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@3:a03c91082856, 2018-05-18 (annotated)

Committer:
garivetm
Date:
Fri May 18 09:32:45 2018 +0000
Revision:
3:a03c91082856
Parent:
2:d61b4a989cab
Child:
4:1ee0a235c997
Enable RPDO message sending and TPDO message reception.

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 3:a03c91082856 17 #define ID_TPDO1 0x180
garivetm 3:a03c91082856 18 #define ID_TPDO2 0x280
garivetm 3:a03c91082856 19 #define ID_TPDO3 0x380
garivetm 3:a03c91082856 20 #define ID_TPDO4 0x480
garivetm 0:faf0960419c1 21
garivetm 2:d61b4a989cab 22 // Motor modes
garivetm 2:d61b4a989cab 23 #define MODE_OPEN_LOOP 0 // Open-loop
garivetm 2:d61b4a989cab 24 #define MODE_CLOSED_SPEED 1 // Closed-loop speed
garivetm 2:d61b4a989cab 25 #define MODE_CLOSED_POS_REL 2 // Closed-loop position relative
garivetm 2:d61b4a989cab 26 #define MODE_CLOSED_COUNT_POS 3 // Closed-loop count position
garivetm 2:d61b4a989cab 27 #define MODE_CLOSED_POS_TRACK 4 // Closed-loop position tracking
garivetm 2:d61b4a989cab 28 #define MODE_CLOSED_TORQUE 5 // Torque
garivetm 2:d61b4a989cab 29 #define MODE_CLOSED_SPEED_POS 6 // Closed-loop speed position
garivetm 2:d61b4a989cab 30
garivetm 2:d61b4a989cab 31 // Temperatures
garivetm 2:d61b4a989cab 32 #define TEMPERATURE_MCU 1 // Mcu temperature
garivetm 2:d61b4a989cab 33 #define TEMPERATURE_CH1 2 // Channel 1 heatsink
garivetm 2:d61b4a989cab 34 #define TEMPERATURE_CH2 3 // Channel 2 heatsink
garivetm 2:d61b4a989cab 35
garivetm 0:faf0960419c1 36 class RoboteqController : public PeripheralCAN{
garivetm 0:faf0960419c1 37 public:
garivetm 0:faf0960419c1 38 /** Constructors and destructor
garivetm 0:faf0960419c1 39 */
garivetm 0:faf0960419c1 40 RoboteqController();
garivetm 3:a03c91082856 41
garivetm 3:a03c91082856 42 /** Constructor
garivetm 3:a03c91082856 43 *
garivetm 3:a03c91082856 44 * @param controller A pointer on the CAN controller
garivetm 3:a03c91082856 45 * @param node_id The controller node id
garivetm 3:a03c91082856 46 * @param mot_num Message number inside the controller
garivetm 3:a03c91082856 47 * @param TPDO_enabled A flag that enables reception of TPDO messages
garivetm 3:a03c91082856 48 */
garivetm 3:a03c91082856 49 RoboteqController(ControllerCAN* controller, uint8_t node_id, uint8_t mot_num, bool TPDO_enabled);
garivetm 0:faf0960419c1 50 ~RoboteqController();
garivetm 0:faf0960419c1 51
garivetm 0:faf0960419c1 52 /** Update callback by the CANController
garivetm 0:faf0960419c1 53 *
garivetm 0:faf0960419c1 54 * @param Id Id of the concerned data structure
garivetm 0:faf0960419c1 55 * @param msg CANMessage instance containing the new data
garivetm 0:faf0960419c1 56 */
garivetm 0:faf0960419c1 57 void update(const unsigned short& Id, const CANMessage& msg);
garivetm 0:faf0960419c1 58
garivetm 3:a03c91082856 59 protected:
garivetm 0:faf0960419c1 60
garivetm 3:a03c91082856 61 static const uint16_t RPDO_ID[4]; // RPDO msg IDs to send data to the controller
garivetm 3:a03c91082856 62
garivetm 0:faf0960419c1 63 typedef struct {
garivetm 0:faf0960419c1 64 uint8_t css;
garivetm 0:faf0960419c1 65 uint8_t n;
garivetm 0:faf0960419c1 66 uint16_t index;
garivetm 0:faf0960419c1 67 uint8_t subindex;
garivetm 0:faf0960419c1 68 uint8_t data[4];
garivetm 0:faf0960419c1 69 } SDOMessage;
garivetm 0:faf0960419c1 70 /* 1> SDO CMD OR QUERY FRAME:
garivetm 0:faf0960419c1 71 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 72 Header | DLC | Payload
garivetm 0:faf0960419c1 73 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 74 | | Byte0 | Byte1-2 | Byte 3 | Bytes4-7
garivetm 0:faf0960419c1 75 ---------------------------------------------------------
garivetm 0:faf0960419c1 76 0x600+nd | 8 | bits 4-7 bits2-3 bits0-1 | | |
garivetm 0:faf0960419c1 77 ---------------------------
garivetm 0:faf0960419c1 78 | | css n xx | index | subindex | data
garivetm 0:faf0960419c1 79 Note:
garivetm 0:faf0960419c1 80 • nd is the destination node id.
