mirror of
https://github.com/odriverobotics/ODrive.git
synced 2025-12-16 05:54:12 +08:00
Add value tables and units to every signal in .dbc
This commit is contained in:
Paul Guenette
@@ -8,17 +8,19 @@
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* When using a load encoder, homing will reset the correct linear position. Fixes [#651](https://github.com/odriverobotics/ODrive/issues/651)
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* Implemented CAN controller error message, which was previously defined but not actually implemented.
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* Get Vbus Voltage message updated to match ODrive Pro's CANSimple implementation.
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* vel_setpoint and torque_setpoint will be clamped to vel_limit and the active torque limit. Fixes [#647](https://github.com/odriverobotics/ODrive/issues/647)
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* `vel_setpoint` and `torque_setpoint` will be clamped to `vel_limit` and the active torque limit. Fixes [#647](https://github.com/odriverobotics/ODrive/issues/647)
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### Added
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* Added public `controller.get_anticogging_value(uint32)` fibre function to index into the the cogging map. Fixes [#690](https://github.com/odriverobotics/ODrive/issues/690)
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* Added Get ADC Voltage message to CAN (0x1C). Send the desired GPIO number in byte 1, and the ODrive will respond with the ADC voltage from that pin (if previously configured for analog)
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* Added CAN heartbeat message flags for motor, controller, and encoder error. If flag is true, fetch the corresponding error with the respective message.
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* Added scoped enums, e.g. `CONTROL_MODE_POSITION_CONTROL` can be used as `ControlMode.POSITION_CONTROL`
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### Changed
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* Improved can_generate_dbc.py file and resultant .dbc. Now supports 8 ODrive axes (0..7) natively
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* Add units and value tables to every signal in odrive-cansimple.dbc
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* Autogenerate odrive-cansimple.dbc on compile
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## [0.5.5] - 2022-08-11
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@@ -33,6 +33,7 @@ all:
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@tup --quiet -no-environ-check
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@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/enums_template.j2 --output ../tools/odrive/enums.py
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@$(PY_CMD) interface_generator_stub.py --definitions odrive-interface.yaml --template ../tools/arduino_enums_template.j2 --output ../Arduino/ODriveArduino/ODriveEnums.h
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@cd ../tools/ && $(PY_CMD) create_can_dbc.py
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# Copy libfibre files to odrivetool if they were built
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@ ! test -f "fibre-cpp/build/libfibre-linux-amd64.so" || cp fibre-cpp/build/libfibre-linux-amd64.so ../tools/odrive/pyfibre/fibre/
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@@ -1,4 +1,5 @@
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from cantools.database import *
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from odrive.enums import *
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msgList = []
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nodes = [can.Node('Master')]
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@@ -11,11 +12,11 @@ for axisID in range(0, 8):
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# 0x00 - NMT Message (Reserved)
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# 0x001 - Heartbeat
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axisError = can.Signal("Axis_Error", 0, 32, receivers=['Master'])
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axisState = can.Signal("Axis_State", 32, 8, receivers=['Master'])
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axisError = can.Signal("Axis_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in AxisError})
