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Commander: more changes to use events with escs and battery failures

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2022-01-13 08:40:34 +01:00
committed by Beat Küng
parent d122513197
commit 8a01135a93
2 changed files with 100 additions and 75 deletions
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msg/esc_report.msg
+12 -9
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@@ -8,13 +8,16 @@ uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set
uint8 esc_state # State of ESC - depend on Vendor
uint8 failures # Bitmask to indicate the internal ESC faults
uint16 failures # Bitmask to indicate the internal ESC faults
uint8 FAILURE_NONE = 0
uint8 FAILURE_OVER_CURRENT_MASK = 1 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE_MASK = 2 # (1 << 1)
uint8 FAILURE_OVER_TEMPERATURE_MASK = 4 # (1 << 2)
uint8 FAILURE_OVER_RPM_MASK = 8 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD_MASK = 16 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK_MASK = 32 # (1 << 5)
uint8 FAILURE_GENERIC_MASK = 64 # (1 << 6)
uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
uint8 FAILURE_GENERIC = 6 # (1 << 6)
uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!