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Fix CANSimple to use input_pos, vel, current

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This commit is contained in:
Paul Guenette
2019-05-25 14:52:01 +02:00
parent eb385f0bb9
commit 1e40897c2a
3 changed files with 40 additions and 37 deletions
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Firmware/communication/can_simple.cpp
+21 -19
View File
@@ -76,17 +76,17 @@ void CANSimple::handle_can_message(can_Message_t& msg) {
case MSG_GET_ENCODER_COUNT:
get_encoder_count_callback(axis, msg);
break;
case MSG_MOVE_TO_POS:
move_to_pos_callback(axis, msg);
case MSG_SET_INPUT_POS:
set_input_pos_callback(axis, msg);
break;
case MSG_SET_POS_SETPOINT:
set_pos_setpoint_callback(axis, msg);
case MSG_SET_INPUT_VEL:
set_input_pos_callback(axis, msg);
break;
case MSG_SET_VEL_SETPOINT:
set_vel_setpoint_callback(axis, msg);
case MSG_SET_INPUT_CURRENT:
set_input_pos_callback(axis, msg);
break;
case MSG_SET_CUR_SETPOINT:
set_current_setpoint_callback(axis, msg);
case MSG_SET_CONTROLLER_MODES:
set_controller_modes_callback(axis, msg);
break;
case MSG_SET_VEL_LIMIT:
set_vel_limit_callback(axis, msg);
@@ -275,23 +275,25 @@ void CANSimple::get_encoder_count_callback(Axis* axis, can_Message_t& msg) {
}
}
void CANSimple::move_to_pos_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.move_to_pos(can_getSignal<int32_t>(msg, 0, 32, true, 1, 0));
void CANSimple::set_input_pos_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.input_pos_ = can_getSignal<int32_t>(msg, 0, 32, true, 1, 0);
axis->controller_.input_vel_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.1f, 0);
axis->controller_.input_current_ = can_getSignal<int16_t>(msg, 48, 16, true, 0.01f, 0);
axis->controller_.input_pos_updated();
}
void CANSimple::set_pos_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.pos_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 1, 0);
axis->controller_.vel_setpoint_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.1f, 0);
axis->controller_.current_setpoint_ = can_getSignal<int16_t>(msg, 48, 16, true, 0.01f, 0);
void CANSimple::set_input_vel_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.input_vel_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0.0f);
axis->controller_.input_current_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.01f, 0.0f);
}
void CANSimple::set_vel_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.vel_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0.0f);
axis->controller_.current_setpoint_ = can_getSignal<int16_t>(msg, 32, 16, true, 0.01f, 0.0f);
void CANSimple::set_input_current_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.input_current_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0);
}
void CANSimple::set_current_setpoint_callback(Axis* axis, can_Message_t& msg) {
axis->controller_.current_setpoint_ = can_getSignal<int32_t>(msg, 0, 32, true, 0.01f, 0);
void CANSimple::set_controller_modes_callback(Axis* axis, can_Message_t& msg){
axis->controller_.config_.control_mode = can_getSignal<Controller::ControlMode_t>(msg, 0, 32, true, 1, 0);
axis->controller_.config_.input_mode = can_getSignal<Controller::InputMode_t>(msg, 32, 32, true, 1, 0);
}
void CANSimple::set_vel_limit_callback(Axis* axis, can_Message_t& msg) {
Firmware/communication/can_simple.hpp
+10 -10
View File
@@ -7,8 +7,7 @@ class CANSimple {
public:
enum {
MSG_CO_NMT_CTRL = 0x000, // CANOpen NMT Message REC
MSG_CO_HEARTBEAT_CMD = 0x700, // CANOpen NMT Heartbeat SEND
MSG_ODRIVE_HEARTBEAT = 0x001,
MSG_ODRIVE_HEARTBEAT,
MSG_ODRIVE_ESTOP,
MSG_GET_MOTOR_ERROR, // Errors
MSG_GET_ENCODER_ERROR,