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axisState = can.Signal("Axis_State", 32, 8, receivers=['Master'], choices={state.value: state.name for state in AxisState})
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motorErrorFlag = can.Signal("Motor_Error_Flag", 40, 1, receivers=['Master'])
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encoderErrorFlag = can.Signal("encoder_Error_Flag", 48, 1, receivers=['Master'])
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controllerErrorFlag = can.Signal("controller_Error_Flag", 56, 1, receivers=['Master'])
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encoderErrorFlag = can.Signal("Encoder_Error_Flag", 48, 1, receivers=['Master'])
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controllerErrorFlag = can.Signal("Controller_Error_Flag", 56, 1, receivers=['Master'])
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trajectoryDoneFlag = can.Signal("Trajectory_Done_Flag", 63, 1, receivers=['Master'])
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heartbeatMsg = can.Message(
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@@ -34,17 +35,17 @@ for axisID in range(0, 8):
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estopMsg = can.Message(0x002, "Estop", 0, [], senders=['Master'])
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# 0x003 - Motor Error
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motorError = can.Signal("Motor_Error", 0, 32, receivers=['Master'])
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motorError = can.Signal("Motor_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in MotorError})
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motorErrorMsg = can.Message(0x003, "Get_Motor_Error", 8, [motorError], senders=[newNode.name])
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# 0x004 - Encoder Error
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encoderError = can.Signal("Encoder_Error", 0, 32, receivers=['Master'])
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encoderError = can.Signal("Encoder_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in EncoderError})
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encoderErrorMsg = can.Message(
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0x004, "Get_Encoder_Error", 8, [encoderError], senders=[newNode.name]
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)
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# 0x005 - Sensorless Error
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sensorlessError = can.Signal("Sensorless_Error", 0, 32, receivers=['Master'])
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sensorlessError = can.Signal("Sensorless_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in SensorlessEstimatorError})
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sensorlessErrorMsg = can.Message(
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0x005, "Get_Sensorless_Error", 8, [sensorlessError], senders=[newNode.name]
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)
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@@ -54,7 +55,7 @@ for axisID in range(0, 8):
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axisNodeMsg = can.Message(0x006, "Set_Axis_Node_ID", 8, [axisNodeID], senders=['Master'])
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# 0x007 - Requested State
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axisRequestedState = can.Signal("Axis_Requested_State", 0, 32, receivers=[newNode.name])
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axisRequestedState = can.Signal("Axis_Requested_State", 0, 32, receivers=[newNode.name], choices={state.value: state.name for state in AxisState})
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setAxisState = can.Message(
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0x007, "Set_Axis_State", 8, [axisRequestedState], senders=['Master']
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)
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@@ -62,52 +63,50 @@ for axisID in range(0, 8):
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# 0x008 - Startup Config (Reserved)
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# 0x009 - Encoder Estimates
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encoderPosEstimate = can.Signal("Pos_Estimate", 0, 32, is_float=True, receivers=['Master'])
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encoderVelEstimate = can.Signal("Vel_Estimate", 32, 32, is_float=True, receivers=['Master'])
