Diff: RoboteqController.h

Revision:

3:a03c91082856

Parent:

2:d61b4a989cab

Child:

4:1ee0a235c997

--- a/RoboteqController.h	Thu May 17 14:26:20 2018 +0000
+++ b/RoboteqController.h	Fri May 18 09:32:45 2018 +0000
@@ -14,6 +14,10 @@
 // CAN id
 #define SDO_REQUEST    0x600
 #define SDO_ANSWER     0x580
+#define ID_TPDO1       0x180
+#define ID_TPDO2       0x280
+#define ID_TPDO3       0x380
+#define ID_TPDO4       0x480
 
 // Motor modes
 #define MODE_OPEN_LOOP          0 // Open-loop
@@ -34,7 +38,15 @@
     /** Constructors and destructor
      */
     RoboteqController();
-    RoboteqController(ControllerCAN* controller, uint8_t node_id, uint8_t mot_num);
+    
+    /** Constructor
+     *
+     * @param controller A pointer on the CAN controller
+     * @param node_id The controller node id
+     * @param mot_num Message number inside the controller
+     * @param TPDO_enabled A flag that enables reception of TPDO messages
+     */
+    RoboteqController(ControllerCAN* controller, uint8_t node_id, uint8_t mot_num, bool TPDO_enabled);
     ~RoboteqController();
     
     /** Update callback by the CANController
@@ -44,9 +56,10 @@
      */
     void update(const unsigned short& Id, const CANMessage& msg);
     
-    
+    protected:
     
-    private:
+    static const uint16_t RPDO_ID[4];   // RPDO msg IDs to send data to the controller
+    
     typedef struct {
         uint8_t css;
         uint8_t n;
@@ -93,8 +106,38 @@
     */
     void SDO_query(uint8_t n, uint16_t idx, uint8_t sub_idx);
     void SDO_command(uint8_t n, uint16_t idx, uint8_t sub_idx, uint8_t *data);
+    
+    /** Helper function that convert a CAN message to a SDO message
+     *
+     * @param CANmsg A reference to the CAN message
+     * @param CANmsg A reference to the SDO message
+     */
     void CANMsg2SDO(const CANMessage& CANmsg, SDOMessage& SDOmsg);
     
+    /** Send an RPDO message to the controller
+     *
+     * @param n The RPDO message number (from 1 to 4)
+     * @param user_var1 The first signed 32-bit integer to be send (the first 4 bytes)
+     * @param user_var2 The second signed 32-bit integer to be send (the last 4 bytes)
+     */
+    void RPDO_send(uint8_t n, int32_t user_var1, int32_t user_var2);
+    
+    /** Parse a TPDO message to user variables
+     *
+     * @param CANmsg A reference to the CAN message
+     * @param user_var1 The first signed 32-bit integer to be read (the first 4 bytes)
+     * @param user_var2 The second signed 32-bit integer to be read (the last 4 bytes)
+     */
+    void TPDO_parse(const CANMessage& CANmsg, int32_t &user_var1, int32_t &user_var2);
+    
+    /** Receive TPDO frames from the controller. If TPDO are used, this virtual
+     * method must be redefined in a class that inherits from this one.
+     *
+     * @param n The TPDO message number (from 1 to 4)
+     * @param CANmsg A reference to the CAN message
+     */
+    virtual void TPDO_receive(uint8_t n, const CANMessage& CANmsg);
+    
     uint8_t node_id;                // Node id of the controller
     uint8_t mot_num;                // Motor number within the controller
     
@@ -117,9 +160,9 @@
     int16_t amp_bat;                // Battery current (0.1 A)
     int16_t amp_motor;              // Motor current (0.1 A)
     int16_t feedback;               // Closed loop feedback
-    int32_t error                   // Closed loop error
+    int32_t error;                  // Closed loop error
     int8_t temp_MCU;                // MCU temperature
-    int8_t temp_ch1                 // channel 1 temperature
+    int8_t temp_ch1;                // channel 1 temperature
     int8_t temp_ch2;                // channel 2 temperature
     int32_t vars[16];               // Integer user variables
     bool booleans[16];              // Boolean user variables
@@ -128,7 +171,10 @@
     /* CAN Identifiers */  
     unsigned short Id_CSS_REQ;      // CAN ID : CSS request (query or command)
     unsigned short Id_CSS_ANS;      // CAN ID : CSS answer (from query or command)
-    
+    unsigned short Id_TPDO1;        // CAN ID : TPDO1 message
+    unsigned short Id_TPDO2;        // CAN ID : TPDO2 message
+    unsigned short Id_TPDO3;        // CAN ID : TPDO3 message
+    unsigned short Id_TPDO4;        // CAN ID : TPDO4 message
 };
 
 #endif
\ No newline at end of file