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Actuator Faulhaber Update (#3358)

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* Actuator Faulhaber Update

* Fix <test>

* fix uart
This commit is contained in:
Christophe De Wagter
2024-09-25 20:46:02 +02:00
committed by GitHub
parent e63b7fda6f
commit 5369e4ab0a
3 changed files with 94 additions and 5 deletions
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conf/modules/actuators_faulhaber.xml
+4 -1
View File
@@ -13,7 +13,7 @@
<settings>
<dl_settings>
<dl_settings NAME="Faulhaber">
<dl_setting var="faulhaber.mode" min="0" step="1" max="3" shortname="mode" values="INIT|VELOCITY|ERROR" module="modules/actuators/actuators_faulhaber" handler="SetMode"/>
<dl_setting var="faulhaber.mode" min="0" step="1" max="3" shortname="mode" values="INIT|VELOCITY|ERROR|REQ_ERROR|RESET_ERROR" module="modules/actuators/actuators_faulhaber" handler="SetMode"/>
<dl_setting var="faulhaber.p_gain" min="0" step="0.001" max="1"/>
<dl_setting var="faulhaber.max_velocity" min="0" step="100" max="100000"/>
<dl_setting var="faulhaber.setpoint_position" min="0" step="1000" max="3600000"/>
@@ -40,12 +40,15 @@
<define name="$(FAULHABER_DEV_UPPER)_BAUD" value="B115200"/>
<file name="actuators_faulhaber.c"/>
<test>
<define name="USE_UART0"/>
<define name="USE_UART4"/>
<define name="PERIODIC_FREQUENCY" value="500"/>
<define name="FAULHABER_DEV" value="uart4"/>
<define name="get_servo_min_FAULHABER" value=""/>
<define name="get_servo_max_FAULHABER" value=""/>
<define name="get_servo_idx_FAULHABER" value=""/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
</test>
</makefile>
</module>
sw/airborne/modules/actuators/actuators_faulhaber.c
+87 -3
View File
@@ -39,7 +39,7 @@
/* Maximum velocity for the position controller */
#ifndef FAULHABER_MAX_VELOCITY
#define FAULHABER_MAX_VELOCITY 14000
#define FAULHABER_MAX_VELOCITY 12000
#endif
static struct uart_periph *faulhaber_dev = &(FAULHABER_DEV);
@@ -59,7 +59,7 @@ static struct faulhaber_parser_t faulhaber_p;
struct faulhaber_t faulhaber;
#define Polynom 0xD5
uint8_t faulhaber_crc8(uint8_t u8Byte, uint8_t u8CRC)
static uint8_t faulhaber_crc8(uint8_t u8Byte, uint8_t u8CRC)
{
uint8_t i;
u8CRC = u8CRC ^ u8Byte;
@@ -272,7 +272,7 @@ void actuators_faulhaber_periodic(void)
if(get_sys_time_float() - last_time < 0.01)
break;
// Set to position mode
// Set to velocity mode
static uint8_t data[] = { 0x60, 0x60, 0x00, 0x03 }; // Set 0x6060.00 to 0x03: Velocity mode
faulhaber_send_command(faulhaber_dev, 0x02, data, 4);
last_time = get_sys_time_float();
@@ -327,6 +327,67 @@ void actuators_faulhaber_periodic(void)
break;
}
}
break;
}
/* FH_MODE_REQ_ERR */
case FH_MODE_REQ_ERR: {
switch(faulhaber.state) {
case 0: {
// Request the status code
uint8_t data[] = { 0x20, 0x23, 0x00}; // Get 0x2320.00: Get the error code
faulhaber_send_command(faulhaber_dev, 0x01, data, 3);
faulhaber.state++;
break;
}
case 1: {
// Request the status code
uint8_t data[] = { 0x21, 0x23, 0x00}; // Get 0x2321.00: Get the error mask
faulhaber_send_command(faulhaber_dev, 0x01, data, 3);
faulhaber.state++;
break;
}
case 2: {
// Request the status code
uint8_t data[] = { 0x01, 0x10, 0x00}; // Get 0x1001.00: Get the error mask
faulhaber_send_command(faulhaber_dev, 0x01, data, 3);
faulhaber.state++;
break;
}
default: {
// Do nothing and stop requesting
break;
}
}
break;
}
/* FH_MODE_RESET_ERR */
case FH_MODE_RESET_ERR: {
switch(faulhaber.state) {
case 0: {
static uint8_t data[] = { 0x40, 0x60, 0x00, 0x0E, 0x00}; // Set 0x6040.00 to 0x000E: Try to start
faulhaber_send_command(faulhaber_dev, 0x02, data, 5);
faulhaber.state++;
break;
}
case 1: {
static uint8_t data[] = { 0x60, 0x60, 0x00, 0x03 }; // Set 0x6060.00 to 0x03: Velocity mode
faulhaber_send_command(faulhaber_dev, 0x02, data, 4);
faulhaber.state++;
break;
}
default: {
// Enable operation
static uint8_t data[] = { 0x40, 0x60, 0x00, 0x0F, 0x00}; // Set 0x6040.00 to 0x000F: Enable operation
faulhaber_send_command(faulhaber_dev, 0x02, data, 5);
faulhaber.state = 0;
faulhaber.mode = FH_MODE_VELOCITY;
break;
}
}
break;
}
/* Do nothing */
@@ -351,6 +412,10 @@ static void faulhaber_parse_msg(struct faulhaber_parser_t *p)
// Send ABI message
AbiSendMsgACT_FEEDBACK(ACT_FEEDBACK_FAULHABER_ID, &feedback, 1);
}
// Write requests
else if(p->cmd_code == 0x02) {
// Do nothing
}
// Parse the statuscode message
else if(p->cmd_code == 0x05) {
uint16_t status_code = p->data[0] | (p->data[1] << 8);
@@ -366,6 +431,25 @@ static void faulhaber_parse_msg(struct faulhaber_parser_t *p)
// Target reached
if(!faulhaber.target_reached && status_code&0x400)
faulhaber.target_reached = true;
// If the drive got disabled
if(!(status_code&0x0001) || !(status_code&0x0002) || !(status_code&0x0004)) {
char error_msg[250];
int rc = snprintf(error_msg, 200, "[FH]%d %04X", p->cmd_code, status_code);
DOWNLINK_SEND_INFO_MSG(DefaultChannel, DefaultDevice, rc, error_msg);
}
}
else {
// Unknown message
char error_msg[250];
int rc = snprintf(error_msg, 200, "[FH]%d ", p->cmd_code);
for(int i = 0; i < p->data_length; i++) {
rc += snprintf(error_msg + rc, 200 - rc, "%02X", p->data[i]);
}
if (rc > 0) {
DOWNLINK_SEND_INFO_MSG(DefaultChannel, DefaultDevice, rc, error_msg);
}
}
}
sw/airborne/modules/actuators/actuators_faulhaber.h
+3 -1
View File
@@ -32,7 +32,9 @@
enum faulhaber_modes_t {
FH_MODE_INIT,
FH_MODE_VELOCITY,
FH_MODE_ERROR
FH_MODE_ERROR,
FH_MODE_REQ_ERR,
FH_MODE_RESET_ERR,
};
struct faulhaber_t {