dronecan · Bit-Dong · Aug 6, 2025
diff --git a/uavcan/equipment/esc/siyi/200.SIYI_ESC_DataUploadFreq_Set.uavcan b/uavcan/equipment/esc/siyi/200.SIYI_ESC_DataUploadFreq_Set.uavcan
@@ -0,0 +1,22 @@
+uint8 MSG_ID_ALL = 0       # Control all message types
+uint8 MSG_ID_1 = 1         # Corresponds to original msg1
+uint8 MSG_ID_2 = 2         # Corresponds to original msg2
+uint8 FREQ_DISABLE = 0     # Disable reporting
+uint8 FREQ_1HZ = 1         # 1Hz 
+uint8 FREQ_10HZ = 2        # 10Hz 
+uint8 FREQ_20HZ = 3        # 20Hz
+uint8 FREQ_50HZ = 4        # 50Hz
+uint8 FREQ_100HZ = 5       # 100Hz
+uint8 FREQ_200HZ = 6       # 200Hz
+uint8 FREQ_250HZ = 7       # 250Hz 
+uint8 FREQ_500HZ = 8       # 500Hz 
+uint8 FREQ_MAX = 9         # Upper limit for validation
+
+
+uint8 msg_id      # Target message ID (MSG_ID_* enum)
+uint8 frequency   # Reporting frequency (FREQ_* enum)
+---
+uint8 RESPONSE_OK = 0x00      
+uint8 RESPONSE_ERROR = 0x01     
+
+uint8 result      # Operation result (RESPONSE_* enum values)
diff --git a/uavcan/equipment/esc/siyi/20000.SIYI_ESC_NodeHeartbeat.uavcan b/uavcan/equipment/esc/siyi/20000.SIYI_ESC_NodeHeartbeat.uavcan
@@ -0,0 +1,21 @@
+uint8 HEALTH_OK = 0
+uint8 HEALTH_WARNING = 1  
+uint8 HEALTH_ERROR = 2     
+
+uint8 MODE_INIT = 0      
+uint8 MODE_SELFCHECKING = 1  
+uint8 MODE_STANDBY = 2      
+uint8 MODE_RUNNING = 3     
+uint8 MODE_FAULT = 4       
+
+uint8 SIYI_ESC_D6 = 0
+uint8 SIYI_ESC_E3 = 1
+uint8 SIYI_ESC_E6 = 2
+uint8 SIYI_ESC_E8 = 3
+
+uint32 timestamp       
+uint8 health              # Health status (HEALTH_* constants)
+uint8 mode                # Operation mode (MODE_* constants)
+uint8 esc_id              
+uint8 esc_model           # Product model (SIYI_ESC_* constants)
+uint8[<=24] vendor_info
diff --git a/uavcan/equipment/esc/siyi/20001.SIYI_ESC_DataUploadMSG1.uavcan b/uavcan/equipment/esc/siyi/20001.SIYI_ESC_DataUploadMSG1.uavcan
@@ -0,0 +1,7 @@
+uint16 motor_speed     
+uint16 pulse_width      
+uint16 bus_voltage  
+uint16 bus_current   
+uint8 esc_temp          
+uint8 cap_temp      
+
diff --git a/uavcan/equipment/esc/siyi/20002.SIYI_ESC_DataUploadMSG2.uavcan b/uavcan/equipment/esc/siyi/20002.SIYI_ESC_DataUploadMSG2.uavcan
@@ -0,0 +1,20 @@
+uint8 THROTTLE_SRC_RC = 0   # RC receiver input
+uint8 THROTTLE_SRC_PWM = 1  # Direct PWM input
+uint8 THROTTLE_SRC_CAN = 2  # CAN bus command
