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This commit is contained in:
Jacob Dahl
2026-01-27 15:39:49 -09:00
parent 9be7585add
commit b93cb96c4f
21 changed files with 2142 additions and 1302 deletions
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msg/Am32EepromRead.msg
+5
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@@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint8 index # Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
uint8[48] data # Raw AM32 EEPROM data
uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up reponses
msg/Am32EepromWrite.msg
+6
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@@ -0,0 +1,6 @@
uint64 timestamp # time since system start (microseconds)
uint8 index # Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
uint8[48] data # Raw AM32 EEPROM data
uint32[2] write_mask # Bitmask indicating which bytes in the data array should be written (max 64 values, am32 is currently 48)
uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests
msg/CMakeLists.txt
+2
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@@ -69,6 +69,8 @@ set(msg_files
DistanceSensorModeChangeRequest.msg
DronecanNodeStatus.msg
Ekf2Timestamps.msg
Am32EepromRead.msg
Am32EepromWrite.msg
EscReport.msg
EscStatus.msg
EstimatorAidSource1d.msg
msg/EscReport.msg
+24 -23
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@@ -1,15 +1,16 @@
uint64 timestamp # time since system start (microseconds)
uint32 esc_errorcount # Number of reported errors by ESC - if supported
int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount # Counter of number of commands
uint64 timestamp # time since system start (microseconds)
uint8 esc_state # State of ESC - depend on Vendor
uint32 esc_errorcount # Number of reported errors by ESC - if supported
int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount # Counter of number of commands
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
@@ -24,17 +25,17 @@ uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
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!
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!
msg/EscStatus.msg
+13 -13
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@@ -1,19 +1,19 @@
uint64 timestamp # time since system start (microseconds)
uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
uint64 timestamp # time since system start (microseconds)
uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
uint16 counter # incremented by the writing thread everytime new data is stored
uint16 counter # incremented by the writing thread everytime new data is stored
uint8 esc_count # number of connected ESCs
uint8 esc_connectiontype # how ESCs connected to the system
uint8 esc_count # number of connected ESCs
uint8 esc_connectiontype # how ESCs connected to the system
uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
# esc_online_flags bit 0 : Set to 1 if ESC0 is online
# esc_online_flags bit 1 : Set to 1 if ESC1 is online
# esc_online_flags bit 2 : Set to 1 if ESC2 is online
@@ -23,6 +23,6 @@ uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
# esc_online_flags bit 6 : Set to 1 if ESC6 is online
# esc_online_flags bit 7 : Set to 1 if ESC7 is online
uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
EscReport[8] esc
msg/versioned/VehicleCommand.msg
+1
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@@ -80,6 +80,7 @@ uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information
uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
uint16 VEHICLE_CMD_AM32_REQUEST_EEPROM = 312 # Request EEPROM data from an AM32 ESC. |esc index|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.