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Arduino library specification
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‎CHANGES.txt‎

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@@ -3,6 +3,12 @@ PRDC_TMAESC
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T-Motor ALPHA ESC Telemetry Protocol Arduino library
44
--------------------
55

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Release 1.0.1, 25.01.2022.
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- Arduino library specification
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--------------------
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Release 1.0.0, 09.12.2021.
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- Initial release

‎keywords.txt‎

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#######################################
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# Syntax Coloring Map
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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PRDC_TMAESC KEYWORD1 PRDC_TMAESC
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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init KEYWORD2
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update KEYWORD2
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set_poles KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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PRDC_TMAESC_B1 LITERAL1
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PRDC_TMAESC_B2 LITERAL1
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PRDC_TMAESC_PACKET_SIZE LITERAL1
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PRDC_TMAESC_BAUD LITERAL1

‎library.properties‎

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name=PRDC_TMAESC
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version=1.0.1
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author=Veljko Petrovic <vpetrovic@pr-dc.com>
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maintainer=Veljko Petrovic <vpetrovic@pr-dc.com>
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sentence=PR-DC Arduino Library for T-Motor ALPHA ESC Telemetry Protocol.
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paragraph=The T-Motor ALPHA ESC is a revolutionary ESC based on FOC (Sinewave) with intelligent algorithm to satisfy the requirements of professional applications for efficient, accurate and steady motor control.
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category=Communication
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url=https://github.com/PR-DC/PRDC_TMAESC
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architectures=*
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includes=PRDC_TMAESC.h

