Diff: RoboteqController.h

Revision:

0:faf0960419c1

Child:

1:57b8f6ed930b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RoboteqController.h	Sat May 05 15:41:25 2018 +0000
@@ -0,0 +1,94 @@
+#ifndef ROBOTEQ_CONTROLLER_H
+#define ROBOTEQ_CONTROLLER_H
+
+#include "mbed.h"
+#include "PeripheralCAN.h"
+#include "object_dict.h"
+
+// Client Command Specifier
+#define CSS_CMD         2
+#define CSS_QUERY       4
+#define CSS_SUCCES      6
+#define CSS_ERR         8
+
+// CAN id
+#define SDO_REQUEST    0x600
+#define SDO_ANSWER     0x580
+
+class RoboteqController : public PeripheralCAN{
+    public:
+    /** Constructors and destructor
+     */
+    RoboteqController();
+    RoboteqController(uint8_t node_id, uint8_t mot_num);
+    ~RoboteqController();
+    
+    /** Update callback by the CANController
+     *
+     * @param Id Id of the concerned data structure
+     * @param msg CANMessage instance containing the new data
+     */
+    void update(const unsigned short& Id, const CANMessage& msg);
+    
+    
+    
+    private:
+    typedef struct {
+        uint8_t css;
+        uint8_t n;
+        uint16_t index;
+        uint8_t subindex;
+        uint8_t data[4];
+    } SDOMessage;
+    /*  1> SDO CMD OR QUERY FRAME:
+        -----------------------------------------------------------------------------
+        Header   |   DLC   |                        Payload
+        -----------------------------------------------------------------------------
+                 |         |        Byte0             | Byte1-2 |  Byte 3  | Bytes4-7
+                            ---------------------------------------------------------
+        0x600+nd |    8    | bits 4-7 bits2-3 bits0-1 |         |          |
+                           ---------------------------
+                 |         |    css      n      xx    |  index  | subindex |   data
+        Note:
+            • nd is the destination node id.
+            • ccs is the Client Command Specifier, if 2 it is command if 4 it is query.
+            • n is the Number of bytes in the data part which do not contain data
+            • xx not necessary for basic operation. For more details advise CANOpen standard.
+            • index is the object dictionary index of the data to be accessed
+            • subindex is the subindex of the object dictionary variable
+            • data contains the data to be uploaded.
+            
+        2> SDO ANSWER FRAME:
+        -----------------------------------------------------------------------------
+        Header   |   DLC   |                        Payload
+        -----------------------------------------------------------------------------
+                 |         |        Byte0             | Byte1-2 |  Byte 3  | Bytes4-7
+                            ---------------------------------------------------------
+        0x580+nd |    8    | bits 4-7 bits2-3 bits0-1 |         |          |
+                           ---------------------------
+                 |         |    css      n      xx    |  index  | subindex |   data
+        Note:
+            • nd is the source node id.
+            • ccs is the Client Command Specifier, if 4 it is query response, 6 it is a successful
+            response to command, 8 is an error in message received.
+            • n is the Number of bytes in the data part which do not contain data
+            • xx not necessary for the simplistic way. For more details advise CANOpen standard.
+            • index is the object dictionary index of the data to be accessed.
+            • subindex is the subindex of the object dictionary variable
+            • data contains the data to be uploaded. Applicable only if css=4.
+    */
+    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);
+    void CANMsg2SDO(const CANMessage& CANmsg, SDOMessage& SDOmsg);
+    
+    uint8_t node_id;                // Node id of the controller
+    uint8_t mot_num;                // Motor number within the controller
+    
+    int16_t rotor_speed;            // Rotor speed            
+    
+    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)
+    
+};
+
+#endif
\ No newline at end of file