EXCEPTION

◆ ESC32_CAN_LCC_HIGH

◆ ESC32_CAN_LCC_INFO

◆ ESC32_CAN_LCC_MASK

◆ ESC32_CAN_LCC_NORMAL

◆ ESC32_CAN_SEQ_MASK

◆ ESC32_CAN_SID_MASK

◆ ESC32_CAN_TID_MASK

◆ ESC32_CAN_TT_GROUP

◆ ESC32_CAN_TT_MASK

◆ ESC32_CAN_TT_NODE

◆ ESC32_RESPONSE_CNT

Enumeration Type Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ ESC32_config_cmd

◆ ESC32_esc_status

◆ ESC32_status

Function Documentation

◆ actuators_esc32_commit()

◆ actuators_esc32_config_cmd()

◆ actuators_esc32_init()

◆ actuators_esc32_set()

Variable Documentation

◆ actuators_esc32