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‎CHANGES.txt‎

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--------------------
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PRDC_TMAESC
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T-Motor ALPHA ESC Telemetry Protocol Arduino library
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--------------------
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Release 1.0.0, 09.12.2021.
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- Initial release
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--------------------

‎LICENSE‎

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GNU LESSER GENERAL PUBLIC LICENSE
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Version 3, 29 June 2007
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Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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of this license document, but changing it is not allowed.
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This version of the GNU Lesser General Public License incorporates
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the terms and conditions of version 3 of the GNU General Public
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License, supplemented by the additional permissions listed below.
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0. Additional Definitions.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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General Public License, and the "GNU GPL" refers to version 3 of the GNU
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General Public License.
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a) Accompany the combined library with a copy of the same work based
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on the Library, uncombined with any other library facilities,
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conveyed under the terms of this License.
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b) Give prominent notice with the combined library that part of it
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is a work based on the Library, and explaining where to find the
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6. Revised Versions of the GNU Lesser General Public License.
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differ in detail to address new problems or concerns.
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Each version is given a distinguishing version number. If the
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of the GNU Lesser General Public License "or any later version"
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applies to it, you have the option of following the terms and
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conditions either of that published version or of any later version
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published by the Free Software Foundation. If the Library as you
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received it does not specify a version number of the GNU Lesser
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General Public License, you may choose any version of the GNU Lesser
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General Public License ever published by the Free Software Foundation.
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Library.

