Hublex / Roboteq_CANOpen

A Roboteq controller c++ interface to allow a Brushless motor control on a CAN bus. Used for a FBL2360 reference.

Dependencies:   CAN_FIFO_Triporteur

RoboteqController.h@0:faf0960419c1, 2018-05-05 (annotated)

Committer:
garivetm
Date:
Sat May 05 15:41:25 2018 +0000
Revision:
0:faf0960419c1
Child:
1:57b8f6ed930b
First commit class structure and minimal stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garivetm 0:faf0960419c1 1 #ifndef ROBOTEQ_CONTROLLER_H
garivetm 0:faf0960419c1 2 #define ROBOTEQ_CONTROLLER_H
garivetm 0:faf0960419c1 3
garivetm 0:faf0960419c1 4 #include "mbed.h"
garivetm 0:faf0960419c1 5 #include "PeripheralCAN.h"
garivetm 0:faf0960419c1 6 #include "object_dict.h"
garivetm 0:faf0960419c1 7
garivetm 0:faf0960419c1 8 // Client Command Specifier
garivetm 0:faf0960419c1 9 #define CSS_CMD 2
garivetm 0:faf0960419c1 10 #define CSS_QUERY 4
garivetm 0:faf0960419c1 11 #define CSS_SUCCES 6
garivetm 0:faf0960419c1 12 #define CSS_ERR 8
garivetm 0:faf0960419c1 13
garivetm 0:faf0960419c1 14 // CAN id
garivetm 0:faf0960419c1 15 #define SDO_REQUEST 0x600
garivetm 0:faf0960419c1 16 #define SDO_ANSWER 0x580
garivetm 0:faf0960419c1 17
garivetm 0:faf0960419c1 18 class RoboteqController : public PeripheralCAN{
garivetm 0:faf0960419c1 19 public:
garivetm 0:faf0960419c1 20 /** Constructors and destructor
garivetm 0:faf0960419c1 21 */
garivetm 0:faf0960419c1 22 RoboteqController();
garivetm 0:faf0960419c1 23 RoboteqController(uint8_t node_id, uint8_t mot_num);
garivetm 0:faf0960419c1 24 ~RoboteqController();
garivetm 0:faf0960419c1 25
garivetm 0:faf0960419c1 26 /** Update callback by the CANController
garivetm 0:faf0960419c1 27 *
garivetm 0:faf0960419c1 28 * @param Id Id of the concerned data structure
garivetm 0:faf0960419c1 29 * @param msg CANMessage instance containing the new data
garivetm 0:faf0960419c1 30 */
garivetm 0:faf0960419c1 31 void update(const unsigned short& Id, const CANMessage& msg);
garivetm 0:faf0960419c1 32
garivetm 0:faf0960419c1 33
garivetm 0:faf0960419c1 34
garivetm 0:faf0960419c1 35 private:
garivetm 0:faf0960419c1 36 typedef struct {
garivetm 0:faf0960419c1 37 uint8_t css;
garivetm 0:faf0960419c1 38 uint8_t n;
garivetm 0:faf0960419c1 39 uint16_t index;
garivetm 0:faf0960419c1 40 uint8_t subindex;
garivetm 0:faf0960419c1 41 uint8_t data[4];
garivetm 0:faf0960419c1 42 } SDOMessage;
garivetm 0:faf0960419c1 43 /* 1> SDO CMD OR QUERY FRAME:
garivetm 0:faf0960419c1 44 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 45 Header | DLC | Payload
garivetm 0:faf0960419c1 46 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 47 | | Byte0 | Byte1-2 | Byte 3 | Bytes4-7
garivetm 0:faf0960419c1 48 ---------------------------------------------------------
garivetm 0:faf0960419c1 49 0x600+nd | 8 | bits 4-7 bits2-3 bits0-1 | | |
garivetm 0:faf0960419c1 50 ---------------------------
garivetm 0:faf0960419c1 51 | | css n xx | index | subindex | data
garivetm 0:faf0960419c1 52 Note:
garivetm 0:faf0960419c1 53 • nd is the destination node id.
garivetm 0:faf0960419c1 54 • ccs is the Client Command Specifier, if 2 it is command if 4 it is query.
garivetm 0:faf0960419c1 55 • n is the Number of bytes in the data part which do not contain data
garivetm 0:faf0960419c1 56 • xx not necessary for basic operation. For more details advise CANOpen standard.
garivetm 0:faf0960419c1 57 • index is the object dictionary index of the data to be accessed
garivetm 0:faf0960419c1 58 • subindex is the subindex of the object dictionary variable
garivetm 0:faf0960419c1 59 • data contains the data to be uploaded.
garivetm 0:faf0960419c1 60
garivetm 0:faf0960419c1 61 2> SDO ANSWER FRAME:
garivetm 0:faf0960419c1 62 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 63 Header | DLC | Payload
garivetm 0:faf0960419c1 64 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 65 | | Byte0 | Byte1-2 | Byte 3 | Bytes4-7
garivetm 0:faf0960419c1 66 ---------------------------------------------------------
garivetm 0:faf0960419c1 67 0x580+nd | 8 | bits 4-7 bits2-3 bits0-1 | | |
garivetm 0:faf0960419c1 68 ---------------------------
garivetm 0:faf0960419c1 69 | | css n xx | index | subindex | data
garivetm 0:faf0960419c1 70 Note:
garivetm 0:faf0960419c1 71 • nd is the source node id.
garivetm 0:faf0960419c1 72 • ccs is the Client Command Specifier, if 4 it is query response, 6 it is a successful
garivetm 0:faf0960419c1 73 response to command, 8 is an error in message received.
garivetm 0:faf0960419c1 74 • n is the Number of bytes in the data part which do not contain data
garivetm 0:faf0960419c1 75 • xx not necessary for the simplistic way. For more details advise CANOpen standard.
garivetm 0:faf0960419c1 76 • index is the object dictionary index of the data to be accessed.
garivetm 0:faf0960419c1 77 • subindex is the subindex of the object dictionary variable
garivetm 0:faf0960419c1 78 • data contains the data to be uploaded. Applicable only if css=4.
garivetm 0:faf0960419c1 79 */
garivetm 0:faf0960419c1 80 void SDO_query(uint8_t n, uint16_t idx, uint8_t sub_idx);
garivetm 0:faf0960419c1 81 void SDO_command(uint8_t n, uint16_t idx, uint8_t sub_idx, uint8_t *data);
garivetm 0:faf0960419c1 82 void CANMsg2SDO(const CANMessage& CANmsg, SDOMessage& SDOmsg);
garivetm 0:faf0960419c1 83
garivetm 0:faf0960419c1 84 uint8_t node_id; // Node id of the controller
garivetm 0:faf0960419c1 85 uint8_t mot_num; // Motor number within the controller
garivetm 0:faf0960419c1 86
garivetm 0:faf0960419c1 87 int16_t rotor_speed; // Rotor speed
garivetm 0:faf0960419c1 88
garivetm 0:faf0960419c1 89 unsigned short Id_CSS_REQ; // CAN ID : CSS request (query or command)
garivetm 0:faf0960419c1 90 unsigned short Id_CSS_ANS; // CAN ID : CSS answer (from query or command)
garivetm 0:faf0960419c1 91
garivetm 0:faf0960419c1 92 };
garivetm 0:faf0960419c1 93
garivetm 0:faf0960419c1 94 #endif