From 4de0338824972de4d3a8e29697ea1a2d95a926c0 Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Thu, 9 Oct 2014 10:14:26 +0400 Subject: [PATCH] ESC messages update --- dsdl/uavcan/equipment/esc/260.RawCommand.uavcan | 7 ++----- dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan | 8 ++------ dsdl/uavcan/equipment/esc/601.Status.uavcan | 7 ++++--- 3 files changed, 8 insertions(+), 14 deletions(-) diff --git a/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan b/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan index 7b487200e8..fbacc1b812 100644 --- a/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan +++ b/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan @@ -1,11 +1,8 @@ # # Raw ESC command. -# 0 - disarmed, 1+ - armed. # Direct transition from disarmed state to high thrust should be rejected by the ESC. # Non-zero setpoint value below minimum should be interpreted as min valid setpoint. +# Negative values indicate reverse rotation. # -uint12 CMD_DISARM = 0 -uint12 CMD_MIN = 1 -uint12 CMD_MAX = 4095 -uint12[<16] cmd +int14[<=20] cmd diff --git a/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan b/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan index 90ac85a125..d5015dee8c 100644 --- a/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan +++ b/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan @@ -1,10 +1,6 @@ # # Simple RPM setpoint. -# 0 - disarmed, 1+ - armed. -# Direct transition from disarmed state to high thrust should be rejected by the ESC. -# Non-zero setpoint value below minimum should be interpreted as min valid setpoint. +# Negative values indicate reverse rotation. # -uint16 RPM_DISARM = 0 -uint16 RPM_MIN = 1 -uint16[<16] rpm +int18[<=20] rpm diff --git a/dsdl/uavcan/equipment/esc/601.Status.uavcan b/dsdl/uavcan/equipment/esc/601.Status.uavcan index e9c80cfd6b..6a2c7ff22b 100644 --- a/dsdl/uavcan/equipment/esc/601.Status.uavcan +++ b/dsdl/uavcan/equipment/esc/601.Status.uavcan @@ -2,13 +2,14 @@ # Generic ESC status. # -uint4 index +uint32 error_count # Since the motor started; normally should not overflow -uint16 rpm float16 voltage # Volt, NAN if unknown float16 current # Ampere, NAN if unknown. Can be negative in case of a regenerative braking. float16 temperature # Celsius, NAN if unknown +int18 rpm # Negative value indicates reverse rotation + uint7 power_rating_pct # Percent of maximum power -uint33 error_count # Since the motor started +uint5 esc_index