esc32.h File Reference

#include "std.h"

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Data Structures
struct	esc32_parameter
struct	esc32

Enumerations
enum	binaryCommands {   BINARY_COMMAND_NOP = 0, BINARY_COMMAND_ARM, BINARY_COMMAND_CLI, BINARY_COMMAND_CONFIG,   BINARY_COMMAND_DISARM, BINARY_COMMAND_DUTY, BINARY_COMMAND_PWM, BINARY_COMMAND_RPM,   BINARY_COMMAND_SET, BINARY_COMMAND_START, BINARY_COMMAND_STATUS, BINARY_COMMAND_STOP,   BINARY_COMMAND_TELEM_RATE, BINARY_COMMAND_VERSION, BINARY_COMMAND_TELEM_VALUE, BINARY_COMMAND_GET_PARAM_ID,   BINARY_COMMAND_ACK = 250, BINARY_COMMAND_NACK }
enum	binaryValues {   BINARY_VALUE_NONE = 0, BINARY_VALUE_AMPS, BINARY_VALUE_VOLTS_BAT, BINARY_VALUE_VOLTS_MOTOR,   BINARY_VALUE_RPM, BINARY_VALUE_DUTY, BINARY_VALUE_COMM_PERIOD, BINARY_VALUE_BAD_DETECTS,   BINARY_VALUE_ADC_WINDOW, BINARY_VALUE_IDLE_PERCENT, BINARY_VALUE_STATE, BINARY_VALUE_AVGA,   BINARY_VALUE_AVGB, BINARY_VALUE_AVGC, BINARY_VALUE_AVGCOMP, BINARY_VALUE_FETSTEP,   BINARY_VALUE_NUM }
enum	configParameters {   CONFIG_VERSION = 0, STARTUP_MODE, BAUD_RATE, PTERM,   ITERM, FF1TERM, FF2TERM, CL1TERM,   CL2TERM, CL3TERM, CL4TERM, CL5TERM,   SHUNT_RESISTANCE, MIN_PERIOD, MAX_PERIOD, BLANKING_MICROS,   ADVANCE, START_VOLTAGE, GOOD_DETECTS_START, BAD_DETECTS_DISARM,   MAX_CURRENT, SWITCH_FREQ, MOTOR_POLES, PWM_MIN_PERIOD,   PWM_MAX_PERIOD, PWM_MIN_VALUE, PWM_LO_VALUE, PWM_HI_VALUE,   PWM_MAX_VALUE, PWM_MIN_START, PWM_RPM_SCALE, FET_BRAKING,   PNFAC, INFAC, THR1TERM, THR2TERM,   START_ALIGN_TIME, START_ALIGN_VOLTAGE, START_STEPS_NUM, START_STEPS_PERIOD,   START_STEPS_ACCEL, PWM_LOWPASS, RPM_MEAS_LP, SERVO_DUTY,   SERVO_P, SERVO_D, SERVO_MAX_RATE, SERVO_SCALE,   ESC_ID, DIRECTION, CONFIG_NUM_PARAMS }

Functions
void	esc32_init (void)
void	esc32_periodic (void)
void	esc32_event (void)

Variables
struct esc32	esc32

Detailed Description

Author

Murat Bronz Connection between esc32v3

Definition in file esc32.h.

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Data Structure Documentation

struct esc32_parameter

Definition at line 35 of file esc32.h.

Data Fields
float	amps	current consumption
float	duty	motor duty cycle (more or less throttle in %)
float	rpm	motor rotation speed
float	volts_bat	input battery voltage
float	volts_motor	motor voltage (bat voltage * throttle in % in fact)

struct esc32

Definition at line 43 of file esc32.h.

