mirror of
https://github.com/odriverobotics/ODrive.git
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PAJohnson
b0700ef371
Fixed naming, docs, and test for CAN protocol - set trap traj a per css is now set trap traj inertia
84 lines
3.4 KiB
C++
84 lines
3.4 KiB
C++
#ifndef __CAN_SIMPLE_HPP_
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#define __CAN_SIMPLE_HPP_
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#include "interface_can.hpp"
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class CANSimple {
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public:
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enum {
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MSG_CO_NMT_CTRL = 0x000, // CANOpen NMT Message REC
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MSG_ODRIVE_HEARTBEAT,
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MSG_ODRIVE_ESTOP,
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MSG_GET_MOTOR_ERROR, // Errors
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MSG_GET_ENCODER_ERROR,
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MSG_GET_SENSORLESS_ERROR,
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MSG_SET_AXIS_NODE_ID,
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MSG_SET_AXIS_REQUESTED_STATE,
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MSG_SET_AXIS_STARTUP_CONFIG,
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MSG_GET_ENCODER_ESTIMATES,
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MSG_GET_ENCODER_COUNT,
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MSG_SET_CONTROLLER_MODES,
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MSG_SET_INPUT_POS,
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MSG_SET_INPUT_VEL,
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MSG_SET_INPUT_TORQUE,
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MSG_SET_VEL_LIMIT,
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MSG_START_ANTICOGGING,
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MSG_SET_TRAJ_VEL_LIMIT,
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MSG_SET_TRAJ_ACCEL_LIMITS,
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MSG_SET_TRAJ_INERTIA,
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MSG_GET_IQ,
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MSG_GET_SENSORLESS_ESTIMATES,
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MSG_RESET_ODRIVE,
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MSG_GET_VBUS_VOLTAGE,
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MSG_CLEAR_ERRORS,
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MSG_CO_HEARTBEAT_CMD = 0x700, // CANOpen NMT Heartbeat SEND
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};
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static void handle_can_message(can_Message_t& msg);
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static void send_heartbeat(Axis* axis);
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private:
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static void nmt_callback(Axis* axis, can_Message_t& msg);
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static void estop_callback(Axis* axis, can_Message_t& msg);
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static void get_motor_error_callback(Axis* axis, can_Message_t& msg);
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static void get_encoder_error_callback(Axis* axis, can_Message_t& msg);
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static void get_controller_error_callback(Axis* axis, can_Message_t& msg);
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static void get_sensorless_error_callback(Axis* axis, can_Message_t& msg);
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static void set_axis_nodeid_callback(Axis* axis, can_Message_t& msg);
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static void set_axis_requested_state_callback(Axis* axis, can_Message_t& msg);
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static void set_axis_startup_config_callback(Axis* axis, can_Message_t& msg);
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static void get_encoder_estimates_callback(Axis* axis, can_Message_t& msg);
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static void get_encoder_count_callback(Axis* axis, can_Message_t& msg);
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static void set_input_pos_callback(Axis* axis, can_Message_t& msg);
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static void set_input_vel_callback(Axis* axis, can_Message_t& msg);
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static void set_input_torque_callback(Axis* axis, can_Message_t& msg);
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static void set_controller_modes_callback(Axis* axis, can_Message_t& msg);
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static void set_vel_limit_callback(Axis* axis, can_Message_t& msg);
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static void start_anticogging_callback(Axis* axis, can_Message_t& msg);
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static void set_traj_vel_limit_callback(Axis* axis, can_Message_t& msg);
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static void set_traj_accel_limits_callback(Axis* axis, can_Message_t& msg);
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static void set_traj_inertia_callback(Axis* axis, can_Message_t& msg);
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static void get_iq_callback(Axis* axis, can_Message_t& msg);
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static void get_sensorless_estimates_callback(Axis* axis, can_Message_t& msg);
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static void get_vbus_voltage_callback(Axis* axis, can_Message_t& msg);
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static void clear_errors_callback(Axis* axis, can_Message_t& msg);
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// Utility functions
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static uint32_t get_node_id(uint32_t msgID);
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static uint8_t get_cmd_id(uint32_t msgID);
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// Fetch a specific signal from the message
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// This functional way of handling the messages is neat and is much cleaner from
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// a data security point of view, but it will require some tweaking
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//
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// const std::map<uint32_t, std::function<void(can_Message_t&)>> callback_map = {
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// {0x000, std::bind(&CANSimple::heartbeat_callback, this, _1)}
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// };
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};
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#endif |