Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-02-06 07:01:52 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

add trajectory done bit to CAN simple protocol

Browse Source
This commit is contained in:
Samuel Sadok
2021-09-01 19:36:30 +02:00
parent d383e7704c
commit 047c44201e
2 changed files with 49 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
Firmware/communication/can/can_simple.cpp
View File

@@ -379,7 +379,23 @@ bool CANSimple::send_heartbeat(const Axis& axis) {
txmsg.len = 8;
can_setSignal(txmsg, axis.error_, 0, 32, true);
can_setSignal(txmsg, axis.current_state_, 32, 32, true);
can_setSignal(txmsg, uint8_t(axis.current_state_), 32, 8, true);
// Motor flags
uint8_t motorFlags = 0; // reserved
// Encoder flags
uint8_t encoderFlags = 0; // reserved
// Controller flags
uint8_t controllerFlags = 0;
uint8_t trajDone = uint8_t(axis.controller_.trajectory_done_) << 7;
controllerFlags |= trajDone;
can_setSignal(txmsg, motorFlags, 40, 8, true);
can_setSignal(txmsg, encoderFlags, 48, 8, true);
can_setSignal(txmsg, controllerFlags, 56, 8, true);
// can_setSignal(txmsg, axis.current_state_, 32, 32, true);
return canbus_->send_message(txmsg);
}