PRDC_TMAESC.cpp renamed to src/PRDC_TMAESC.cpp

Lines changed: 155 additions & 155 deletions
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@@ -1,155 +1,155 @@
1-
/**
2-
* PRDC_TMAESC.cpp - T-Motor ALPHA ESC Telemetry Protocol Arduino library
3-
* Author: Veljko Petrovic <vpetrovic@pr-dc.com>
4-
* PR-DC, Republic of Serbia
5-
* info@pr-dc.com
6-
*
7-
* --------------------
8-
* Copyright (C) 2021 PR-DC <info@pr-dc.com>
9-
*
10-
* This file is part of PRDC_TMAESC.
11-
*
12-
* PRDC_TMAESC is free software: you can redistribute it and/or modify
13-
* it under the terms of the GNU Lesser General Public License as
14-
* published by the Free Software Foundation, either version 3 of the
15-
* 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,
18-
* but WITHOUT ANY WARRANTY; without even the implied warranty of
19-
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20-
* GNU Lesser General Public License for more details.
21-
*
22-
* You should have received a copy of the GNU Lesser General Public License
23-
* along with PRDC_TMAESC. If not, see <https://www.gnu.org/licenses/>.
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*
25-
*/
26-
27-
#include "PRDC_TMAESC.h"
28-
29-
// init()
30-
// initalizes communication
31-
// --------------------
32-
void PRDC_TMAESC::init(Stream& stream) {
33-
_serial = &stream;
34-
}
35-
36-
void PRDC_TMAESC::init(HardwareSerial& serial){
37-
serial.begin(PRDC_TMAESC_BAUD);
38-
init((Stream&)serial);
39-
}
40-
41-
// update()
42-
// reads and parses a packet if available
43-
// --------------------
44-
bool PRDC_TMAESC::update() {
45-
uint32_t n = _serial->available();
46-
if(n == 0) {
47-
return false;
48-
}
49-
while(n--) {
50-
uint8_t b = _serial->read();
51-
if(len == 0 && b != PRDC_TMAESC_B1) {
52-
continue;
53-
}
54-
if(len == 1 && b != PRDC_TMAESC_B2) {
55-
continue;
56-
}
57-
data_buffer[len++] = b;
58-
if(len == PRDC_TMAESC_PACKET_SIZE) {
59-
len = 0;
60-
if(parse_packet()){
61-
return true;
62-
}
63-
}
64-
}
65-
return false;
66-
}
67-
68-
// parse_packet()
69-
// parses a raw data packet
70-
// --------------------
71-
bool PRDC_TMAESC::parse_packet(void) {
72-
// check packet integrity
73-
uint16_t checksum_received = (data_buffer[23] << 8) | data_buffer[22];
74-
uint16_t checksum_calculated = calc_checksum(data_buffer, PRDC_TMAESC_PACKET_SIZE-2);
75-
if(checksum_received == checksum_calculated) {
76-
data.time = millis();
77-
// pack raw data
78-
data_raw.counter = (data_buffer[4] << 8) | data_buffer[5];
79-
data_raw.throttle_rx = (data_buffer[6] << 8) | data_buffer[7];
80-
data_raw.throttle_out = (data_buffer[8] << 8) | data_buffer[9];
81-
data_raw.rpm = (data_buffer[10] << 8) | data_buffer[11];
82-
data_raw.voltage_bus = (data_buffer[12] << 8) | data_buffer[13];
83-
data_raw.current_bus = (data_buffer[14] << 8) | data_buffer[15];
84-
data_raw.current_phase = (data_buffer[16] << 8) | data_buffer[17];
85-
data_raw.temperature_mos = data_buffer[18];
86-
data_raw.temperature_cap = data_buffer[19];
87-
data_raw.status = (data_buffer[20] << 8) | data_buffer[21];
88-
// process raw data
89-
data.counter = data_raw.counter;
90-
data.throttle_rx = (float)data_raw.throttle_rx*100.0/1024.0;
91-
data.throttle_out = (float)data_raw.throttle_out*100.0/1024.0;
92-
data.rpm = data_raw.rpm*10.0/(3.0*poles);
93-
data.voltage_bus = (float)data_raw.voltage_bus/10.0;
94-
data.current_bus = (float)data_raw.current_bus/64.0;
95-
data.current_phase = (float)data_raw.current_phase/64.0;
96-
data.temperature_mos = temperature_decode(data_raw.temperature_mos);
97-
data.temperature_cap = temperature_decode(data_raw.temperature_cap);
98-
data.status = data_raw.status;
99-
data.fault = (data.status != 0x00);
100-
return true;
101-
}
102-
else {
103-
return false;
104-
}
105-
}
106-
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// set_poles()
108-
// sets BLDC motor pole number
109-
// --------------------
110-
void PRDC_TMAESC::set_poles(uint8_t p) {
111-
poles = p;
