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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_ESC_Telem/LogStructure.h
Views: 1798
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#pragma once

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#include <AP_Logger/LogStructure.h>

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#include "AP_ESC_Telem_config.h"

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#define LOG_IDS_FROM_ESC_TELEM                  \

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    LOG_ESC_MSG,                                \

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    LOG_EDT2_MSG

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// @LoggerMessage: ESC

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// @Description: Feedback received from ESCs

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// @Field: TimeUS: microseconds since system startup

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// @Field: Instance: ESC instance number

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// @Field: RPM: reported motor rotation rate

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// @Field: RawRPM: reported motor rotation rate without slew adjustment

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// @Field: Volt: Perceived input voltage for the ESC

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// @Field: Curr: Perceived current through the ESC

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// @Field: Temp: ESC temperature in centi-degrees C

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// @Field: CTot: current consumed total mAh

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// @Field: MotTemp: measured motor temperature in centi-degrees C

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// @Field: Err: error rate

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struct PACKED log_Esc {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t instance;

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    float rpm;

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    float raw_rpm;

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    float voltage;

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    float current;

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    int16_t esc_temp;

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    float current_tot;

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    int16_t motor_temp;

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    float error_rate;

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};

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enum class log_Edt2_Status : uint8_t {

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    HAS_STRESS_DATA = 1U<<0, // true if the message contains up-to-date stress data

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    HAS_STATUS_DATA = 1U<<1, // true if the message contains up-to-date status data

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    ALERT_BIT   = 1U<<2, // true if the last status had the "alert" bit (e.g. demag)

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    WARNING_BIT = 1U<<3, // true if the last status had the "warning" bit (e.g. desync)

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    ERROR_BIT   = 1U<<4, // true if the last status had the "error" bit (e.g. stall)

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};

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// @LoggerMessage: EDT2

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// @Description: Status received from ESCs via Extended DShot telemetry v2

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// @Field: TimeUS: microseconds since system startup

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// @Field: Instance: ESC instance number

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// @Field: Stress: current stress level (commutation effort), scaled to [0..255]

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// @Field: MaxStress: maximum stress level (commutation effort) since arming, scaled to [0..15]

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// @Field: Status: status bits

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// @FieldBitmaskEnum: Status: log_Edt2_Status

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struct PACKED log_Edt2 {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t instance;

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    uint8_t stress;

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    uint8_t max_stress;

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    uint8_t status;

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};

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#if HAL_WITH_ESC_TELEM

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#define LOG_STRUCTURE_FROM_ESC_TELEM  \

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    { LOG_ESC_MSG, sizeof(log_Esc), \

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      "ESC",  "QBffffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-00--BCB-" , true }, \

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    { LOG_EDT2_MSG, sizeof(log_Edt2), \

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      "EDT2",  "QBBBB", "TimeUS,Instance,Stress,MaxStress,Status", "s#---", "F----" , true },

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#else

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#define LOG_STRUCTURE_FROM_ESC_TELEM

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#endif

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