+
+uint16 ESC_STATUS_FAULT_VOLTAGE_UNDER = 0x0001      
+uint16 ESC_STATUS_FAULT_VOLTAGE_OVER = 0x0002          
+uint16 ESC_STATUS_FAULT_OPAMP_ABNORMAL = 0x0004    
+uint16 ESC_STATUS_FAULT_MOS_SHORT = 0x0008                  
+uint16 ESC_STATUS_FAULT_MOTOR_PHASE_LOSS = 0x0010    
+uint16 ESC_STATUS_FAULT_THROTTLE_LOSS    = 0x0020          
+uint16 ESC_STATUS_FAULT_THROTTLE_NOT_ZERO = 0x0040    
+uint16 ESC_STATUS_FAULT_LOCK_ROTOR       = 0x0080           
+uint16 ESC_STATUS_FAULT_OVER_TEMP_ESC    = 0x0100      
+uint16 ESC_STATUS_FAULT_OVER_TEMP_CAP    = 0x0200      
+uint16 ESC_STATUS_FAULT_POWER_SATIATE    = 0x0400         
+uint16 ESC_STATUS_FAULT_OVER_CURRENT     = 0x0800       
+
+uint8 throttle_src        # Throttle source (THROTTLE_SRC_* constants)
+uint16 esc_status         # ESC status (bitmask,ESC_STATUS_* constants)
+uint32 motor_running_time 
diff --git a/uavcan/equipment/esc/siyi/20050.SIYI_ESC_DataUploadSwitch.uavcan b/uavcan/equipment/esc/siyi/20050.SIYI_ESC_DataUploadSwitch.uavcan
@@ -0,0 +1,4 @@
+uint8 DATA_UPLOAD_OFF = 0 
+uint8 DATA_UPLOAD_ON = 1   
+
+uint8 status 
diff --git a/uavcan/equipment/esc/siyi/201.SIYI_ESC_ID_Set.uavcan b/uavcan/equipment/esc/siyi/201.SIYI_ESC_ID_Set.uavcan
@@ -0,0 +1,4 @@
+uint8 new_can_id       
+uint8 new_throttle_id
+---
+uint8 result      
diff --git a/uavcan/equipment/esc/siyi/20100.SIYI_ESC_ID_Get.uavcan b/uavcan/equipment/esc/siyi/20100.SIYI_ESC_ID_Get.uavcan
@@ -0,0 +1 @@
+uint8 request  
diff --git a/uavcan/equipment/esc/siyi/20100.SIYI_ESC_ID_Get_Res.uavcan b/uavcan/equipment/esc/siyi/20100.SIYI_ESC_ID_Get_Res.uavcan
@@ -0,0 +1,2 @@
+uint8 node_id  
+uint8 throttle_id  
diff --git a/uavcan/equipment/esc/siyi/20150.SIYI_ESC_CAN_Throttle_Command.uavcan b/uavcan/equipment/esc/siyi/20150.SIYI_ESC_CAN_Throttle_Command.uavcan
@@ -0,0 +1,6 @@
+uint8 THROTTLE_RAW = 0  
+uint8 THROTTLE_PERCENT = 1 
+uint8 THROTTLE_PWM = 2       
+
+uint8 control_mode      # Control mode (THROTTLE_* enum)
+uint14[<=24] throttle_data  
diff --git a/uavcan/equipment/esc/siyi/202.SIYI_ESC_LED_ID_Set.uavcan b/uavcan/equipment/esc/siyi/202.SIYI_ESC_LED_ID_Set.uavcan
@@ -0,0 +1,9 @@
+uint8 LED_COLOR_RED = 0      # Red
+uint8 LED_COLOR_GREEN = 1    # Green
+uint8 LED_COLOR_BLUE = 2     # Blue
+uint8 LED_COLOR_OFF = 3      # LED Off
+
+uint8 led_color        # Target color (must use LED_COLOR_* enum)
