Crate vesc 

The VESC® firmware is an open source motor controller firmware, and this library implements the necessary structures and functions to encode commands and decode replies.

Examples

Encoding a Command

use vesc::{Command, ValuesMask};

let mut buf = [0u8; 64];
let command = Command::GetValuesSelective(ValuesMask::RPM | ValuesMask::VOLTAGE_IN);
let frame_len = vesc::encode(command, &mut buf).unwrap();
let frame = &buf[..frame_len];

Decoding a Reply

use vesc::CommandReply;

match vesc::decode(&[2, 7, 50, 0, 0, 1, 128, 0, 0, 4, 210, 1, 176, 254, 22, 3]) {
    Ok((_, CommandReply::GetValuesSelective(values))) => {
        let rpm = values.rpm;
        let voltage_in = values.voltage_in;
    },
    _ => (),
}

Decoding a Stream

use vesc::{Decoder, CommandReply};

let mut decoder = Decoder::default();
decoder.feed(&[2, 7, 50, 0, 0, 1, 128, 0, 0, 4, 210, 1, 176, 254, 22, 3]);

for reply in decoder.by_ref() {
    match reply {
        CommandReply::GetValuesSelective(values) => {
            let rpm = values.rpm;
            let voltage_in = values.voltage_in;
        },
        _ => (),
    }
}

Structs

Decoder

A streaming decoder for VESC communication protocol.

FwInfo

Firmware build information returned by the motor controller.

FwVersion

Firmware version data returned by the motor controller.

NrfFlags

QmlAppFlags

SetupValues

Setup telemetry data returned by the motor controller in response to Command::GetValuesSetupSelective.

Stats

Runtime statistics returned by the motor controller.

StatsMask

A bitmask used with Command::GetStats to request specific statistics fields.

Values

Telemetry data returned by the motor controller.

ValuesMask

A bitmask used with Command::GetValuesSelective to request specific telemetry fields. This allows for efficient communication by requesting only the data you need, reducing bandwidth and processing overhead. Each flag corresponds to a field in the Values struct.

ValuesSetupMask

A bitmask used with Command::GetValuesSetupSelective to request setup telemetry fields. This corresponds to COMM_GET_VALUES_SETUP_SELECTIVE in firmware.

Enums

Command

Commands that can be sent to a VESC controller.

CommandReply

Reply messages received from the VESC in response to commands.

DecodeError

Errors that can occur during command reply decoding.

EncodeError

Errors that can occur during command encoding.

FaultCode

Indicates specific error conditions or hardware failures.

HwType

QmlHw

Functions

decode

Decodes a CommandReply from a byte buffer.

encode

Encodes a Command into a byte buffer.