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encoderPosEstimate = can.Signal("Pos_Estimate", 0, 32, is_float=True, receivers=['Master'], unit='rev')
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encoderVelEstimate = can.Signal("Vel_Estimate", 32, 32, is_float=True, receivers=['Master'], unit='rev/s')
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encoderEstimates = can.Message(
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0x009, "Get_Encoder_Estimates", 8, [encoderPosEstimate, encoderVelEstimate], senders=[newNode.name], send_type='cyclic', cycle_time=10
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)
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# 0x00A - Get Encoder Count
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encoderShadowCount = can.Signal("Shadow_Count", 0, 32, receivers=['Master'])
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encoderCountInCPR = can.Signal("Count_in_CPR", 32, 32, receivers=['Master'])
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encoderShadowCount = can.Signal("Shadow_Count", 0, 32, receivers=['Master'], unit='counts')
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encoderCountInCPR = can.Signal("Count_in_CPR", 32, 32, receivers=['Master'], unit='counts')
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encoderCountMsg = can.Message(
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0x00A, "Get_Encoder_Count", 8, [encoderShadowCount, encoderCountInCPR], senders=[newNode.name]
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)
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# 0x00B - Set Controller Modes
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controlMode = can.Signal("Control_Mode", 0, 32, receivers=[newNode.name])
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inputMode = can.Signal("Input_Mode", 32, 32, receivers=[newNode.name])
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controlMode = can.Signal("Control_Mode", 0, 32, receivers=[newNode.name], choices={state.value: state.name for state in ControlMode})
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inputMode = can.Signal("Input_Mode", 32, 32, receivers=[newNode.name], choices={state.value: state.name for state in InputMode})
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setControllerModeMsg = can.Message(
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0x00B, "Set_Controller_Mode", 8, [controlMode, inputMode], senders=['Master']
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)
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# 0x00C - Set Input Pos
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inputPos = can.Signal("Input_Pos", 0, 32, is_float=True, receivers=[newNode.name])
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velFF = can.Signal("Vel_FF", 32, 16, is_signed=True, scale=0.001, receivers=[newNode.name])
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torqueFF = can.Signal(
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"Torque_FF", 48, 16, is_signed=True, scale=0.001, receivers=[newNode.name]
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)
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inputPos = can.Signal("Input_Pos", 0, 32, is_float=True, receivers=[newNode.name], unit='rev')
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velFF = can.Signal("Vel_FF", 32, 16, is_signed=True, scale=0.001, receivers=[newNode.name], unit='rev/s')
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torqueFF = can.Signal("Torque_FF", 48, 16, is_signed=True, scale=0.001, receivers=[newNode.name], unit='Nm')
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setInputPosMsg = can.Message(
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0x00C, "Set_Input_Pos", 8, [inputPos, velFF, torqueFF], senders=['Master']
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)
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# 0x00D - Set Input Vel
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inputVel = can.Signal("Input_Vel", 0, 32, is_float=True, receivers=[newNode.name])
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inputTorqueFF = can.Signal("Input_Torque_FF", 32, 32, is_float=True, receivers=[newNode.name])
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inputVel = can.Signal("Input_Vel", 0, 32, is_float=True, receivers=[newNode.name], unit='rev')
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inputTorqueFF = can.Signal("Input_Torque_FF", 32, 32, is_float=True, receivers=[newNode.name], unit='rev/s')
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setInputVelMsg = can.Message(