+uint8 brightness      # Brightness level (0-100%, 0=minimum, 100=maximum)
+---
+uint8 result  
diff --git a/uavcan/equipment/esc/siyi/203.SIYI_ESC_ThrottleSrc_Set.uavcan b/uavcan/equipment/esc/siyi/203.SIYI_ESC_ThrottleSrc_Set.uavcan
@@ -0,0 +1,6 @@
+uint8 THROTTLE_SRC_PWM = 0   
+uint8 THROTTLE_SRC_CAN = 1   
+
+uint8 throttle_src       #source selection (THROTTLE_SRC_* enum)
+---
+uint8 result  
diff --git a/uavcan/equipment/esc/siyi/215.SIYI_ESC_LED_ID_Get.uavcan b/uavcan/equipment/esc/siyi/215.SIYI_ESC_LED_ID_Get.uavcan
@@ -0,0 +1,4 @@
+uint8 request    
+---
+uint8 current_color     
+uint8 current_brightness 
diff --git a/uavcan/equipment/esc/siyi/216.SIYI_ESC_ThrottleSrc_Get.uavcan b/uavcan/equipment/esc/siyi/216.SIYI_ESC_ThrottleSrc_Get.uavcan
@@ -0,0 +1,3 @@
+uint8 request  
+---
+uint8 throttle_src    
diff --git a/uavcan/equipment/esc/siyi/217.SIYI_ESC_SelfCheckStatus_Get.uavcan b/uavcan/equipment/esc/siyi/217.SIYI_ESC_SelfCheckStatus_Get.uavcan
@@ -0,0 +1,3 @@
+uint8 request 
+---  
+uint8 status   
diff --git a/uavcan/equipment/esc/siyi/218.SIYI_ESC_FaultRecord_Get.uavcan b/uavcan/equipment/esc/siyi/218.SIYI_ESC_FaultRecord_Get.uavcan
@@ -0,0 +1,16 @@
+uint8 request 
+---  
+uint16 ESC_FAULT_VOLTAGE_UNDER = 0
+uint16 ESC_FAULT_VOLTAGE_OVER = 1
+uint16 ESC_FAULT_OPAMP_ABNORMAL = 2
+uint16 ESC_FAULT_MOS_SHORT = 3
+uint16 ESC_FAULT_MOTOR_PHASE_LOSS = 4
+uint16 ESC_FAULT_THROTTLE_LOSS    = 5
+uint16 ESC_FAULT_THROTTLE_NOT_ZERO = 6
+uint16 ESC_FAULT_LOCK_ROTOR       = 7
+uint16 ESC_FAULT_OVER_TEMP_MOS    = 8
+uint16 ESC_FAULT_OVER_TEMP_CAP    = 9
+uint16 ESC_FAULT_OVER_CURRENT     = 10
+
+uint16[<=24] accum_times    
+uint32[<=24] last_times   
diff --git a/uavcan/equipment/esc/siyi/219.SIYI_ESC_FaultDataStart_Get.uavcan b/uavcan/equipment/esc/siyi/219.SIYI_ESC_FaultDataStart_Get.uavcan
@@ -0,0 +1,18 @@
+uint8 ESC_FAULT_TYPE_UNDER_VOLTAGE     = 0
+uint8 ESC_FAULT_TYPE_OVER_VOLTAGE      = 1
+uint8 ESC_FAULT_TYPE_OPAMP_ABNORMAL    = 2
+uint8 ESC_FAULT_TYPE_MOS_SHORT         = 3
+uint8 ESC_FAULT_TYPE_MOTOR_PHASE_LOSS  = 4
+uint8 ESC_FAULT_TYPE_THROTTLE_LOSS     = 5
+uint8 ESC_FAULT_TYPE_THROTTLE_NOT_ZERO = 6
+uint8 ESC_FAULT_TYPE_LOCK_ROTOR        = 7
+uint8 ESC_FAULT_TYPE_OVER_TEMP_MOS     = 8
+uint8 ESC_FAULT_TYPE_OVER_TEMP_CAP     = 9
+uint8 ESC_FAULT_TYPE_OVER_CURRENT      = 10
+
+uint8 fault_type