Collaboration diagram for esc32:

Data Fields
bool	data_available	data updated
float	energy	accumulated energy
struct esc32_parameter	params	filtered data from the esc
float	power	computed battery power

Enumeration Type Documentation

enum binaryCommands

Enumerator
BINARY_COMMAND_NOP
BINARY_COMMAND_ARM
BINARY_COMMAND_CLI
BINARY_COMMAND_CONFIG
BINARY_COMMAND_DISARM
BINARY_COMMAND_DUTY
BINARY_COMMAND_PWM
BINARY_COMMAND_RPM
BINARY_COMMAND_SET
BINARY_COMMAND_START
BINARY_COMMAND_STATUS
BINARY_COMMAND_STOP
BINARY_COMMAND_TELEM_RATE
BINARY_COMMAND_VERSION
BINARY_COMMAND_TELEM_VALUE
BINARY_COMMAND_GET_PARAM_ID
BINARY_COMMAND_ACK
BINARY_COMMAND_NACK

Definition at line 52 of file esc32.h.

enum binaryValues

Enumerator
BINARY_VALUE_NONE
BINARY_VALUE_AMPS
BINARY_VALUE_VOLTS_BAT
BINARY_VALUE_VOLTS_MOTOR
BINARY_VALUE_RPM
BINARY_VALUE_DUTY
BINARY_VALUE_COMM_PERIOD
BINARY_VALUE_BAD_DETECTS
BINARY_VALUE_ADC_WINDOW
BINARY_VALUE_IDLE_PERCENT
BINARY_VALUE_STATE
BINARY_VALUE_AVGA
BINARY_VALUE_AVGB
BINARY_VALUE_AVGC
BINARY_VALUE_AVGCOMP
BINARY_VALUE_FETSTEP
BINARY_VALUE_NUM

Definition at line 73 of file esc32.h.

enum configParameters

Enumerator
CONFIG_VERSION
STARTUP_MODE
BAUD_RATE
PTERM
ITERM
FF1TERM
FF2TERM
CL1TERM
CL2TERM
CL3TERM
CL4TERM
CL5TERM
SHUNT_RESISTANCE
MIN_PERIOD
MAX_PERIOD
BLANKING_MICROS
ADVANCE
START_VOLTAGE
GOOD_DETECTS_START
BAD_DETECTS_DISARM
MAX_CURRENT
SWITCH_FREQ
MOTOR_POLES
PWM_MIN_PERIOD
PWM_MAX_PERIOD
PWM_MIN_VALUE
PWM_LO_VALUE
PWM_HI_VALUE
PWM_MAX_VALUE
PWM_MIN_START
PWM_RPM_SCALE
FET_BRAKING
PNFAC
INFAC
THR1TERM
THR2TERM
START_ALIGN_TIME
START_ALIGN_VOLTAGE
START_STEPS_NUM
START_STEPS_PERIOD
START_STEPS_ACCEL
PWM_LOWPASS
RPM_MEAS_LP
SERVO_DUTY
SERVO_P
SERVO_D
SERVO_MAX_RATE
SERVO_SCALE
ESC_ID
DIRECTION
CONFIG_NUM_PARAMS

Definition at line 93 of file esc32.h.

Function Documentation

void esc32_event

(

void

)

Definition at line 345 of file esc32.c.

References esc32_private::dev, esc32_parse_msg(), esc32_priv, esc32_private::msg_available, parse_esc32(), uart_char_available(), and uart_getch().

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void esc32_init

(

void

)

Definition at line 235 of file esc32.c.

References esc32_private::cmd_seq_id, DefaultPeriodic, esc32_private::dev, esc32_msg_send(), esc32_priv, and register_periodic_telemetry().

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void esc32_periodic

(

void

)

Definition at line 255 of file esc32.c.

References BINARY_COMMAND_ARM, BINARY_COMMAND_DUTY, BINARY_COMMAND_START, BINARY_COMMAND_STOP, BINARY_COMMAND_TELEM_RATE, BINARY_COMMAND_TELEM_VALUE, BINARY_VALUE_AMPS, BINARY_VALUE_RPM, BINARY_VALUE_VOLTS_BAT, BINARY_VALUE_VOLTS_MOTOR, esc32_private::dev, esc32_priv, esc32_send_command(), ESC32_TELEMETRY_RATE, esc32_private::initialized, and uart_put_byte().

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Variable Documentation

struct esc32 esc32

Definition at line 38 of file esc32.c.