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0x00D, "Set_Input_Vel", 8, [inputVel, inputTorqueFF], senders=['Master']
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)
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# 0x00E - Set Input Torque
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inputTorque = can.Signal("Input_Torque", 0, 32, is_float=True, receivers=[newNode.name])
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inputTorque = can.Signal("Input_Torque", 0, 32, is_float=True, receivers=[newNode.name], unit='Nm')
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setInputTqMsg = can.Message(
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0x00E, "Set_Input_Torque", 8, [inputTorque], senders=['Master']
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)
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# 0x00F - Set Velocity Limit
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velLimit = can.Signal("Velocity_Limit", 0, 32, is_float=True, receivers=[newNode.name])
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currentLimit = can.Signal("Current_Limit", 32, 32, is_float=True, receivers=[newNode.name])
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velLimit = can.Signal("Velocity_Limit", 0, 32, is_float=True, receivers=[newNode.name], unit='rev/s')
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currentLimit = can.Signal("Current_Limit", 32, 32, is_float=True, receivers=[newNode.name], unit='A')
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setVelLimMsg = can.Message(
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0x00F, "Set_Limits", 8, [velLimit, currentLimit], senders=['Master']
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)
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@@ -116,70 +115,64 @@ for axisID in range(0, 8):
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startAnticoggingMsg = can.Message(0x010, "Start_Anticogging", 0, [], senders=['Master'])
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# 0x011 - Set Traj Vel Limit
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trajVelLim = can.Signal("Traj_Vel_Limit", 0, 32, is_float=True, receivers=[newNode.name])
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trajVelLim = can.Signal("Traj_Vel_Limit", 0, 32, is_float=True, receivers=[newNode.name], unit='rev/s')
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setTrajVelMsg = can.Message(
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0x011, "Set_Traj_Vel_Limit", 8, [trajVelLim], senders=['Master']
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)
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# 0x012 - Set Traj Accel Limits
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trajAccelLim = can.Signal("Traj_Accel_Limit", 0, 32, is_float=True, receivers=[newNode.name])
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trajDecelLim = can.Signal("Traj_Decel_Limit", 32, 32, is_float=True, receivers=[newNode.name])
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trajAccelLim = can.Signal("Traj_Accel_Limit", 0, 32, is_float=True, receivers=[newNode.name], unit='rev/s^2')
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trajDecelLim = can.Signal("Traj_Decel_Limit", 32, 32, is_float=True, receivers=[newNode.name], unit='rev/s^2')
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setTrajAccelMsg = can.Message(
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0x012, "Set_Traj_Accel_Limits", 8, [trajAccelLim, trajDecelLim], senders=['Master']
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)
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# 0x013 - Set Traj Inertia
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trajInertia = can.Signal("Traj_Inertia", 0, 32, is_float=True, receivers=[newNode.name])
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trajInertia = can.Signal("Traj_Inertia", 0, 32, is_float=True, receivers=[newNode.name], unit='Nm / (rev/s^2)')
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trajInertiaMsg = can.Message(
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0x013, "Set_Traj_Inertia", 8, [trajInertia], senders=['Master']
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)
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# 0x014 - Get Iq
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iqSetpoint = can.Signal("Iq_Setpoint", 0, 32, is_float=True, receivers=['Master'])
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iqMeasured = can.Signal("Iq_Measured", 32, 32, is_float=True, receivers=['Master'])