62
docs/can-protocol.md
View File

@@ -43,36 +43,38 @@ For example, an Axis ID of `0x01` with a command of `0x0C` would be result in `0
### Messages
CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Offset | Byte Order
--: | :-- | :-- | :-- | :-- | :-- | :-- | :-- | :-- | :--
0x000 | CANOpen NMT Message\*\* | Master | - | - | - | - | - | - | -
0x001 | ODrive Heartbeat Message | Axis | Axis Error<br>Axis Current State | 0<br>4 | Unsigned Int<br>Unsigned Int | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x002 | ODrive Estop Message | Master | - | - | - | - | - | - | -
0x003 | Get Motor Error\* | Axis | Motor Error | 0 | Unsigned Int | 64 | 1 | 0 | Intel
0x004 | Get Encoder Error\* | Axis | Encoder Error | 0 | Unsigned Int | 32 | 1 | 0 | Intel
0x005 | Get Sensorless Error\* | Axis | Sensorless Error | 0 | Unsigned Int | 32 | 1 | 0 | Intel
0x006 | Set Axis Node ID | Master | Axis CAN Node ID | 0 | Unsigned Int | 32 | 1 | 0 | Intel
0x007 | Set Axis Requested State | Master | Axis Requested State | 0 | Unsigned Int | 32 | 1 | 0 | Intel
0x008 | Set Axis Startup Config | Master | - Not yet implemented - | - | - | - | - | - | -
0x009 | Get Encoder Estimates\* | Master | Encoder Pos Estimate<br>Encoder Vel Estimate | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00A | Get Encoder Count\* | Master | Encoder Shadow Count<br>Encoder Count in CPR | 0<br>4 | Signed Int<br>Signed Int | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00B | Set Controller Modes | Master | Control Mode<br>Input Mode | 0<br>4 | Signed Int<br>Signed Int | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00C | Set Input Pos | Master | Input Pos<br>Vel FF<br>Torque FF | 0<br>4<br>6 | IEEE 754 Float<br>Signed Int<br>Signed Int | 32<br>16<br>16 | 1<br>0.001<br>0.001 | 0<br>0<br>0 | Intel<br>Intel<br>Intel
0x00D | Set Input Vel | Master | Input Vel<br>Torque FF | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x00E | Set Input Torque | Master | Input Torque | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel
0x00F | Set Limits | Master | Velocity Limit<br>Current Limit | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br> | 1<br>1 | 0<br>0 | Intel
0x010 | Start Anticogging | Master | - | - | - | - | - | - | -
0x011 | Set Traj Vel Limit | Master | Traj Vel Limit | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel
0x012 | Set Traj Accel Limits | Master | Traj Accel Limit<br>Traj Decel Limit | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x013 | Set Traj Inertia | Master | Traj Inertia | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel
0x014 | Get IQ\* | Axis | Iq Setpoint<br>Iq Measured | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x015 | Get Sensorless Estimates\* | Master | Sensorless Pos Estimate<br>Sensorless Vel Estimate | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0 | Intel<br>Intel
0x016 | Reboot ODrive | Master\*\*\* | - | - | - | - | - | - | -
0x017 | Get Vbus Voltage | Master\*\*\* | Vbus Voltage | 0 | IEEE 754 Float | 32 | 1 | 0 | Intel
0x018 | Clear Errors | Master | - | - | - | - | - | - | -
0x019 | Set Linear Count | Master | Position | 0 | Signed Int | 32 | 1 | 0 | Intel
0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | - | - | - | - | -
-|-|-|----------------------------------|-|--------------------|-|-|-|_
CMD ID | Name | Sender | Signals | Start byte | Signal Type | Bits | Factor | Offset
--: | :-- | :-- | :-- | :-- | :-- | :-- | :-- | :--
0x000 | CANOpen NMT Message\*\* | Master | - | - | - | - | - | -
0x001 | ODrive Heartbeat Message | Axis | Axis Error<br>Axis Current State<br>Controller Status | 0<br>4<br>7 | Unsigned Int<br>Unsigned Int<br>Bitfield | 32<br>8<br>8 | -<br>-<br>- | -<br>-<br>-
0x002 | ODrive Estop Message | Master | - | - | - | - | - | -
0x003 | Get Motor Error\* | Axis | Motor Error | 0 | Unsigned Int | 64 | 1 | 0
0x004 | Get Encoder Error\* | Axis | Encoder Error | 0 | Unsigned Int | 32 | 1 | 0
0x005 | Get Sensorless Error\* | Axis | Sensorless Error | 0 | Unsigned Int | 32 | 1 | 0
0x006 | Set Axis Node ID | Master | Axis CAN Node ID | 0 | Unsigned Int | 32 | 1 | 0
0x007 | Set Axis Requested State | Master | Axis Requested State | 0 | Unsigned Int | 32 | 1 | 0
0x008 | Set Axis Startup Config | Master | - Not yet implemented - | - | - | - | - | -
0x009 | Get Encoder Estimates\* | Master | Encoder Pos Estimate<br>Encoder Vel Estimate | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0
0x00A | Get Encoder Count\* | Master | Encoder Shadow Count<br>Encoder Count in CPR | 0<br>4 | Signed Int<br>Signed Int | 32<br>32 | 1<br>1 | 0<br>0
0x00B | Set Controller Modes | Master | Control Mode<br>Input Mode | 0<br>4 | Signed Int<br>Signed Int | 32<br>32 | 1<br>1 | 0<br>0
0x00C | Set Input Pos | Master | Input Pos<br>Vel FF<br>Torque FF | 0<br>4<br>6 | IEEE 754 Float<br>Signed Int<br>Signed Int | 32<br>16<br>16 | 1<br>0.001<br>0.001 | 0<br>0<br>0
0x00D | Set Input Vel | Master | Input Vel<br>Torque FF | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0
0x00E | Set Input Torque | Master | Input Torque | 0 | IEEE 754 Float | 32 | 1 | 0
0x00F | Set Limits | Master | Velocity Limit<br>Current Limit | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br> | 1<br>1 | 0<br>0
0x010 | Start Anticogging | Master | - | - | - | - | - | -
0x011 | Set Traj Vel Limit | Master | Traj Vel Limit | 0 | IEEE 754 Float | 32 | 1 | 0
0x012 | Set Traj Accel Limits | Master | Traj Accel Limit<br>Traj Decel Limit | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0
0x013 | Set Traj Inertia | Master | Traj Inertia | 0 | IEEE 754 Float | 32 | 1 | 0
0x014 | Get IQ\* | Axis | Iq Setpoint<br>Iq Measured | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0
0x015 | Get Sensorless Estimates\* | Master | Sensorless Pos Estimate<br>Sensorless Vel Estimate | 0<br>4 | IEEE 754 Float<br>IEEE 754 Float | 32<br>32 | 1<br>1 | 0<br>0
0x016 | Reboot ODrive | Master\*\*\* | - | - | - | - | - | -
0x017 | Get Vbus Voltage | Master\*\*\* | Vbus Voltage | 0 | IEEE 754 Float | 32 | 1 | 0
0x018 | Clear Errors | Master | - | - | - | - | - | -
0x019 | Set Linear Count | Master | Position | 0 | Signed Int | 32 | 1 | 0
0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | - | - | - | -
-|-|-|----------------------------------|-|--------------------|-|-|-
All multibyte values are little endian (aka Intel format, aka least significant byte first).
\* Note: These messages are call & response. The Master node sends a message with the RTR bit set, and the axis responds with the same ID and specified payload.
\*\* Note: These CANOpen messages are reserved to avoid bus collisions with CANOpen devices. They are not used by CAN Simple.