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}
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// calc_checksum()
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// calculates checksum by summing message bytes
116-
// --------------------
117-
uint16_t PRDC_TMAESC::calc_checksum(uint8_t* data, uint16_t n) {
118-
uint16_t checksum = 0;
119-
while(n--) {
120-
checksum += data[n];
121-
}
122-
return checksum;
123-
}
124-
125-
// temperature decoding table
126-
static const struct {
127-
uint8_t temp_reading;
128-
uint8_t temp_value;
129-
} temp_table[] = {
130-
{241, 0}, {240, 1}, {239, 2}, {238, 3}, {237, 4}, {236, 5}, {235, 6}, {234, 7}, {233, 8}, {232, 9},
131-
{231, 10}, {230, 11}, {229, 12}, {228, 13}, {227, 14}, {226, 15}, {224, 16}, {223, 17}, {222, 18}, {220, 19},
132-
{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},
134-
{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},
136-
{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},
138-
{97, 80}, {95, 81}, {93, 82}, {91, 83}, {90, 84}, {88, 85}, {85, 86}, {84, 87}, {82, 88}, {81, 89},
139-
{79, 90}, {77, 91}, {76, 92}, {74, 93}, {73, 94}, {72, 95}, {69, 96}, {68, 97}, {66, 98}, {65, 99},
140-
{64, 100}, {62, 101}, {62, 102}, {61, 103}, {59, 104}, {58, 105}, {56, 106}, {54, 107}, {54, 108}, {53, 109},
141-
{51, 110}, {51, 111}, {50, 112}, {48, 113}, {48, 114}, {46, 115}, {46, 116}, {44, 117}, {43, 118}, {43, 119},
142-
{41, 120}, {41, 121}, {39, 122}, {39, 123}, {39, 124}, {37, 125}, {37, 126}, {35, 127}, {35, 128}, {33, 129},
143-
};
144-
145-
// temperature_decode()
146-
// decodes raw temperature reading
147-
// --------------------
148-
uint8_t PRDC_TMAESC::temperature_decode(uint8_t temp_raw) {
149-
for (uint8_t i=0; i<130; i++) {
150-
if (temp_table[i].temp_reading <= temp_raw) {
151-
return temp_table[i].temp_value;
152-
}
153-
}
154-
return 130U;
155-
}
1+
/**
2+
* PRDC_TMAESC.cpp - T-Motor ALPHA ESC Telemetry Protocol Arduino library
3+
* Author: Veljko Petrovic <vpetrovic@pr-dc.com>
4+
* PR-DC, Republic of Serbia
5+
* info@pr-dc.com
6+
*
7+
* --------------------
8+
* Copyright (C) 2021 PR-DC <info@pr-dc.com>
9+
*
10+
* This file is part of PRDC_TMAESC.
11+
*
12+
* PRDC_TMAESC is free software: you can redistribute it and/or modify
13+
* it under the terms of the GNU Lesser General Public License as
14+
* published by the Free Software Foundation, either version 3 of the
15+
* License, or (at your option) any later version.
16+
*
17+
* PRDC_TMAESC is distributed in the hope that it will be useful,
18+
* but WITHOUT ANY WARRANTY; without even the implied warranty of
19+
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20+
* GNU Lesser General Public License for more details.
21+
*
22+
* You should have received a copy of the GNU Lesser General Public License
23+
* along with PRDC_TMAESC. If not, see <https://www.gnu.org/licenses/>.
24+
*
25+
*/
26+
27+
#include "PRDC_TMAESC.h"
28+
29+
// init()
30+
// initalizes communication
31+
// --------------------
32+
void PRDC_TMAESC::init(Stream& stream) {
33+
_serial = &stream;
34+
}
35+
36+
void PRDC_TMAESC::init(HardwareSerial& serial){
37+
serial.begin(PRDC_TMAESC_BAUD);
38+
init((Stream&)serial);
39+
}
40+
41+
// update()
42+
// reads and parses a packet if available
43+
// --------------------
44+
bool PRDC_TMAESC::update() {
45+
uint32_t n = _serial->available();
46+
if(n == 0) {
47+
return false;
48+
}
49+
while(n--) {
50+
uint8_t b = _serial->read();
51+
if(len == 0 && b != PRDC_TMAESC_B1) {
52+
continue;
53+
}
54+
if(len == 1 && b != PRDC_TMAESC_B2) {
55+
continue;
56+
}
57+
data_buffer[len++] = b;
58+
if(len == PRDC_TMAESC_PACKET_SIZE) {
59+
len = 0;
60+
if(parse_packet()){
61+
return true;
62+
}
63+
}
64+
}
65+
return false;
66+
}
67+
68+
// parse_packet()
69+
// parses a raw data packet
70+
// --------------------
71+
bool PRDC_TMAESC::parse_packet(void) {
72+
// check packet integrity
73+
uint16_t checksum_received = (data_buffer[23] << 8) | data_buffer[22];
