Paparazzi UAS
v5.12_stable-4-g9b43e9b
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esc32.h
Go to the documentation of this file.
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/*
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* Copyright (C) Murat Bronz <murat.bronz@enac.fr>
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*
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* This file is part of paparazzi
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*
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* paparazzi 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 2, or (at your option)
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* any later version.
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*
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* paparazzi 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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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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#ifndef ESC32_H
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#define ESC32_H
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#include "
std.h
"
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extern
void
esc32_init
(
void
);
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extern
void
esc32_periodic
(
void
);
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extern
void
esc32_event
(
void
);
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struct
esc32_parameter
{
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float
amps
;
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float
volts_bat
;
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float
volts_motor
;
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float
rpm
;
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float
duty
;
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};
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struct
esc32
{
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struct
esc32_parameter
params
;
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float
energy
;
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float
power
;
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bool
data_available
;
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};
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extern
struct
esc32
esc32
;
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enum
binaryCommands
{
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BINARY_COMMAND_NOP
= 0,
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BINARY_COMMAND_ARM
,
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BINARY_COMMAND_CLI
,
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BINARY_COMMAND_CONFIG
,
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BINARY_COMMAND_DISARM
,
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BINARY_COMMAND_DUTY
,
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BINARY_COMMAND_PWM
,
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BINARY_COMMAND_RPM
,
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BINARY_COMMAND_SET
,
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BINARY_COMMAND_START
,
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BINARY_COMMAND_STATUS
,
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BINARY_COMMAND_STOP
,
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BINARY_COMMAND_TELEM_RATE
,
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BINARY_COMMAND_VERSION
,
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BINARY_COMMAND_TELEM_VALUE
,
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BINARY_COMMAND_GET_PARAM_ID
,
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BINARY_COMMAND_ACK
= 250,
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BINARY_COMMAND_NACK
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};
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enum
binaryValues
{
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BINARY_VALUE_NONE
= 0,
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BINARY_VALUE_AMPS
,
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BINARY_VALUE_VOLTS_BAT
,
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BINARY_VALUE_VOLTS_MOTOR
,
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BINARY_VALUE_RPM
,
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BINARY_VALUE_DUTY
,
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BINARY_VALUE_COMM_PERIOD
,
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BINARY_VALUE_BAD_DETECTS
,
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BINARY_VALUE_ADC_WINDOW
,
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BINARY_VALUE_IDLE_PERCENT
,
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BINARY_VALUE_STATE
,
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BINARY_VALUE_AVGA
,
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BINARY_VALUE_AVGB
,
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BINARY_VALUE_AVGC
,
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BINARY_VALUE_AVGCOMP
,
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BINARY_VALUE_FETSTEP
,
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BINARY_VALUE_NUM
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};
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enum
configParameters
{
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CONFIG_VERSION
= 0,
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STARTUP_MODE
,
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BAUD_RATE
,
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PTERM
,
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ITERM
,
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FF1TERM
,
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FF2TERM
,
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CL1TERM
,
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CL2TERM
,
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CL3TERM
,
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CL4TERM
,
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CL5TERM
,
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SHUNT_RESISTANCE
,
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MIN_PERIOD
,
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MAX_PERIOD
,
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BLANKING_MICROS
,
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ADVANCE
,
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START_VOLTAGE
,
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GOOD_DETECTS_START
,
