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117 lines
4.4 KiB
C
117 lines
4.4 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: @author Marco Bauer <marco@wtns.de>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file esc_status.h
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* Definition of the esc_status uORB topic.
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*
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* Published the state machine and the system status bitfields
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* (see SYS_STATUS mavlink message), published only by commander app.
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*
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* All apps should write to subsystem_info:
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*
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* (any app) --> subsystem_info (published) --> (commander app state machine) --> esc_status --> (mavlink app)
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*/
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#ifndef ESC_STATUS_H_
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#define ESC_STATUS_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* The number of ESCs supported.
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* Current (Q2/2013) we support 8 ESCs,
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*/
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#define CONNECTED_ESC_MAX 8
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enum ESC_VENDOR {
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ESC_VENDOR_GENERIC = 0, /**< generic ESC */
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ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */
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ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */
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};
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enum ESC_CONNECTION_TYPE {
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ESC_CONNECTION_TYPE_PPM = 0, /**< Traditional PPM ESC */
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ESC_CONNECTION_TYPE_SERIAL, /**< Serial Bus connected ESC */
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ESC_CONNECTION_TYPE_ONESHOOT, /**< One Shoot PPM */
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ESC_CONNECTION_TYPE_I2C, /**< I2C */
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ESC_CONNECTION_TYPE_CAN /**< CAN-Bus */
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};
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/**
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* @addtogroup topics
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* @{
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*/
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/**
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* Electronic speed controller status.
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* Unsupported float fields should be assigned NaN.
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*/
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struct esc_status_s {
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/* use of a counter and timestamp recommended (but not necessary) */
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uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
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uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
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uint8_t esc_count; /**< number of connected ESCs */
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enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */
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struct {
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enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */
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uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */
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int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */
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float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */
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float esc_current; /**< Current measured from current ESC [A] - if supported */
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float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */
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float esc_setpoint; /**< setpoint of current ESC */
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uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */
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uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */
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uint16_t esc_version; /**< Version of current ESC - if supported */
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uint16_t esc_state; /**< State of ESC - depend on Vendor */
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} esc[CONNECTED_ESC_MAX];
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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//ORB_DECLARE(esc_status);
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ORB_DECLARE_OPTIONAL(esc_status);
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#endif
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