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Allow setting controller gains on CAN Simple

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This commit is contained in:
Paul Guenette
2021-09-23 00:09:44 -04:00
parent a137541404
commit 965c0a14e6
2 changed files with 32 additions and 13 deletions
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Firmware/communication/can/can_simple.cpp
+28 -13
View File
@@ -22,8 +22,7 @@ bool CANSimple::renew_subscription(size_t i) {
MsgIdFilterSpecs filter = {
.id = {},
.mask = (uint32_t)(0xffffffff << NUM_CMD_ID_BITS)
};
.mask = (uint32_t)(0xffffffff << NUM_CMD_ID_BITS)};
if (axis.config_.can.is_extended) {
filter.id = (uint32_t)(axis.config_.can.node_id << NUM_CMD_ID_BITS);
} else {
@@ -34,9 +33,11 @@ bool CANSimple::renew_subscription(size_t i) {
canbus_->unsubscribe(subscription_handles_[i]);
}
return canbus_->subscribe(filter, [](void* ctx, const can_Message_t& msg) {
((CANSimple*)ctx)->handle_can_message(msg);
}, this, &subscription_handles_[i]);
return canbus_->subscribe(
filter, [](void* ctx, const can_Message_t& msg) {
((CANSimple*)ctx)->handle_can_message(msg);
},
this, &subscription_handles_[i]);
}
void CANSimple::handle_can_message(const can_Message_t& msg) {
@@ -144,6 +145,12 @@ void CANSimple::do_command(Axis& axis, const can_Message_t& msg) {
case MSG_SET_LINEAR_COUNT:
set_linear_count_callback(axis, msg);
break;
case MSG_SET_POS_GAIN:
set_pos_gain_callback(axis, msg);
break;
case MSG_SET_VEL_GAINS:
set_vel_gains_callback(axis, msg);
break;
default:
break;
}
@@ -288,10 +295,19 @@ void CANSimple::set_traj_inertia_callback(Axis& axis, const can_Message_t& msg)
axis.controller_.config_.inertia = can_getSignal<float>(msg, 0, 32, true);
}
void CANSimple::set_linear_count_callback(Axis& axis, const can_Message_t& msg){
void CANSimple::set_linear_count_callback(Axis& axis, const can_Message_t& msg) {
axis.encoder_.set_linear_count(can_getSignal<int32_t>(msg, 0, 32, true));
}
void CANSimple::set_pos_gain_callback(Axis& axis, const can_Message_t& msg) {
axis.controller_.config_.pos_gain = can_getSignal<float>(msg, 0, 32, true);
}
void CANSimple::set_vel_gains_callback(Axis& axis, const can_Message_t& msg) {
axis.controller_.config_.vel_gain = can_getSignal<float>(msg, 0, 32, true);
axis.controller_.config_.vel_integrator_gain = can_getSignal<float>(msg, 32, 32, true);
}
bool CANSimple::get_iq_callback(const Axis& axis) {
can_Message_t txmsg;
txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS;
@@ -303,7 +319,7 @@ bool CANSimple::get_iq_callback(const Axis& axis) {
if (!Idq_setpoint.has_value()) {
Idq_setpoint = {0.0f, 0.0f};
}
static_assert(sizeof(float) == sizeof(Idq_setpoint->first));
static_assert(sizeof(float) == sizeof(Idq_setpoint->second));
can_setSignal<float>(txmsg, Idq_setpoint->first, 0, 32, true);
@@ -328,7 +344,7 @@ bool CANSimple::get_vbus_voltage_callback(const Axis& axis) {
}
void CANSimple::clear_errors_callback(Axis& axis, const can_Message_t& msg) {
odrv.clear_errors(); // TODO: might want to clear axis errors only
odrv.clear_errors(); // TODO: might want to clear axis errors only
}
uint32_t CANSimple::service_stack() {
@@ -337,14 +353,13 @@ uint32_t CANSimple::service_stack() {
// TODO: remove this polling loop and replace with protocol hook
for (size_t i = 0; i < AXIS_COUNT; ++i) {
bool node_id_changed = (axes[i].config_.can.node_id != node_ids_[i])
|| (axes[i].config_.can.is_extended != extended_node_ids_[i]);
bool node_id_changed = (axes[i].config_.can.node_id != node_ids_[i]) || (axes[i].config_.can.is_extended != extended_node_ids_[i]);
if (node_id_changed) {
renew_subscription(i);
}
}
for (auto& a: axes) {
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) {
@@ -382,10 +397,10 @@ bool CANSimple::send_heartbeat(const Axis& axis) {
can_setSignal(txmsg, uint8_t(axis.current_state_), 32, 8, true);
// Motor flags
uint8_t motorFlags = 0; // reserved
uint8_t motorFlags = 0; // reserved
// Encoder flags
uint8_t encoderFlags = 0; // reserved
uint8_t encoderFlags = 0; // reserved
// Controller flags
uint8_t controllerFlags = 0;
Firmware/communication/can/can_simple.hpp
+4
View File
@@ -33,6 +33,8 @@ class CANSimple {
MSG_GET_VBUS_VOLTAGE,
MSG_CLEAR_ERRORS,
MSG_SET_LINEAR_COUNT,
MSG_SET_POS_GAIN,
MSG_SET_VEL_GAINS,
MSG_CO_HEARTBEAT_CMD = 0x700, // CANOpen NMT Heartbeat SEND
};
@@ -74,6 +76,8 @@ class CANSimple {
static void set_traj_accel_limits_callback(Axis& axis, const can_Message_t& msg);
static void set_traj_inertia_callback(Axis& axis, const can_Message_t& msg);
static void set_linear_count_callback(Axis& axis, const can_Message_t& msg);
static void set_pos_gain_callback(Axis& axis, const can_Message_t& msg);
static void set_vel_gains_callback(Axis& axis, const can_Message_t& msg);
// Other functions
static void nmt_callback(const Axis& axis, const can_Message_t& msg);