‎PRDC_TMAESC.cpp‎

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/**
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* PRDC_TMAESC.cpp - T-Motor ALPHA ESC Telemetry Protocol Arduino library
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* Author: Veljko Petrovic <[email protected]>
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* PR-DC, Republic of Serbia
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* [email protected]
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*
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* --------------------
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* Copyright (C) 2021 PR-DC <[email protected]>
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*
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* This file is part of PRDC_TMAESC.
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*
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* PRDC_TMAESC is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* PRDC_TMAESC is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with PRDC_TMAESC. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "PRDC_TMAESC.h"
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// init()
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// initalizes communication
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// --------------------
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void PRDC_TMAESC::init(Stream& stream) {
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_serial = &stream;
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}
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void PRDC_TMAESC::init(HardwareSerial& serial){
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serial.begin(PRDC_TMAESC_BAUD);
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init((Stream&)serial);
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}
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// update()
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// reads and parses a packet if available
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// --------------------
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bool PRDC_TMAESC::update() {
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uint32_t n = _serial->available();
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if(n == 0) {
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return false;
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}
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while(n--) {
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uint8_t b = _serial->read();
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if(len == 0 && b != PRDC_TMAESC_B1) {
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continue;
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}
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if(len == 1 && b != PRDC_TMAESC_B2) {
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continue;
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}
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data_buffer[len++] = b;
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if(len == PRDC_TMAESC_PACKET_SIZE) {
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len = 0;
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if(parse_packet()){
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return true;
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}
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}
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}
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return false;
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}
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// parse_packet()
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// parses a raw data packet
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// --------------------
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bool PRDC_TMAESC::parse_packet(void) {
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// check packet integrity
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uint16_t checksum_received = (data_buffer[23] << 8) | data_buffer[22];
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uint16_t checksum_calculated = calc_checksum(data_buffer, PRDC_TMAESC_PACKET_SIZE-2);
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if(checksum_received == checksum_calculated) {
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data.time = millis();
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// pack raw data
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data_raw.counter = (data_buffer[4] << 8) | data_buffer[5];
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data_raw.throttle_rx = (data_buffer[6] << 8) | data_buffer[7];
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data_raw.throttle_out = (data_buffer[8] << 8) | data_buffer[9];
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data_raw.rpm = (data_buffer[10] << 8) | data_buffer[11];
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data_raw.voltage_bus = (data_buffer[12] << 8) | data_buffer[13];
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data_raw.current_bus = (data_buffer[14] << 8) | data_buffer[15];
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data_raw.current_phase = (data_buffer[16] << 8) | data_buffer[17];
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data_raw.temperature_mos = data_buffer[18];
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data_raw.temperature_cap = data_buffer[19];
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data_raw.status = (data_buffer[20] << 8) | data_buffer[21];
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// process raw data
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data.counter = data_raw.counter;
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data.throttle_rx = (float)data_raw.throttle_rx*100.0/1024.0;
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data.throttle_out = (float)data_raw.throttle_out*100.0/1024.0;
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data.rpm = data_raw.rpm*10.0/(3.0*poles);
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data.voltage_bus = (float)data_raw.voltage_bus/10.0;
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data.current_bus = (float)data_raw.current_bus/64.0;
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data.current_phase = (float)data_raw.current_phase/64.0;
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data.temperature_mos = temperature_decode(data_raw.temperature_mos);
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data.temperature_cap = temperature_decode(data_raw.temperature_cap);
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data.status = data_raw.status;
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data.fault = (data.status != 0x00);
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return true;
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}
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else {
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return false;
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}
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}
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// set_poles()
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// sets BLDC motor pole number
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// --------------------
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void PRDC_TMAESC::set_poles(uint8_t p) {
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poles = p;
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}
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// calc_checksum()
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// calculates checksum by summing message bytes
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// --------------------
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uint16_t PRDC_TMAESC::calc_checksum(uint8_t* data, uint16_t n) {
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uint16_t checksum = 0;
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while(n--) {
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checksum += data[n];
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}
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return checksum;
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}
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// temperature decoding table
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static const struct {
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uint8_t temp_reading;
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uint8_t temp_value;
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} temp_table[] = {
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{241, 0}, {240, 1}, {239, 2}, {238, 3}, {237, 4}, {236, 5}, {235, 6}, {234, 7}, {233, 8}, {232, 9},
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{231, 10}, {230, 11}, {229, 12}, {228, 13}, {227, 14}, {226, 15}, {224, 16}, {223, 17}, {222, 18}, {220, 19},
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{219, 20}, {217, 21}, {216, 22}, {214, 23}, {213, 24}, {211, 25}, {209, 26}, {208, 27}, {206, 28}, {204, 29},
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{202, 30}, {201, 31}, {199, 32}, {197, 33}, {195, 34}, {193, 35}, {191, 36}, {189, 37}, {187, 38}, {185, 39},
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{183, 40}, {181, 41}, {179, 42}, {177, 43}, {174, 44}, {172, 45}, {170, 46}, {168, 47}, {166, 48}, {164, 49},
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{161, 50}, {159, 51}, {157, 52}, {154, 53}, {152, 54}, {150, 55}, {148, 56}, {146, 57}, {143, 58}, {141, 59},
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{139, 60}, {136, 61}, {134, 62}, {132, 63}, {130, 64}, {128, 65}, {125, 66}, {123, 67}, {121, 68}, {119, 69},
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{117, 70}, {115, 71}, {113, 72}, {111, 73}, {109, 74}, {106, 75}, {105, 76}, {103, 77}, {101, 78}, {99, 79},
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{97, 80}, {95, 81}, {93, 82}, {91, 83}, {90, 84}, {88, 85}, {85, 86}, {84, 87}, {82, 88}, {81, 89},
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{79, 90}, {77, 91}, {76, 92}, {74, 93}, {73, 94}, {72, 95}, {69, 96}, {68, 97}, {66, 98}, {65, 99},
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{64, 100}, {62, 101}, {62, 102}, {61, 103}, {59, 104}, {58, 105}, {56, 106}, {54, 107}, {54, 108}, {53, 109},
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{51, 110}, {51, 111}, {50, 112}, {48, 113}, {48, 114}, {46, 115}, {46, 116}, {44, 117}, {43, 118}, {43, 119},
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{41, 120}, {41, 121}, {39, 122}, {39, 123}, {39, 124}, {37, 125}, {37, 126}, {35, 127}, {35, 128}, {33, 129},
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};
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// temperature_decode()
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// decodes raw temperature reading
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// --------------------
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uint8_t PRDC_TMAESC::temperature_decode(uint8_t temp_raw) {
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for (uint8_t i=0; i<130; i++) {
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if (temp_table[i].temp_reading <= temp_raw) {
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return temp_table[i].temp_value;
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}
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}
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return 130U;
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}

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