garivetm 0:faf0960419c1 81 • ccs is the Client Command Specifier, if 2 it is command if 4 it is query.
garivetm 0:faf0960419c1 82 • n is the Number of bytes in the data part which do not contain data
garivetm 0:faf0960419c1 83 • xx not necessary for basic operation. For more details advise CANOpen standard.
garivetm 0:faf0960419c1 84 • index is the object dictionary index of the data to be accessed
garivetm 0:faf0960419c1 85 • subindex is the subindex of the object dictionary variable
garivetm 0:faf0960419c1 86 • data contains the data to be uploaded.
garivetm 0:faf0960419c1 87
garivetm 0:faf0960419c1 88 2> SDO ANSWER FRAME:
garivetm 0:faf0960419c1 89 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 90 Header | DLC | Payload
garivetm 0:faf0960419c1 91 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 92 | | Byte0 | Byte1-2 | Byte 3 | Bytes4-7
garivetm 0:faf0960419c1 93 ---------------------------------------------------------
garivetm 0:faf0960419c1 94 0x580+nd | 8 | bits 4-7 bits2-3 bits0-1 | | |
garivetm 0:faf0960419c1 95 ---------------------------
garivetm 0:faf0960419c1 96 | | css n xx | index | subindex | data
garivetm 0:faf0960419c1 97 Note:
garivetm 0:faf0960419c1 98 • nd is the source node id.
garivetm 0:faf0960419c1 99 • ccs is the Client Command Specifier, if 4 it is query response, 6 it is a successful
garivetm 0:faf0960419c1 100 response to command, 8 is an error in message received.
garivetm 0:faf0960419c1 101 • n is the Number of bytes in the data part which do not contain data
garivetm 0:faf0960419c1 102 • xx not necessary for the simplistic way. For more details advise CANOpen standard.
garivetm 0:faf0960419c1 103 • index is the object dictionary index of the data to be accessed.
garivetm 0:faf0960419c1 104 • subindex is the subindex of the object dictionary variable
garivetm 0:faf0960419c1 105 • data contains the data to be uploaded. Applicable only if css=4.
garivetm 0:faf0960419c1 106 */
garivetm 0:faf0960419c1 107 void SDO_query(uint8_t n, uint16_t idx, uint8_t sub_idx);
garivetm 0:faf0960419c1 108 void SDO_command(uint8_t n, uint16_t idx, uint8_t sub_idx, uint8_t *data);
garivetm 3:a03c91082856 109
garivetm 3:a03c91082856 110 /** Helper function that convert a CAN message to a SDO message
garivetm 3:a03c91082856 111 *
garivetm 3:a03c91082856 112 * @param CANmsg A reference to the CAN message
garivetm 3:a03c91082856 113 * @param CANmsg A reference to the SDO message
garivetm 3:a03c91082856 114 */
garivetm 0:faf0960419c1 115 void CANMsg2SDO(const CANMessage& CANmsg, SDOMessage& SDOmsg);
garivetm 0:faf0960419c1 116
garivetm 3:a03c91082856 117 /** Send an RPDO message to the controller
garivetm 3:a03c91082856 118 *
garivetm 3:a03c91082856 119 * @param n The RPDO message number (from 1 to 4)
garivetm 3:a03c91082856 120 * @param user_var1 The first signed 32-bit integer to be send (the first 4 bytes)
garivetm 3:a03c91082856 121 * @param user_var2 The second signed 32-bit integer to be send (the last 4 bytes)
garivetm 3:a03c91082856 122 */
garivetm 3:a03c91082856 123 void RPDO_send(uint8_t n, int32_t user_var1, int32_t user_var2);
garivetm 3:a03c91082856 124
garivetm 3:a03c91082856 125 /** Parse a TPDO message to user variables
garivetm 3:a03c91082856 126 *
garivetm 3:a03c91082856 127 * @param CANmsg A reference to the CAN message
garivetm 3:a03c91082856 128 * @param user_var1 The first signed 32-bit integer to be read (the first 4 bytes)
garivetm 3:a03c91082856 129 * @param user_var2 The second signed 32-bit integer to be read (the last 4 bytes)
garivetm 3:a03c91082856 130 */
garivetm 3:a03c91082856 131 void TPDO_parse(const CANMessage& CANmsg, int32_t &user_var1, int32_t &user_var2);
garivetm 3:a03c91082856 132
garivetm 3:a03c91082856 133 /** Receive TPDO frames from the controller. If TPDO are used, this virtual
garivetm 3:a03c91082856 134 * method must be redefined in a class that inherits from this one.
