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Malaphor
2022-08-30 17:12:49 -07:00
parent 73b15f2fe6
commit 398ee3d81d
4 changed files with 10 additions and 1 deletions
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2
docs/analog-input.rst
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@@ -10,3 +10,5 @@ To read the voltage on GPIO1 in odrivetool the following would be entered: :code
Similar to RC PWM input, analog inputs can also be used to feed any of the numerical properties that are visible in :code:`odrivetool`.
This is done by configuring :code:`odrv0.config.gpio3_analog_mapping` and :code:`odrv0.config.gpio4_analog_mapping`.
Refer to :ref:`RC PWM <rc-pwm-doc>` for instructions on how to configure the mappings.
You may also retrieve voltage measurements from analog inputs via the CAN protocol by sending the Get ADC Voltage message with the GPIO number of the analog input you wish to read. Refer to :ref: `CAN Protocol <can-protocol-doc>` for guidance on how to use the CAN Protocol.

1
docs/can-protocol.rst
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@@ -74,6 +74,7 @@ All multibyte values are little endian (aka Intel format, aka least significant
* 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.
* These CANOpen messages are reserved to avoid bus collisions with CANOpen devices. They are not used by CAN Simple.
* These messages can be sent to either address on a given ODrive board.
* You must send a valid GPIO pin number in the first byte to recieve coreect ADC voltage feedback. Since you're both sending and receiving data the RTR bit must be set to false.
Cyclic Messages

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docs/figures/can-protocol.csv
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@@ -104,4 +104,5 @@ IEEE 754 Float","32
32","1
1","0
0"
0x01C,Get ADC Voltage****,Master***,ADC Voltage,0,IEEE 754 Float,32,1,0
0x700,CANOpen Heartbeat Message**,Slave,-,-,-,-,-,-
1 CMD ID Name Sender Signals Start byte Signal Type Bits Factor Offset
104
105
106
107
108

7
tools/create_can_dbc.py
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@@ -157,6 +157,10 @@ velGain = cantools.database.can.Signal("Vel_Gain", 0, 32, is_float=True)
velIntGain = cantools.database.can.Signal("Vel_Integrator_Gain", 32, 32, is_float=True)
setVelGainsMsg = cantools.database.can.Message(0x01B, "Set_Vel_gains", 8, [velGain, velIntGain])
# 0x01C - Get ADC Voltage
adcVoltage = cantools.database.can.Signal("ADC_Voltage", 0, 32, is_float=True)
getADCVoltageMsg = cantools.database.can.Message(0x01C, "Get_ADC_Voltage", 8, [adcVoltage])
db = cantools.database.can.Database(
[
heartbeatMsg,
@@ -184,7 +188,8 @@ db = cantools.database.can.Database(
clearErrorsMsg,
setLinearCountMsg,
setPosGainMsg,
setVelGainsMsg
setVelGainsMsg,
getADCVoltageMsg
]
)