added Hobbywing ESC control messages

dronecan · May 15, 2023 · 78880c2 · 78880c2
1 parent 8eb730a
commit 78880c2
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Showing 16 changed files with 164 additions and 0 deletions.
diff --git a/com/hobbywing/esc/20013.GetEscID.uavcan b/com/hobbywing/esc/20013.GetEscID.uavcan
@@ -0,0 +1,5 @@
+# signature from original file location
+OVERRIDE_SIGNATURE 0x4E2D
+
+uint8[<=3] payload
+
diff --git a/com/hobbywing/esc/20050.StatusMsg1.uavcan b/com/hobbywing/esc/20050.StatusMsg1.uavcan
@@ -0,0 +1,5 @@
+OVERRIDE_SIGNATURE 0x0813b3e2c4ad670e
+
+uint16 rpm
+uint16 pwm
+uint16 status
diff --git a/com/hobbywing/esc/20051.StatusMsg2.uavcan b/com/hobbywing/esc/20051.StatusMsg2.uavcan
@@ -0,0 +1,6 @@
+OVERRIDE_SIGNATURE 0x1675da01c3b91297
+
+int16 input_voltage # 0.1V
+int16 current # 0.1A
+uint8 temperature # degC
+
diff --git a/com/hobbywing/esc/20052.StatusMsg3.uavcan b/com/hobbywing/esc/20052.StatusMsg3.uavcan
@@ -0,0 +1,5 @@
+OVERRIDE_SIGNATURE 0x24919cd1eb34ece9
+
+uint8 MOS_T
+uint8 CAP_T
+uint8 Motor_T
diff --git a/com/hobbywing/esc/20100.RawCommand.uavcan b/com/hobbywing/esc/20100.RawCommand.uavcan
@@ -0,0 +1,3 @@
+OVERRIDE_SIGNATURE 0xbdf086c79f6640ad
+
+int14[<=8] command
diff --git a/com/hobbywing/esc/210.SetID.uavcan b/com/hobbywing/esc/210.SetID.uavcan
@@ -0,0 +1,9 @@
+OVERRIDE_SIGNATURE 0xc323cb5e9ec2b6f7
+
+uint8 node_id
+uint8 throttle_channel
+
+---
+
+uint8 node_id
+uint8 throttle_channel
diff --git a/com/hobbywing/esc/211.SetBaud.uavcan b/com/hobbywing/esc/211.SetBaud.uavcan
@@ -0,0 +1,11 @@
+OVERRIDE_SIGNATURE 0xada98653b52de435
+
+uint8 BAUD_1MBPS = 0
+uint8 BAUD_500KBPS = 1
+uint8 BAUD_250KBPS = 2
+uint8 BAUD_200KBPS = 3
+uint8 BAUD_100KBPS = 4
+uint8 BAUD_50KBPS = 5
+uint8 baud
+
+---
diff --git a/com/hobbywing/esc/212.SetLED.uavcan b/com/hobbywing/esc/212.SetLED.uavcan
@@ -0,0 +1,21 @@
+OVERRIDE_SIGNATURE 0xb493bd48c0853ee5
+
+uint8 OPTION_SAVE = 1
+uint8 option
+
+uint8 COLOR_R = 4
+uint8 COLOR_G = 2
+uint8 COLOR_B = 1
+uint8 color
+
+uint8 BLINK_OFF = 0
+uint8 BLINK_1HZ = 1
+uint8 BLINK_2HZ = 2
+uint8 BLINK_5HZ = 5
+uint8 blink
+
+---
+
+uint8 option
+uint8 color
+uint8 blink
diff --git a/com/hobbywing/esc/213.SetDirection.uavcan b/com/hobbywing/esc/213.SetDirection.uavcan
@@ -0,0 +1,9 @@
+OVERRIDE_SIGNATURE 0x9d793111d262ba68
+
+uint8 DIRECTION_CLOCKWISE = 0
+uint8 DIRECTION_COUNTER_CLOCKWISE = 1
+uint8 DIRECTION_QUERY = 255
+uint8 direction
+
+---
+uint8 direction