74+
uint16_t checksum_calculated = calc_checksum(data_buffer, PRDC_TMAESC_PACKET_SIZE-2);
75+
if(checksum_received == checksum_calculated) {
76+
data.time = millis();
77+
// pack raw data
78+
data_raw.counter = (data_buffer[4] << 8) | data_buffer[5];
79+
data_raw.throttle_rx = (data_buffer[6] << 8) | data_buffer[7];
80+
data_raw.throttle_out = (data_buffer[8] << 8) | data_buffer[9];
81+
data_raw.rpm = (data_buffer[10] << 8) | data_buffer[11];
82+
data_raw.voltage_bus = (data_buffer[12] << 8) | data_buffer[13];
83+
data_raw.current_bus = (data_buffer[14] << 8) | data_buffer[15];
84+
data_raw.current_phase = (data_buffer[16] << 8) | data_buffer[17];
85+
data_raw.temperature_mos = data_buffer[18];
86+
data_raw.temperature_cap = data_buffer[19];
87+
data_raw.status = (data_buffer[20] << 8) | data_buffer[21];
88+
// process raw data
89+
data.counter = data_raw.counter;
90+
data.throttle_rx = (float)data_raw.throttle_rx*100.0/1024.0;
91+
data.throttle_out = (float)data_raw.throttle_out*100.0/1024.0;
92+
data.rpm = data_raw.rpm*10.0/(3.0*poles);
93+
data.voltage_bus = (float)data_raw.voltage_bus/10.0;
94+
data.current_bus = (float)data_raw.current_bus/64.0;
95+
data.current_phase = (float)data_raw.current_phase/64.0;
96+
data.temperature_mos = temperature_decode(data_raw.temperature_mos);
97+
data.temperature_cap = temperature_decode(data_raw.temperature_cap);
98+
data.status = data_raw.status;
99+
data.fault = (data.status != 0x00);
100+
return true;
101+
}
102+
else {
103+
return false;
104+
}
105+
}
106+
107+
// set_poles()
108+
// sets BLDC motor pole number
109+
// --------------------
110+
void PRDC_TMAESC::set_poles(uint8_t p) {
111+
poles = p;
112+
}
113+
114+
// calc_checksum()
115+
// calculates checksum by summing message bytes
116+
// --------------------
117+
uint16_t PRDC_TMAESC::calc_checksum(uint8_t* data, uint16_t n) {
118+
uint16_t checksum = 0;
119+
while(n--) {
120+
checksum += data[n];
121+
}
122+
return checksum;
123+
}
124+
125+
// temperature decoding table
126+
static const struct {
127+
uint8_t temp_reading;
128+
uint8_t temp_value;
129+
} temp_table[] = {
130+
{241, 0}, {240, 1}, {239, 2}, {238, 3}, {237, 4}, {236, 5}, {235, 6}, {234, 7}, {233, 8}, {232, 9},
131+
{231, 10}, {230, 11}, {229, 12}, {228, 13}, {227, 14}, {226, 15}, {224, 16}, {223, 17}, {222, 18}, {220, 19},
132+
{219, 20}, {217, 21}, {216, 22}, {214, 23}, {213, 24}, {211, 25}, {209, 26}, {208, 27}, {206, 28}, {204, 29},
133+
{202, 30}, {201, 31}, {199, 32}, {197, 33}, {195, 34}, {193, 35}, {191, 36}, {189, 37}, {187, 38}, {185, 39},
134+
{183, 40}, {181, 41}, {179, 42}, {177, 43}, {174, 44}, {172, 45}, {170, 46}, {168, 47}, {166, 48}, {164, 49},
135+
{161, 50}, {159, 51}, {157, 52}, {154, 53}, {152, 54}, {150, 55}, {148, 56}, {146, 57}, {143, 58}, {141, 59},
136+
{139, 60}, {136, 61}, {134, 62}, {132, 63}, {130, 64}, {128, 65}, {125, 66}, {123, 67}, {121, 68}, {119, 69},
137+
{117, 70}, {115, 71}, {113, 72}, {111, 73}, {109, 74}, {106, 75}, {105, 76}, {103, 77}, {101, 78}, {99, 79},
138+
{97, 80}, {95, 81}, {93, 82}, {91, 83}, {90, 84}, {88, 85}, {85, 86}, {84, 87}, {82, 88}, {81, 89},
139+
{79, 90}, {77, 91}, {76, 92}, {74, 93}, {73, 94}, {72, 95}, {69, 96}, {68, 97}, {66, 98}, {65, 99},
140+
{64, 100}, {62, 101}, {62, 102}, {61, 103}, {59, 104}, {58, 105}, {56, 106}, {54, 107}, {54, 108}, {53, 109},
141+
{51, 110}, {51, 111}, {50, 112}, {48, 113}, {48, 114}, {46, 115}, {46, 116}, {44, 117}, {43, 118}, {43, 119},
142+
{41, 120}, {41, 121}, {39, 122}, {39, 123}, {39, 124}, {37, 125}, {37, 126}, {35, 127}, {35, 128}, {33, 129},
143+
};
144+
145+
// temperature_decode()
146+
// decodes raw temperature reading
147+
// --------------------
148+
uint8_t PRDC_TMAESC::temperature_decode(uint8_t temp_raw) {
149+
for (uint8_t i=0; i<130; i++) {
150+
if (temp_table[i].temp_reading <= temp_raw) {
151+
return temp_table[i].temp_value;
152+
}
153+
}
154+
return 130U;
155+
}

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