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iqSetpoint = can.Signal("Iq_Setpoint", 0, 32, is_float=True, receivers=['Master'], unit='A')
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iqMeasured = can.Signal("Iq_Measured", 32, 32, is_float=True, receivers=['Master'], unit='A')
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getIqMsg = can.Message(0x014, "Get_Iq", 8, [iqSetpoint, iqMeasured], senders=[newNode.name])
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# 0x015 - Get Sensorless Estimates
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sensorlessPosEstimate = can.Signal(
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"Sensorless_Pos_Estimate", 0, 32, is_float=True, receivers=['Master']
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)
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sensorlessVelEstimate = can.Signal(
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"Sensorless_Vel_Estimate", 32, 32, is_float=True, receivers=['Master']
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)
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getSensorlessEstMsg = can.Message(
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0x015, "Get_Sensorless_Estimates", 8, [sensorlessPosEstimate, sensorlessVelEstimate], senders=[newNode.name]
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)
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sensorlessPosEstimate = can.Signal("Sensorless_Pos_Estimate", 0, 32, is_float=True, receivers=['Master'], unit='rev')
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sensorlessVelEstimate = can.Signal("Sensorless_Vel_Estimate", 32, 32, is_float=True, receivers=['Master'], unit='rev/s')
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getSensorlessEstMsg = can.Message(0x015, "Get_Sensorless_Estimates", 8, [sensorlessPosEstimate, sensorlessVelEstimate], senders=[newNode.name])
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# 0x016 - Reboot ODrive
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rebootMsg = can.Message(0x016, "Reboot", 0, [], senders=['Master'])
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# 0x017 - Get vbus Voltage and Current
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busVoltage = can.Signal("Bus_Voltage", 0, 32, is_float=True, receivers=['Master'])
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busCurrent = can.Signal("Bus_Current", 32, 32, is_float=True, receivers=['Master'])
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busVoltage = can.Signal("Bus_Voltage", 0, 32, is_float=True, receivers=['Master'], unit='V')
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busCurrent = can.Signal("Bus_Current", 32, 32, is_float=True, receivers=['Master'], unit='A')
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getVbusVCMsg = can.Message(0x017, "Get_Bus_Voltage_Current", 8, [busVoltage, busCurrent], senders=[newNode.name])
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# 0x018 - Clear Errors
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clearErrorsMsg = can.Message(0x018, "Clear_Errors", 0, [], senders=['Master'])
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# 0x019 - Set Linear Count
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position = can.Signal("Position", 0, 32, is_signed=True, receivers=[newNode.name])
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position = can.Signal("Position", 0, 32, is_signed=True, receivers=[newNode.name], unit='counts')
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setLinearCountMsg = can.Message(0x019, "Set_Linear_Count", 8, [position], senders=['Master'])
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# 0x01A - Set Pos gain
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posGain = can.Signal("Pos_Gain", 0, 32, is_float=True, receivers=[newNode.name])
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posGain = can.Signal("Pos_Gain", 0, 32, is_float=True, receivers=[newNode.name], unit='(rev/s) / rev')
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setPosGainMsg = can.Message(0x01A, "Set_Pos_Gain", 8, [posGain], senders=['Master'])
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# 0x01B - Set Vel Gains
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velGain = can.Signal("Vel_Gain", 0, 32, is_float=True, receivers=[newNode.name])
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velIntGain = can.Signal("Vel_Integrator_Gain", 32, 32, is_float=True, receivers=[newNode.name])
