Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
esc32.c File Reference
#include "modules/esc32/esc32.h"
#include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h"
#include "modules/datalink/downlink.h"
#include <stdio.h>
#include <string.h>
#include "modules/datalink/telemetry.h"
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Data Structures

struct  esc32_ck
 
struct  esc32_private
 

Macros

#define ESC32_BUF_IN_LEN   64
 
#define ESC32_BUF_OUT_LEN   32
 
#define ESC32_PARAMS_LEN   10
 
#define ESC32_TELEMETRY_RATE   100.0
 
#define UINIT   0
 
#define GOT_SYNC   1
 
#define SEARCH_COMMAND   2
 
#define GET_CMD_ROWS   3
 
#define GET_CMD_COLS   4
 
#define GET_COMMAND   5
 
#define CHECK_CK_A   6
 
#define CHECK_CK_B   7
 

Functions

static void esc32_send (struct esc32_private *esc)
 
static void esc32_compute_ck (struct esc32_ck *ck, uint8_t c)
 
static void esc32_init_ck (struct esc32_ck *ck)
 
static float esc32_get_float (struct esc32_private *esc, int idx)
 
static void esc32_put_char (struct esc32_private *esc, unsigned char c)
 
static void esc32_put_short (struct esc32_private *esc, unsigned short i)
 
static void esc32_put_float (struct esc32_private *esc, float f)
 
static uint16_t esc32_send_command (struct esc32_private *esc, enum binaryCommands command, float param1, float param2, int n)
 
static void parse_esc32 (struct esc32_private *esc, uint8_t c)
 
static void esc32_msg_send (struct transport_tx *trans, struct link_device *dev)
 
void esc32_init (void)
 
void esc32_periodic (void)
 
static void esc32_filter_data (struct esc32_parameter *in, struct esc32_parameter *out, struct esc32_parameter *min, struct esc32_parameter *max)
 
static void esc32_parse_msg (struct esc32_private *esc_priv, struct esc32 *esc)
 
void esc32_event (void)
 

Variables

struct esc32 esc32
 
static struct esc32_private esc32_priv
 

Detailed Description

Author
Murat Bronz Serial Connection module between esc32v3 and ap Mainly from Bill Nesbitt's code parts from AutoQuad project

Definition in file esc32.c.


Data Structure Documentation

◆ esc32_ck

struct esc32_ck

Definition at line 45 of file esc32.c.

Data Fields
uint8_t ck_a
uint8_t ck_b

◆ esc32_private

struct esc32_private

Definition at line 50 of file esc32.c.

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Data Fields
uint8_t buf_in[ESC32_BUF_IN_LEN]
uint8_t buf_out[ESC32_BUF_OUT_LEN]
struct esc32_ck ck_in
struct esc32_ck ck_out
uint16_t cmd_seq_id
struct uart_periph * dev
uint8_t in_cols
uint8_t in_idx
uint8_t in_rows
uint8_t initialized
bool msg_available
uint8_t out_idx
struct esc32_parameter params[ESC32_PARAMS_LEN]
uint8_t params_idx
uint8_t state

Macro Definition Documentation

◆ CHECK_CK_A

#define CHECK_CK_A   6

Definition at line 150 of file esc32.c.

◆ CHECK_CK_B

#define CHECK_CK_B   7

Definition at line 151 of file esc32.c.

◆ ESC32_BUF_IN_LEN

#define ESC32_BUF_IN_LEN   64

Definition at line 40 of file esc32.c.

◆ ESC32_BUF_OUT_LEN

#define ESC32_BUF_OUT_LEN   32

Definition at line 41 of file esc32.c.

◆ ESC32_PARAMS_LEN

#define ESC32_PARAMS_LEN   10

Definition at line 42 of file esc32.c.

◆ ESC32_TELEMETRY_RATE

#define ESC32_TELEMETRY_RATE   100.0

Definition at line 43 of file esc32.c.

◆ GET_CMD_COLS

#define GET_CMD_COLS   4

Definition at line 148 of file esc32.c.

◆ GET_CMD_ROWS

#define GET_CMD_ROWS   3

Definition at line 147 of file esc32.c.

◆ GET_COMMAND

#define GET_COMMAND   5

Definition at line 149 of file esc32.c.