+---  
+uint32 file_size                    
+uint32 recent_poweron_times   
+uint16 block_size                     
+
diff --git a/uavcan/equipment/esc/siyi/220.SIYI_ESC_FaultDataTransfer_Get.uavcan b/uavcan/equipment/esc/siyi/220.SIYI_ESC_FaultDataTransfer_Get.uavcan
@@ -0,0 +1,6 @@
+uint16 block_idx
+---  
+uint8[<=128]  fault
+uint16 block_idx      
+
+
diff --git a/uavcan/equipment/esc/siyi/221.SIYI_ESC_FaultDataEnd_Get.uavcan b/uavcan/equipment/esc/siyi/221.SIYI_ESC_FaultDataEnd_Get.uavcan
@@ -0,0 +1,8 @@
+uint8 ESC_FAULT_DATA_TRANSFER_OK = 0
+uint8 ESC_FAULT_DATA_TRANSFER_ERROR = 1
+
+uint32 total_transfer_size 
+uint8 transfer_status
+---  
+uint8 respond
+
diff --git a/uavcan/equipment/esc/siyi/230.SIYI_ESC_MajorBoardInfo_Get.uavcan b/uavcan/equipment/esc/siyi/230.SIYI_ESC_MajorBoardInfo_Get.uavcan
@@ -0,0 +1,7 @@
+uint8 request    
+---
+uint8[<=12] hardware_id         
+uint8[<=4] firmware_version    
+uint8[<=4] hw_version          
+uint8[<=4] protocol_version     
+uint8[<=24] reserved           
diff --git a/uavcan/equipment/esc/siyi/231.SIYI_ESC_SystemTime_Get.uavcan b/uavcan/equipment/esc/siyi/231.SIYI_ESC_SystemTime_Get.uavcan
@@ -0,0 +1,4 @@
+uint8 request 
+---
+uint32 total_system_time   
+uint32 total_motor_time  
diff --git a/uavcan/equipment/esc/siyi/240.SIYI_ESC_FirmwareUpgrade_Start.uavcan b/uavcan/equipment/esc/siyi/240.SIYI_ESC_FirmwareUpgrade_Start.uavcan
@@ -0,0 +1,8 @@
+uint32 file_size
+---  
+uint8 ESC_FIRMWARE_UPGRADE_START_OK = 0
+uint8 ESC_FIRMWARE_UPGRADE_START_ERROR = 1
+uint8 status
+uint16 block_size      
+
+
diff --git a/uavcan/equipment/esc/siyi/241.SIYI_ESC_FirmwareUpgrade_Data.uavcan b/uavcan/equipment/esc/siyi/241.SIYI_ESC_FirmwareUpgrade_Data.uavcan
@@ -0,0 +1,12 @@
+uint8 ESC_UPGRADE_DATA_REQUEST_OK = 0
+uint8 ESC_UPGRADE_DATA_REQUEST_FILE_ERROR = 1
+uint8 ESC_UPGRADE_DATA_REQUEST_BLOCK_INDEX_ERROR = 2
+uint8 ESC_UPGRADE_DATA_REQUEST_BLOCK_REPET = 3
+uint8  status
+uint16 block_idx
+uint32 file_offset    
+---  
+uint8[<=128] firmware
+uint16 block_idx
+
+
diff --git a/uavcan/equipment/esc/siyi/242.SIYI_ESC_FirmwareUpgrade_End.uavcan b/uavcan/equipment/esc/siyi/242.SIYI_ESC_FirmwareUpgrade_End.uavcan
@@ -0,0 +1,7 @@
+uint32 transfer_file_size
+uint32 checksum
+---  
+uint8 ESC_FIRMWARE_UPGRADE_END_OK = 0
+uint8 ESC_FIRMWARE_UPGRADE_END_ERROR = 1
+uint8 status
+