actuators_t4_uart.h

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/*
 * Copyright (C) 2024 The Paparazzi Team
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef ACTUATORS_T4_UART_H
#define ACTUATORS_T4_UART_H
 
#define START_BYTE_ACTUATORS_T4 0x9A  //1st start block identifier byte
 
#include "std.h"
#include <stdbool.h>
#include <stdlib.h>
#include "generated/airframe.h"
#include "pprzlink/pprz_transport.h"
 
struct __attribute__((__packed__)) ActuatorsT4In {
  /* ESCs telemetry & error code */
 
  /* RPM output from ESC's to flightcontroller */
  int16_t esc_1_rpm;
  int16_t esc_2_rpm;
  int16_t esc_3_rpm;
  int16_t esc_4_rpm;
 
  /* Error code from ESC's to flightcontroller */
  int16_t esc_1_error_code;
  int16_t esc_2_error_code;
  int16_t esc_3_error_code;
  int16_t esc_4_error_code;
 
  /* Current (mA) output from ESC's to flightcontroller */
  int16_t esc_1_current;
  int16_t esc_2_current;
  int16_t esc_3_current;
  int16_t esc_4_current;
 
  /* Voltage (mV) output from ESC's to flightcontroller */
  int16_t esc_1_voltage;
  int16_t esc_2_voltage;
  int16_t esc_3_voltage;
  int16_t esc_4_voltage;
 
  /* Temperature (Celcius) not implemented, since it will take away bus bandwidth, feel free to add if really nned it, preferably with low message rate */
  //int16_t esc_1_temperature; // FIXME Kelvin as SI it is might be better?
  //int16_t esc_2_temperature;
  //int16_t esc_3_temperature;
  //int16_t esc_4_temperature;
 
  /* SERVOS telemetry where angle is in Degrees times 100 */
  int16_t servo_1_angle;
  int16_t servo_2_angle;
  int16_t servo_3_angle;
  int16_t servo_4_angle;
  int16_t servo_5_angle;
  int16_t servo_6_angle;
  int16_t servo_7_angle;
  int16_t servo_8_angle;
  int16_t servo_9_angle;
  int16_t servo_10_angle;
  /* Note that PWM servos nor PWM ESC's give feedback in real life. Servos have estimated angles */
  int16_t servo_11_angle;
  int16_t servo_12_angle;
 
  /* Servo load in UNDEFINED Units */
  int16_t servo_1_load;
  int16_t servo_2_load;
  int16_t servo_3_load;
  int16_t servo_4_load;
  int16_t servo_5_load;
  int16_t servo_6_load;
  int16_t servo_7_load;
  int16_t servo_8_load;
  int16_t servo_9_load;
  int16_t servo_10_load;
  /* Note that PWM servos or ESC (11 and 12) give no real feedback on load */
  //int16_t servo_11_load;
  //int16_t servo_12_load;
 
  uint16_t bitmask_servo_health; //Bitmask of servo health status
 
  /* Rolling message in  */
  float rolling_msg_in;
  uint8_t rolling_msg_in_id;
 
  /* CHECKSUM for the data packages */
  uint8_t checksum_in;
};
 
struct __attribute__((__packed__)) ActuatorsT4Out {
  /* Arming Command */
  uint8_t esc_arm; //Arm ESC boolean in bitfield
  uint16_t servo_arm; //Arm servo boolean in bitfield
 
  /* ESC cmd values 0 - 1999 */
  int16_t esc_1_dshot_cmd;
  int16_t esc_2_dshot_cmd;
  int16_t esc_3_dshot_cmd;
  int16_t esc_4_dshot_cmd;
 
  /* Servo cmd in Degrees * 100 */
  int16_t servo_1_cmd;
  int16_t servo_2_cmd;
  int16_t servo_3_cmd;
  int16_t servo_4_cmd;
  int16_t servo_5_cmd;
  int16_t servo_6_cmd;
  int16_t servo_7_cmd;
  int16_t servo_8_cmd;
  int16_t servo_9_cmd;
  int16_t servo_10_cmd;
  int16_t servo_11_cmd;
  int16_t servo_12_cmd;
 
  /* Rolling message out */
  float rolling_msg_out;
  uint8_t rolling_msg_out_id;
  /* CHECKSUM */
  uint8_t checksum_out;
};
 
extern void actuators_t4_uart_init(void);
extern void actuators_t4_uart_parse_msg_in(void);
extern void actuators_t4_uart_event(void);
 
#endif /* ACTUATORS_T4_UART_H */