◆ GOT_SYNC

#define GOT_SYNC   1

Definition at line 145 of file esc32.c.

◆ SEARCH_COMMAND

#define SEARCH_COMMAND   2

Definition at line 146 of file esc32.c.

◆ UINIT

#define UINIT   0

Definition at line 144 of file esc32.c.

Function Documentation

◆ esc32_compute_ck()

static void esc32_compute_ck ( struct esc32_ck ck,
uint8_t  c 
)
static

Definition at line 78 of file esc32.c.

References esc32_ck::ck_a, and esc32_ck::ck_b.

Referenced by esc32_put_char(), and parse_esc32().

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◆ esc32_event()

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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◆ esc32_filter_data()

static void esc32_filter_data ( struct esc32_parameter in,
struct esc32_parameter out,
struct esc32_parameter min,
struct esc32_parameter max 
)
static

Definition at line 289 of file esc32.c.

References esc32_parameter::amps, esc32_parameter::rpm, esc32_parameter::volts_bat, and esc32_parameter::volts_motor.

Referenced by esc32_parse_msg().

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◆ esc32_get_float()

static float esc32_get_float ( struct esc32_private esc,
int  idx 
)
static

Definition at line 88 of file esc32.c.

References esc32_private::buf_in, f, and idx.

Referenced by esc32_parse_msg().

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◆ esc32_init()

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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◆ esc32_init_ck()

static void esc32_init_ck ( struct esc32_ck ck)
static

Definition at line 83 of file esc32.c.

References esc32_ck::ck_a, and esc32_ck::ck_b.

Referenced by esc32_send_command(), and parse_esc32().

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◆ esc32_msg_send()

static void esc32_msg_send ( struct transport_tx *  trans,
struct link_device *  dev 
)
static

Definition at line 224 of file esc32.c.

References esc32_parameter::amps, dev, esc32::energy, esc32::params, esc32::power, esc32_parameter::rpm, esc32_parameter::volts_bat, and esc32_parameter::volts_motor.

Referenced by esc32_init().

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◆ esc32_parse_msg()

static void esc32_parse_msg ( struct esc32_private esc_priv,
struct esc32 esc 
)
static

◆ esc32_periodic()

◆ esc32_put_char()

static void esc32_put_char ( struct esc32_private esc,
unsigned char  c 
)
static

Definition at line 98 of file esc32.c.

References esc32_private::buf_out, esc32_private::ck_out, ESC32_BUF_OUT_LEN, esc32_compute_ck(), and esc32_private::out_idx.

Referenced by esc32_put_float(), esc32_put_short(), and esc32_send_command().

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◆ esc32_put_float()

static void esc32_put_float ( struct esc32_private esc,
float  f 
)
static

Definition at line 113 of file esc32.c.

References esc32_put_char(), and f.

Referenced by esc32_send_command().

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◆ esc32_put_short()

static void esc32_put_short ( struct esc32_private esc,
unsigned short  i 
)
static

Definition at line 105 of file esc32.c.

References esc32_put_char().

Referenced by esc32_send_command().

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◆ esc32_send()

static void esc32_send ( struct esc32_private esc)
static

Definition at line 71 of file esc32.c.

References esc32_private::buf_out, esc32_private::dev, esc32_private::out_idx, and uart_put_byte().

Referenced by esc32_send_command().

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◆ esc32_send_command()

static uint16_t esc32_send_command ( struct esc32_private esc,
enum binaryCommands  command,
float  param1,
float  param2,
int  n 
)
static

Definition at line 121 of file esc32.c.

References esc32_private::buf_out, esc32_ck::ck_a, esc32_ck::ck_b, esc32_private::ck_out, esc32_private::cmd_seq_id, ESC32_BUF_OUT_LEN, esc32_init_ck(), esc32_put_char(), esc32_put_float(), esc32_put_short(), esc32_send(), and esc32_private::out_idx.

Referenced by esc32_periodic().

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◆ parse_esc32()

static void parse_esc32 ( struct esc32_private esc,
uint8_t  c 
)
static

Variable Documentation

◆ esc32

struct esc32 esc32

Definition at line 38 of file esc32.c.

◆ esc32_priv

struct esc32_private esc32_priv
static

Definition at line 68 of file esc32.c.

Referenced by esc32_event(), esc32_init(), and esc32_periodic().