Mirrors_Framework/ODrive
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Add more cyclic messages

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This commit is contained in:
Paul Guenette
2022-10-10 22:41:08 -07:00
parent 5c039a9761
commit 39d66b0fdc
3 changed files with 56 additions and 19 deletions
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16
Firmware/MotorControl/axis.hpp
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@@ -56,6 +56,14 @@ public:
bool is_extended = false;
uint32_t heartbeat_rate_ms = 100;
uint32_t encoder_rate_ms = 10;
uint32_t motor_error_rate_ms = 0;
uint32_t encoder_error_rate_ms = 0;
uint32_t controller_error_rate_ms = 0;
uint32_t sensorless_error_rate_ms = 0;
uint32_t encoder_count_rate_ms = 0;
uint32_t iq_rate_ms = 0;
uint32_t sensorless_rate_ms = 0;
uint32_t bus_vi_rate_ms = 0;
};
struct Config_t {
@@ -101,6 +109,14 @@ public:
struct CAN_t {
uint32_t last_heartbeat = 0;
uint32_t last_encoder = 0;
uint32_t last_motor_error = 0;
uint32_t last_encoder_error = 0;
uint32_t last_controller_error = 0;
uint32_t last_sensorless_error = 0;
uint32_t last_encoder_count = 0;
uint32_t last_iq = 0;
uint32_t last_sensorless = 0;
uint32_t last_bus_vi = 0;
};
Axis(int axis_num,

51
Firmware/communication/can/can_simple.cpp
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@@ -2,6 +2,7 @@
#include "can_simple.hpp"
#include <odrive_main.h>
#include <functional>
bool CANSimple::init() {
for (size_t i = 0; i < AXIS_COUNT; ++i) {
@@ -398,26 +399,38 @@ uint32_t CANSimple::service_stack() {
}
}
for (auto& a : axes) {
MEASURE_TIME(a.task_times_.can_heartbeat) {
if (a.config_.can.heartbeat_rate_ms > 0) {
if ((now - a.can_.last_heartbeat) >= a.config_.can.heartbeat_rate_ms) {
if (send_heartbeat(a))
a.can_.last_heartbeat = now;
struct periodic {
const uint32_t& rate;
uint32_t& last_time;
bool (CANSimple::* callback)(const Axis& axis);
};
for (auto& axis : axes) {
std::array<periodic, 10> periodics = {{
{axis.config_.can.heartbeat_rate_ms, axis.can_.last_heartbeat, &CANSimple::send_heartbeat},
{axis.config_.can.encoder_rate_ms, axis.can_.last_encoder, &CANSimple::get_encoder_estimates_callback},
{axis.config_.can.motor_error_rate_ms, axis.can_.last_motor_error, &CANSimple::get_motor_error_callback},
{axis.config_.can.encoder_error_rate_ms, axis.can_.last_encoder_error, &CANSimple::get_encoder_error_callback},
{axis.config_.can.controller_error_rate_ms, axis.can_.last_controller_error, &CANSimple::get_controller_error_callback},
{axis.config_.can.sensorless_error_rate_ms, axis.can_.last_sensorless_error, &CANSimple::get_sensorless_error_callback},
{axis.config_.can.encoder_count_rate_ms, axis.can_.last_encoder_count, &CANSimple::get_encoder_count_callback},
{axis.config_.can.iq_rate_ms, axis.can_.last_iq, &CANSimple::get_iq_callback},
{axis.config_.can.sensorless_rate_ms, axis.can_.last_sensorless, &CANSimple::get_sensorless_estimates_callback},
{axis.config_.can.bus_vi_rate_ms, axis.can_.last_bus_vi, &CANSimple::get_bus_voltage_current_callback},
}};
MEASURE_TIME(axis.task_times_.can_heartbeat) {
for (auto& msg : periodics) {
if (msg.rate > 0) {
if ((now - msg.last_time) >= msg.rate) {
if (std::invoke(msg.callback, this, axis)) {
msg.last_time = now;
}
}
int nextAxisService = msg.last_time + msg.rate - now;
nextServiceTime = std::min(nextServiceTime, static_cast<uint32_t>(std::max(0, nextAxisService)));
}
int nextAxisService = a.can_.last_heartbeat + a.config_.can.heartbeat_rate_ms - now;
nextServiceTime = std::min(nextServiceTime, static_cast<uint32_t>(std::max(0, nextAxisService)));
}
if (a.config_.can.encoder_rate_ms > 0) {
if ((now - a.can_.last_encoder) >= a.config_.can.encoder_rate_ms) {
if (get_encoder_estimates_callback(a))
a.can_.last_encoder = now;
}
int nextAxisService = a.can_.last_encoder + a.config_.can.encoder_rate_ms - now;
nextServiceTime = std::min(nextServiceTime, static_cast<uint32_t>(std::max(0, nextAxisService)));
}
}
}

8
Firmware/odrive-interface.yaml
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@@ -600,6 +600,14 @@ interfaces:
is_extended: bool
heartbeat_rate_ms: uint32
encoder_rate_ms: uint32
motor_error_rate_ms: uint32
encoder_error_rate_ms: uint32
controller_error_rate_ms: uint32
sensorless_error_rate_ms: uint32
encoder_count_rate_ms: uint32
iq_rate_ms: uint32
sensorless_rate_ms: uint32
bus_vi_rate_ms: uint32
ODrive.ThermistorCurrentLimiter:
c_is_class: False