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BAD_DETECTS_DISARM
,
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MAX_CURRENT
,
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SWITCH_FREQ
,
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MOTOR_POLES
,
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PWM_MIN_PERIOD
,
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PWM_MAX_PERIOD
,
119
PWM_MIN_VALUE
,
120
PWM_LO_VALUE
,
121
PWM_HI_VALUE
,
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PWM_MAX_VALUE
,
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PWM_MIN_START
,
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PWM_RPM_SCALE
,
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FET_BRAKING
,
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PNFAC
,
127
INFAC
,
128
THR1TERM
,
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THR2TERM
,
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START_ALIGN_TIME
,
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START_ALIGN_VOLTAGE
,
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START_STEPS_NUM
,
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START_STEPS_PERIOD
,
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START_STEPS_ACCEL
,
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PWM_LOWPASS
,
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RPM_MEAS_LP
,
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SERVO_DUTY
,
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SERVO_P
,
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SERVO_D
,
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SERVO_MAX_RATE
,
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SERVO_SCALE
,
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ESC_ID
,
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DIRECTION
,
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CONFIG_NUM_PARAMS
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};
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#endif
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FF2TERM
Definition:
esc32.h:100
configParameters
configParameters
Definition:
esc32.h:93
esc32::energy
float energy
accumulated energy
Definition:
esc32.h:45
GOOD_DETECTS_START
Definition:
esc32.h:112
CL5TERM
Definition:
esc32.h:105
BINARY_VALUE_NONE
Definition:
esc32.h:74
BAD_DETECTS_DISARM
Definition:
esc32.h:113
SWITCH_FREQ
Definition:
esc32.h:115
esc32_parameter::volts_bat
float volts_bat
input battery voltage
Definition:
esc32.h:37
BINARY_VALUE_AVGA
Definition:
esc32.h:85
SERVO_P
Definition:
esc32.h:138
BLANKING_MICROS
Definition:
esc32.h:109
BINARY_VALUE_AVGB
Definition:
esc32.h:86
BINARY_VALUE_BAD_DETECTS
Definition:
esc32.h:81
BINARY_COMMAND_VERSION
Definition:
esc32.h:66
PWM_LOWPASS
Definition:
esc32.h:135
BAUD_RATE
Definition:
esc32.h:96
BINARY_VALUE_AVGCOMP
Definition:
esc32.h:88
binaryValues
binaryValues
Definition:
esc32.h:73
START_STEPS_ACCEL
Definition:
esc32.h:134
ADVANCE
Definition:
esc32.h:110
SERVO_MAX_RATE
Definition:
esc32.h:140
esc32_parameter::amps
float amps
current consumption
Definition:
esc32.h:36
FF1TERM
Definition:
esc32.h:99
BINARY_VALUE_IDLE_PERCENT
Definition:
esc32.h:83
PWM_MIN_PERIOD
Definition:
esc32.h:117
SHUNT_RESISTANCE
Definition:
esc32.h:106
CL1TERM
Definition:
esc32.h:101
BINARY_COMMAND_ARM
Definition:
esc32.h:54
BINARY_COMMAND_STOP
Definition:
esc32.h:64
esc32
Definition:
esc32.h:43
BINARY_COMMAND_PWM
Definition:
esc32.h:59
START_VOLTAGE
Definition:
esc32.h:111
BINARY_VALUE_VOLTS_MOTOR
Definition:
esc32.h:77
STARTUP_MODE
Definition:
esc32.h:95
START_ALIGN_TIME
Definition:
esc32.h:130
FET_BRAKING
Definition:
esc32.h:125
BINARY_VALUE_NUM
Definition:
esc32.h:90
BINARY_COMMAND_ACK
Definition:
esc32.h:69
BINARY_VALUE_AVGC
Definition:
esc32.h:87
CONFIG_NUM_PARAMS
Definition:
esc32.h:144
BINARY_VALUE_DUTY
Definition:
esc32.h:79
BINARY_COMMAND_DUTY
Definition:
esc32.h:58
BINARY_COMMAND_CLI
Definition:
esc32.h:55
THR2TERM
Definition:
esc32.h:129
BINARY_VALUE_RPM
Definition:
esc32.h:78
BINARY_COMMAND_TELEM_VALUE
Definition:
esc32.h:67
esc32_periodic
void esc32_periodic(void)
Definition:
esc32.c:255
esc32::params
struct esc32_parameter params
filtered data from the esc
Definition:
esc32.h:44
SERVO_SCALE
Definition:
esc32.h:141
BINARY_VALUE_STATE
Definition:
esc32.h:84
MOTOR_POLES
Definition:
esc32.h:116
START_STEPS_NUM
Definition:
esc32.h:132
START_ALIGN_VOLTAGE
Definition:
esc32.h:131
binaryCommands
binaryCommands
Definition:
esc32.h:52
CONFIG_VERSION
Definition:
esc32.h:94
BINARY_COMMAND_DISARM
Definition:
esc32.h:57
PWM_MAX_VALUE
Definition:
esc32.h:122
INFAC
Definition:
esc32.h:127
BINARY_COMMAND_RPM
Definition:
esc32.h:60
CL2TERM
Definition:
esc32.h:102
BINARY_VALUE_FETSTEP
Definition:
esc32.h:89
MAX_CURRENT
Definition:
esc32.h:114
esc32_parameter
Definition:
esc32.h:35
CL3TERM
Definition:
esc32.h:103
BINARY_COMMAND_NACK
Definition:
esc32.h:70
MIN_PERIOD
Definition:
esc32.h:107
esc32_parameter::volts_motor
float volts_motor
motor voltage (bat voltage * throttle in % in fact)
Definition:
esc32.h:38
std.h
SERVO_DUTY
Definition:
esc32.h:137
esc32_init
void esc32_init(void)
Definition:
esc32.c:235
ITERM
Definition:
esc32.h:98
BINARY_COMMAND_STATUS
Definition:
esc32.h:63
BINARY_VALUE_COMM_PERIOD
Definition:
esc32.h:80
BINARY_VALUE_ADC_WINDOW
Definition:
esc32.h:82
BINARY_COMMAND_TELEM_RATE
Definition:
esc32.h:65
PTERM
Definition:
esc32.h:97
BINARY_COMMAND_GET_PARAM_ID
Definition:
esc32.h:68
PWM_MAX_PERIOD
Definition:
esc32.h:118
esc32::power
float power
computed battery power
Definition:
esc32.h:46
BINARY_COMMAND_NOP
Definition:
esc32.h:53
PWM_MIN_VALUE
Definition:
esc32.h:119
PWM_RPM_SCALE
Definition:
esc32.h:124
PWM_HI_VALUE
Definition:
esc32.h:121
BINARY_VALUE_AMPS
Definition:
esc32.h:75
esc32_parameter::rpm
float rpm
motor rotation speed
Definition:
esc32.h:39
PNFAC
Definition:
esc32.h:126
MAX_PERIOD
Definition:
esc32.h:108
PWM_LO_VALUE
Definition:
esc32.h:120
esc32_parameter::duty
float duty
motor duty cycle (more or less throttle in %)
Definition:
esc32.h:40
BINARY_COMMAND_SET
Definition:
esc32.h:61
BINARY_COMMAND_CONFIG
Definition:
esc32.h:56
SERVO_D
Definition:
esc32.h:139
BINARY_VALUE_VOLTS_BAT
Definition:
esc32.h:76
CL4TERM
Definition:
esc32.h:104
START_STEPS_PERIOD
Definition:
esc32.h:133
esc32_event
void esc32_event(void)
Definition:
esc32.c:345
esc32::data_available
bool data_available
data updated
Definition:
esc32.h:47
DIRECTION
Definition:
esc32.h:143
PWM_MIN_START
Definition:
esc32.h:123
BINARY_COMMAND_START
Definition:
esc32.h:62
THR1TERM
Definition:
esc32.h:128
ESC_ID
Definition:
esc32.h:142
RPM_MEAS_LP
Definition:
esc32.h:136
sw
airborne
modules
esc32
esc32.h
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