diff --git a/com/hobbywing/esc/214.SetReportingFrequency.uavcan b/com/hobbywing/esc/214.SetReportingFrequency.uavcan
@@ -0,0 +1,25 @@
+OVERRIDE_SIGNATURE 0x1fd0404420983deb
+
+uint8 OPTION_READ = 0
+uint8 OPTION_WRITE = 1
+uint8 option
+
+uint16 MSG_ID
+
+uint8 RATE_500HZ = 1
+uint8 RATE_250HZ = 2
+uint8 RATE_200HZ = 3
+uint8 RATE_100HZ = 4
+uint8 RATE_50HZ = 5
+uint8 RATE_20HZ = 6
+uint8 RATE_10HZ = 7
+uint8 RATE_1HZ = 8
+uint8 RATE_0HZ = 9
+uint8 rate
+
+---
+
+uint8 option
+uint16 MSG_ID
+uint8 rate
+
diff --git a/com/hobbywing/esc/215.SetThrottleSource.uavcan b/com/hobbywing/esc/215.SetThrottleSource.uavcan
@@ -0,0 +1,9 @@
+OVERRIDE_SIGNATURE 0x0c248faaefe5e29a
+
+uint8 SOURCE_CAN_DIGITAL = 0
+uint8 SOURCE_PWM = 1
+uint8 source
+
+---
+
+uint8 source
diff --git a/com/hobbywing/esc/216.SelfTest.uavcan b/com/hobbywing/esc/216.SelfTest.uavcan
@@ -0,0 +1,7 @@
+OVERRIDE_SIGNATURE 0xc48d4de61c5295df
+
+---
+
+uint8 STATUS_PASS = 0
+uint8 STATUS_FAIL = 1
+uint8 status
diff --git a/com/hobbywing/esc/217.SetAngle.uavcan b/com/hobbywing/esc/217.SetAngle.uavcan
@@ -0,0 +1,9 @@
+OVERRIDE_SIGNATURE 0x81d9b10761c28e0a
+
+uint8 option
+uint16 angle
+
+---
+
+uint8 option
+uint16[<=2] angle
diff --git a/com/hobbywing/esc/241.GetMaintenanceInformation.uavcan b/com/hobbywing/esc/241.GetMaintenanceInformation.uavcan
@@ -0,0 +1,9 @@
+OVERRIDE_SIGNATURE 0xb81dbd4ec9a5977d
+
+uint8 OPTION_CLEAR = 1
+uint8 option
+
+---
+
+uint32 total_rotation_time_min
+uint24 time_since_maintainence_min
diff --git a/com/hobbywing/esc/242.GetMajorConfig.uavcan b/com/hobbywing/esc/242.GetMajorConfig.uavcan
@@ -0,0 +1,19 @@
+OVERRIDE_SIGNATURE 0x1506774da3930bfd
+
+uint8 option
+
+---
+
+bool direction
+bool throttle_source
+uint6 throttle_channel
+
+uint5 led_status
+uint3 led_color
+
+uint4 MSG2_rate
+uint4 MSG1_rate
+
+uint16 positioning_angle
+
+uint8[2] reserved
diff --git a/com/hobbywing/esc/README.md b/com/hobbywing/esc/README.md
@@ -0,0 +1,12 @@
+Hobbywing CAN ESC
+=================
+
+These messages are for the Hobbywing DroneCAN ESCs. These ESCs do not
+use the standard uavcan.equipment.esc messages and instead implement
+their own messages as given in this directory.
+
+Note that the ESCs default to a CAN baud rate of 500000, but it can be
+changed with the SetBaud command.
+
+The default CAN NodeID is 1, and it can be changed with the SetID
+command.
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		OVERRIDE_SIGNATURE 0xbdf086c79f6640ad

		int14[<=8] command