garivetm 3:a03c91082856 135 *
garivetm 3:a03c91082856 136 * @param n The TPDO message number (from 1 to 4)
garivetm 3:a03c91082856 137 * @param CANmsg A reference to the CAN message
garivetm 3:a03c91082856 138 */
garivetm 3:a03c91082856 139 virtual void TPDO_receive(uint8_t n, const CANMessage& CANmsg);
garivetm 3:a03c91082856 140
garivetm 0:faf0960419c1 141 uint8_t node_id; // Node id of the controller
garivetm 0:faf0960419c1 142 uint8_t mot_num; // Motor number within the controller
garivetm 0:faf0960419c1 143
garivetm 2:d61b4a989cab 144 /* General Configuration and Safety */
garivetm 2:d61b4a989cab 145 // TBD
garivetm 2:d61b4a989cab 146
garivetm 2:d61b4a989cab 147 /* Analog, Digital, Pulse IO Configurations */
garivetm 2:d61b4a989cab 148 // TBD
garivetm 0:faf0960419c1 149
garivetm 2:d61b4a989cab 150 /* Motor configuration (non-exhaustiv list) */
garivetm 2:d61b4a989cab 151 uint16_t alim; // Motor ampere limit (0.1 A)
garivetm 2:d61b4a989cab 152 uint8_t kp; // PID proportionnal gain
garivetm 2:d61b4a989cab 153 uint8_t ki; // PID integral gain
garivetm 2:d61b4a989cab 154 uint8_t kd; // PID derivative gain
garivetm 2:d61b4a989cab 155 int32_t mac; // Motor acceleration rate (0.1 RPM)
garivetm 2:d61b4a989cab 156 int32_t mdec; // Motor deceleration rate (0.1 RPM)
garivetm 2:d61b4a989cab 157 uint8_t mmod; // Motor mode
garivetm 2:d61b4a989cab 158 uint16_t mxrpm; // Maximal RPM value (eq to a cmd of 1000)
garivetm 2:d61b4a989cab 159
garivetm 2:d61b4a989cab 160 int16_t amp_bat; // Battery current (0.1 A)
garivetm 2:d61b4a989cab 161 int16_t amp_motor; // Motor current (0.1 A)
garivetm 2:d61b4a989cab 162 int16_t feedback; // Closed loop feedback
garivetm 3:a03c91082856 163 int32_t error; // Closed loop error
garivetm 2:d61b4a989cab 164 int8_t temp_MCU; // MCU temperature
garivetm 3:a03c91082856 165 int8_t temp_ch1; // channel 1 temperature
garivetm 2:d61b4a989cab 166 int8_t temp_ch2; // channel 2 temperature
garivetm 2:d61b4a989cab 167 int32_t vars[16]; // Integer user variables
garivetm 2:d61b4a989cab 168 bool booleans[16]; // Boolean user variables
garivetm 2:d61b4a989cab 169 int16_t speed; // Rotor speed
garivetm 2:d61b4a989cab 170
garivetm 2:d61b4a989cab 171 /* CAN Identifiers */
garivetm 0:faf0960419c1 172 unsigned short Id_CSS_REQ; // CAN ID : CSS request (query or command)
garivetm 0:faf0960419c1 173 unsigned short Id_CSS_ANS; // CAN ID : CSS answer (from query or command)
garivetm 3:a03c91082856 174 unsigned short Id_TPDO1; // CAN ID : TPDO1 message
garivetm 3:a03c91082856 175 unsigned short Id_TPDO2; // CAN ID : TPDO2 message
garivetm 3:a03c91082856 176 unsigned short Id_TPDO3; // CAN ID : TPDO3 message
garivetm 3:a03c91082856 177 unsigned short Id_TPDO4; // CAN ID : TPDO4 message
garivetm 0:faf0960419c1 178 };
garivetm 0:faf0960419c1 179
garivetm 0:faf0960419c1 180 #endif