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velGain = can.Signal("Vel_Gain", 0, 32, is_float=True, receivers=[newNode.name], unit='Nm / (rev/s)')
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velIntGain = can.Signal("Vel_Integrator_Gain", 32, 32, is_float=True, receivers=[newNode.name], unit='(Nm / (rev/s)) / s')
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setVelGainsMsg = can.Message(0x01B, "Set_Vel_Gains", 8, [velGain, velIntGain], senders=['Master'])
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# 0x01C - Get ADC Voltage
|
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adcVoltage = can.Signal("ADC_Voltage", 0, 32, is_float=True, receivers=['Master'])
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adcVoltage = can.Signal("ADC_Voltage", 0, 32, is_float=True, receivers=['Master'], unit='V')
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getADCVoltageMsg = can.Message(0x01C, "Get_ADC_Voltage", 8, [adcVoltage], senders=[newNode.name])
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# 0x01D - Controller Error
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controllerError = can.Signal("Controller_Error", 0, 32, receivers=['Master'])
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controllerError = can.Signal("Controller_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in ControllerError})
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controllerErrorMsg = can.Message(
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0x01D, "Get_Controller_Error", 8, [controllerError], senders=[newNode.name]
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)
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@@ -232,7 +225,7 @@ for axisID in range(0, 8):
|
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from itertools import chain
|
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msgList = list(chain.from_iterable(msgList))
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|
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db = can.Database(msgList, nodes, buses, version='0.5.5')
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db = can.Database(msgList, nodes, buses, version='0.5.6')
|
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|
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dump_file(db, "odrive-cansimple.dbc")
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db = load_file("odrive-cansimple.dbc")
|
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|
||||
@@ -3,6 +3,8 @@
|
||||
# To regenerate this file, nagivate to the top level of the ODrive repository and run:
|
||||
# python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template tools/enums_template.j2 --output tools/odrive/enums.py
|
||||
|
||||
import enum
|
||||
|
||||
[%- for _, enum in value_types.items() %]
|
||||
[%- if enum.is_enum %]
|
||||
|
||||
@@ -13,3 +15,11 @@
|
||||
[%- endif %]
|
||||
[%- endfor %]
|
||||
|
||||
[%- for _, enum in value_types.items() %]
|
||||
[%- if enum.is_enum %]
|
||||
class [[(enum.parent.name if enum.name in ['Error', 'Mode', 'Protocol'] else '') + enum.name]][% if enum.is_flags %](enum.IntFlag)[% else %](enum.Enum)[% endif %]:
|
||||
[%- for k, value in enum['values'].items() %]
|
||||
[[((k | to_macro_case)).ljust(40)]] = [% if enum.is_flags %]0x[['%08x' | format(value.value)]][% else %][[value.value]][% endif %]
|
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[%- endfor %]
|
||||
[%- endif %]
|
||||
[%- endfor %]
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -3,6 +3,8 @@
|
||||
# To regenerate this file, nagivate to the top level of the ODrive repository and run:
|
||||
# python Firmware/interface_generator_stub.py --definitions Firmware/odrive-interface.yaml --template tools/enums_template.j2 --output tools/odrive/enums.py
|
||||
|
||||
import enum
|
||||
|
||||
# ODrive.GpioMode
|
||||
GPIO_MODE_DIGITAL = 0
|
||||
GPIO_MODE_DIGITAL_PULL_UP = 1
|
||||
@@ -165,3 +167,151 @@ ENCODER_ERROR_HALL_NOT_CALIBRATED_YET = 0x00000200
|
||||
SENSORLESS_ESTIMATOR_ERROR_NONE = 0x00000000
|
||||
SENSORLESS_ESTIMATOR_ERROR_UNSTABLE_GAIN = 0x00000001
|
||||
SENSORLESS_ESTIMATOR_ERROR_UNKNOWN_CURRENT_MEASUREMENT = 0x00000002
|
||||
class GpioMode(enum.Enum):
|
||||
DIGITAL = 0
|
||||
DIGITAL_PULL_UP = 1
|
||||
DIGITAL_PULL_DOWN = 2
|
||||
ANALOG_IN = 3
|
||||
UART_A = 4
|
||||
UART_B = 5
|
||||
UART_C = 6
|
||||
CAN_A = 7
|
||||
I2C_A = 8
|
||||
SPI_A = 9
|
||||
PWM = 10
|
||||
ENC0 = 11
|
||||
ENC1 = 12
|
||||
ENC2 = 13
|
||||
MECH_BRAKE = 14
|
||||
