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.

Collaboration diagram for esc32_private:

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 352 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 296 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 242 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

Definition at line 315 of file esc32.c.

References esc32_parameter::amps, esc32::data_available, esc32::energy, esc32_filter_data(), esc32_get_float(), ESC32_PARAMS_LEN, ESC32_TELEMETRY_RATE, esc32_private::in_cols, esc32_private::in_rows, esc32_private::msg_available, esc32_private::params, esc32::params, esc32_private::params_idx, esc32::power, esc32_parameter::rpm, esc32_parameter::volts_bat, and esc32_parameter::volts_motor.

Referenced by esc32_event().

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esc32_periodic()

void esc32_periodic

(

void

)

Definition at line 262 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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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

Definition at line 153 of file esc32.c.

References esc32_private::buf_in, CHECK_CK_A, CHECK_CK_B, esc32_ck::ck_a, esc32_ck::ck_b, esc32_private::ck_in, ESC32_BUF_IN_LEN, esc32_compute_ck(), esc32_init_ck(), GET_CMD_COLS, GET_CMD_ROWS, GET_COMMAND, GOT_SYNC, esc32_private::in_cols, esc32_private::in_idx, esc32_private::in_rows, esc32_private::msg_available, SEARCH_COMMAND, esc32_private::state, and UINIT.

Referenced by esc32_event().

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Variable Documentation

esc32

struct esc32 esc32

Definition at line 1 of file esc32.c.

esc32_priv

struct esc32_private esc32_priv

static

Definition at line 1 of file esc32.c.

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