@@ -18,10 +17,10 @@ class CANSimple {
MSG_SET_AXIS_STARTUP_CONFIG,
MSG_GET_ENCODER_ESTIMATES,
MSG_GET_ENCODER_COUNT,
MSG_MOVE_TO_POS,
MSG_SET_POS_SETPOINT,
MSG_SET_VEL_SETPOINT,
MSG_SET_CUR_SETPOINT,
MSG_SET_CONTROLLER_MODES,
MSG_SET_INPUT_POS,
MSG_SET_INPUT_VEL,
MSG_SET_INPUT_CURRENT,
MSG_SET_VEL_LIMIT,
MSG_START_ANTICOGGING,
MSG_SET_TRAJ_VEL_LIMIT,
@@ -31,6 +30,7 @@ class CANSimple {
MSG_GET_SENSORLESS_ESTIMATES,
MSG_RESET_ODRIVE,
MSG_GET_VBUS_VOLTAGE,
MSG_CO_HEARTBEAT_CMD = 0x700, // CANOpen NMT Heartbeat SEND
};
static void handle_can_message(can_Message_t& msg);
@@ -48,10 +48,10 @@ class CANSimple {
static void set_axis_startup_config_callback(Axis* axis, can_Message_t& msg);
static void get_encoder_estimates_callback(Axis* axis, can_Message_t& msg);
static void get_encoder_count_callback(Axis* axis, can_Message_t& msg);
static void move_to_pos_callback(Axis* axis, can_Message_t& msg);
static void set_pos_setpoint_callback(Axis* axis, can_Message_t& msg);
static void set_vel_setpoint_callback(Axis* axis, can_Message_t& msg);
static void set_current_setpoint_callback(Axis* axis, can_Message_t& msg);
static void set_input_pos_callback(Axis* axis, can_Message_t& msg);
static void set_input_vel_callback(Axis* axis, can_Message_t& msg);
static void set_input_current_callback(Axis* axis, can_Message_t& msg);
static void set_controller_modes_callback(Axis* axis, can_Message_t& msg);
static void set_vel_limit_callback(Axis* axis, can_Message_t& msg);
static void start_anticogging_callback(Axis* axis, can_Message_t& msg);
static void set_traj_vel_limit_callback(Axis* axis, can_Message_t& msg);
docs/can-protocol.md
+9 -8
View File
@@ -46,10 +46,10 @@ CMD ID | Name | Sender | Signals | Start byte
0x008 | Set Axis Startup Config | Master | - Not yet implemented - | -
0x009 | Get Encoder Estimates\* | Master | Encoder Pos Estimate<br>Encoder Vel Estimate | 0<br>4
0x00A | Get Encoder Count\* | Master | Encoder Shadow Count<br>Encoder Count in CPR | 0<br>4
0x00B | Move To Pos | Master | Goal Position | 0
0x00C | Set Pos Setpoint | Master | Pos Setpoint<br>Vel FF<br>Current FF | 0<br>4<br>6
0x00D | Set Vel Setpoint | Master | Vel Setpoint<br>Current FF | 0<br>4
0x00E | Set Current Setpoint | Master | Current Setpoint | 0
0x00B | Set Controller Modes | Master | Control Mode<br>Input Mode | 0<br>4
0x00C | Set Input Pos | Master | Input Pos<br>Vel FF<br>Current FF | 0<br>4<br>6
0x00D | Set Input Vel | Master | Input Current<br>Current FF | 0<br>4
0x00E | Set Input Current | Master | Input Current | 0
0x00F | Set Velocity Limit | Master | Velocity Limit | 0
0x010 | Start Anticogging | Master | - | -
0x011 | Set Traj Vel Limit | Master | Traj Vel Limit | 0
@@ -79,12 +79,13 @@ Encoder Pos Estimate | IEEE 754 Float | 32 | 1 | 0 | Intel
Encoder Vel Estimate | IEEE 754 Float | 32 | 1 | 0 | Intel
Encoder Shadow Count | Signed Int | 32 | 1 | 0 | Intel
Encoder Count In CPR | Signed Int | 32 | 1 | 0 | Intel
Goal Position | Signed Int | 32 | 1 | 0 | Intel
Pos Setpoint | Signed Int | 32 | 1 | 0 | Intel
Control Mode | Signed Int | 32 | 1 | 0 | Intel
Input Mode | Signed Int | 32 | 1 | 0 | Intel
Input Pos | Signed Int | 32 | 1 | 0 | Intel
Vel FF | Signed Int | 16 | 0.1 | 0 | Intel
Current FF | Signed Int | 16 | 0.01 | 0 | Intel
Vel Setpoint | Signed Int | 32 | 0.01 | 0 | Intel
Current Setpoint | Signed Int | 32 | 0.01 | 0 | Intel
Input Vel | Signed Int | 32 | 0.01 | 0 | Intel
Input Current | Signed Int | 32 | 0.01 | 0 | Intel
Velocity Limit | IEEE 754 Float | 32 | 1 | 0 | Intel
Traj Vel Limit | IEEE 754 Float | 32 | 1 | 0 | Intel
Traj Accel Limit | IEEE 754 Float | 32 | 1 | 0 | Intel