STATUS = 15
|
||||
class StreamProtocolType(enum.Enum):
|
||||
FIBRE = 0
|
||||
ASCII = 1
|
||||
STDOUT = 2
|
||||
ASCII_AND_STDOUT = 3
|
||||
class CanProtocol(enum.IntFlag):
|
||||
SIMPLE = 0x00000001
|
||||
class AxisState(enum.Enum):
|
||||
UNDEFINED = 0
|
||||
IDLE = 1
|
||||
STARTUP_SEQUENCE = 2
|
||||
FULL_CALIBRATION_SEQUENCE = 3
|
||||
MOTOR_CALIBRATION = 4
|
||||
ENCODER_INDEX_SEARCH = 6
|
||||
ENCODER_OFFSET_CALIBRATION = 7
|
||||
CLOSED_LOOP_CONTROL = 8
|
||||
LOCKIN_SPIN = 9
|
||||
ENCODER_DIR_FIND = 10
|
||||
HOMING = 11
|
||||
ENCODER_HALL_POLARITY_CALIBRATION = 12
|
||||
ENCODER_HALL_PHASE_CALIBRATION = 13
|
||||
class EncoderMode(enum.Enum):
|
||||
INCREMENTAL = 0
|
||||
HALL = 1
|
||||
SINCOS = 2
|
||||
SPI_ABS_CUI = 256
|
||||
SPI_ABS_AMS = 257
|
||||
SPI_ABS_AEAT = 258
|
||||
SPI_ABS_RLS = 259
|
||||
SPI_ABS_MA732 = 260
|
||||
class ControlMode(enum.Enum):
|
||||
VOLTAGE_CONTROL = 0
|
||||
TORQUE_CONTROL = 1
|
||||
VELOCITY_CONTROL = 2
|
||||
POSITION_CONTROL = 3
|
||||
class InputMode(enum.Enum):
|
||||
INACTIVE = 0
|
||||
PASSTHROUGH = 1
|
||||
VEL_RAMP = 2
|
||||
POS_FILTER = 3
|
||||
MIX_CHANNELS = 4
|
||||
TRAP_TRAJ = 5
|
||||
TORQUE_RAMP = 6
|
||||
MIRROR = 7
|
||||
TUNING = 8
|
||||
class MotorType(enum.Enum):
|
||||
HIGH_CURRENT = 0
|
||||
GIMBAL = 2
|
||||
ACIM = 3
|
||||
class ODriveError(enum.IntFlag):
|
||||
NONE = 0x00000000
|
||||
CONTROL_ITERATION_MISSED = 0x00000001
|
||||
DC_BUS_UNDER_VOLTAGE = 0x00000002
|
||||
DC_BUS_OVER_VOLTAGE = 0x00000004
|
||||
DC_BUS_OVER_REGEN_CURRENT = 0x00000008
|
||||
DC_BUS_OVER_CURRENT = 0x00000010
|
||||
BRAKE_DEADTIME_VIOLATION = 0x00000020
|
||||
BRAKE_DUTY_CYCLE_NAN = 0x00000040
|
||||
INVALID_BRAKE_RESISTANCE = 0x00000080
|
||||
class CanError(enum.IntFlag):
|
||||
NONE = 0x00000000
|
||||
DUPLICATE_CAN_IDS = 0x00000001
|
||||
class AxisError(enum.IntFlag):
|
||||
NONE = 0x00000000
|
||||
INVALID_STATE = 0x00000001
|
||||
MOTOR_FAILED = 0x00000040
|
||||
SENSORLESS_ESTIMATOR_FAILED = 0x00000080
|
||||
ENCODER_FAILED = 0x00000100
|
||||
CONTROLLER_FAILED = 0x00000200
|
||||
WATCHDOG_TIMER_EXPIRED = 0x00000800
|
||||
MIN_ENDSTOP_PRESSED = 0x00001000
|
||||
MAX_ENDSTOP_PRESSED = 0x00002000
|
||||
ESTOP_REQUESTED = 0x00004000
|
||||
HOMING_WITHOUT_ENDSTOP = 0x00020000
|
||||
OVER_TEMP = 0x00040000
|
||||
UNKNOWN_POSITION = 0x00080000
|
||||
class MotorError(enum.IntFlag):
|
||||
NONE = 0x00000000
|
||||
PHASE_RESISTANCE_OUT_OF_RANGE = 0x00000001
|
||||
PHASE_INDUCTANCE_OUT_OF_RANGE = 0x00000002
|
||||
DRV_FAULT = 0x00000008
|
||||
CONTROL_DEADLINE_MISSED = 0x00000010
|
||||
MODULATION_MAGNITUDE = 0x00000080
|
||||
CURRENT_SENSE_SATURATION = 0x00000400
|
||||
CURRENT_LIMIT_VIOLATION = 0x00001000
|
||||
MODULATION_IS_NAN = 0x00010000
|
||||
MOTOR_THERMISTOR_OVER_TEMP = 0x00020000
|
||||
FET_THERMISTOR_OVER_TEMP = 0x00040000
|
||||
TIMER_UPDATE_MISSED = 0x00080000
|
||||
CURRENT_MEASUREMENT_UNAVAILABLE = 0x00100000
|
||||
CONTROLLER_FAILED = 0x00200000
|
||||
I_BUS_OUT_OF_RANGE = 0x00400000
|
||||
BRAKE_RESISTOR_DISARMED = 0x00800000
|
||||
SYSTEM_LEVEL = 0x01000000
|
||||
BAD_TIMING = 0x02000000
|
||||
UNKNOWN_PHASE_ESTIMATE = 0x04000000
|
||||
UNKNOWN_PHASE_VEL = 0x08000000
|
||||
UNKNOWN_TORQUE = 0x10000000
|
||||
UNKNOWN_CURRENT_COMMAND = 0x20000000
|
||||
UNKNOWN_CURRENT_MEASUREMENT = 0x40000000
|
||||
UNKNOWN_VBUS_VOLTAGE = 0x80000000
|
||||
UNKNOWN_VOLTAGE_COMMAND = 0x100000000
|
||||
UNKNOWN_GAINS = 0x200000000
|
||||
CONTROLLER_INITIALIZING = 0x400000000
|
||||
UNBALANCED_PHASES = 0x800000000
|
||||
class ControllerError(enum.IntFlag):
|
||||
NONE = 0x00000000
|
||||
OVERSPEED = 0x00000001
|
||||
INVALID_INPUT_MODE = 0x00000002
|
||||
UNSTABLE_GAIN = 0x00000004
|
||||
INVALID_MIRROR_AXIS = 0x00000008
|
||||
INVALID_LOAD_ENCODER = 0x00000010
|
||||
INVALID_ESTIMATE = 0x00000020
|
||||
INVALID_CIRCULAR_RANGE = 0x00000040
|
||||
SPINOUT_DETECTED = 0x00000080
|
||||
class EncoderError(enum.IntFlag):
|
||||
NONE = 0x00000000
|
||||
UNSTABLE_GAIN = 0x00000001
|
||||
CPR_POLEPAIRS_MISMATCH = 0x00000002
|
||||
NO_RESPONSE = 0x00000004
|
||||
UNSUPPORTED_ENCODER_MODE = 0x00000008
|
||||
ILLEGAL_HALL_STATE = 0x00000010
|
||||
INDEX_NOT_FOUND_YET = 0x00000020
|
||||
ABS_SPI_TIMEOUT = 0x00000040
|
||||
ABS_SPI_COM_FAIL = 0x00000080
|
||||
ABS_SPI_NOT_READY = 0x00000100
|
||||
HALL_NOT_CALIBRATED_YET = 0x00000200
|
||||
class SensorlessEstimatorError(enum.IntFlag):
|
||||
NONE = 0x00000000
|
||||
UNSTABLE_GAIN = 0x00000001
|
||||
UNKNOWN_CURRENT_MEASUREMENT = 0x00000002
|
||||
Reference in New Issue
Block a user