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@2:d61b4a989cab, 2018-05-17 (annotated)

Committer:
garivetm
Date:
Thu May 17 14:26:20 2018 +0000
Revision:
2:d61b4a989cab
Parent:
1:57b8f6ed930b
Child:
3:a03c91082856
Ajout des attributs moteur principaux

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 2:d61b4a989cab 18 // Motor modes
garivetm 2:d61b4a989cab 19 #define MODE_OPEN_LOOP 0 // Open-loop
garivetm 2:d61b4a989cab 20 #define MODE_CLOSED_SPEED 1 // Closed-loop speed
garivetm 2:d61b4a989cab 21 #define MODE_CLOSED_POS_REL 2 // Closed-loop position relative
garivetm 2:d61b4a989cab 22 #define MODE_CLOSED_COUNT_POS 3 // Closed-loop count position
garivetm 2:d61b4a989cab 23 #define MODE_CLOSED_POS_TRACK 4 // Closed-loop position tracking
garivetm 2:d61b4a989cab 24 #define MODE_CLOSED_TORQUE 5 // Torque
garivetm 2:d61b4a989cab 25 #define MODE_CLOSED_SPEED_POS 6 // Closed-loop speed position
garivetm 2:d61b4a989cab 26
garivetm 2:d61b4a989cab 27 // Temperatures
garivetm 2:d61b4a989cab 28 #define TEMPERATURE_MCU 1 // Mcu temperature
garivetm 2:d61b4a989cab 29 #define TEMPERATURE_CH1 2 // Channel 1 heatsink
garivetm 2:d61b4a989cab 30 #define TEMPERATURE_CH2 3 // Channel 2 heatsink
garivetm 2:d61b4a989cab 31
garivetm 0:faf0960419c1 32 class RoboteqController : public PeripheralCAN{
garivetm 0:faf0960419c1 33 public:
garivetm 0:faf0960419c1 34 /** Constructors and destructor
garivetm 0:faf0960419c1 35 */
garivetm 0:faf0960419c1 36 RoboteqController();
garivetm 1:57b8f6ed930b 37 RoboteqController(ControllerCAN* controller, uint8_t node_id, uint8_t mot_num);
garivetm 0:faf0960419c1 38 ~RoboteqController();
garivetm 0:faf0960419c1 39
garivetm 0:faf0960419c1 40 /** Update callback by the CANController
garivetm 0:faf0960419c1 41 *
garivetm 0:faf0960419c1 42 * @param Id Id of the concerned data structure
garivetm 0:faf0960419c1 43 * @param msg CANMessage instance containing the new data
garivetm 0:faf0960419c1 44 */
garivetm 0:faf0960419c1 45 void update(const unsigned short& Id, const CANMessage& msg);
garivetm 0:faf0960419c1 46
garivetm 0:faf0960419c1 47
garivetm 0:faf0960419c1 48
garivetm 0:faf0960419c1 49 private:
garivetm 0:faf0960419c1 50 typedef struct {
garivetm 0:faf0960419c1 51 uint8_t css;
garivetm 0:faf0960419c1 52 uint8_t n;
garivetm 0:faf0960419c1 53 uint16_t index;
garivetm 0:faf0960419c1 54 uint8_t subindex;
garivetm 0:faf0960419c1 55 uint8_t data[4];
garivetm 0:faf0960419c1 56 } SDOMessage;
garivetm 0:faf0960419c1 57 /* 1> SDO CMD OR QUERY FRAME:
garivetm 0:faf0960419c1 58 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 59 Header | DLC | Payload
garivetm 0:faf0960419c1 60 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 61 | | Byte0 | Byte1-2 | Byte 3 | Bytes4-7
garivetm 0:faf0960419c1 62 ---------------------------------------------------------
garivetm 0:faf0960419c1 63 0x600+nd | 8 | bits 4-7 bits2-3 bits0-1 | | |
garivetm 0:faf0960419c1 64 ---------------------------
garivetm 0:faf0960419c1 65 | | css n xx | index | subindex | data
garivetm 0:faf0960419c1 66 Note:
garivetm 0:faf0960419c1 67 • nd is the destination node id.
garivetm 0:faf0960419c1 68 • ccs is the Client Command Specifier, if 2 it is command if 4 it is query.
garivetm 0:faf0960419c1 69 • n is the Number of bytes in the data part which do not contain data
garivetm 0:faf0960419c1 70 • xx not necessary for basic operation. For more details advise CANOpen standard.
garivetm 0:faf0960419c1 71 • index is the object dictionary index of the data to be accessed
garivetm 0:faf0960419c1 72 • subindex is the subindex of the object dictionary variable
garivetm 0:faf0960419c1 73 • data contains the data to be uploaded.
garivetm 0:faf0960419c1 74
garivetm 0:faf0960419c1 75 2> SDO ANSWER FRAME:
garivetm 0:faf0960419c1 76 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 77 Header | DLC | Payload
garivetm 0:faf0960419c1 78 -----------------------------------------------------------------------------
garivetm 0:faf0960419c1 79 | | Byte0 | Byte1-2 | Byte 3 | Bytes4-7
garivetm 0:faf0960419c1 80 ---------------------------------------------------------
garivetm 0:faf0960419c1 81 0x580+nd | 8 | bits 4-7 bits2-3 bits0-1 | | |
garivetm 0:faf0960419c1 82 ---------------------------
garivetm 0:faf0960419c1 83 | | css n xx | index | subindex | data
garivetm 0:faf0960419c1 84 Note:
garivetm 0:faf0960419c1 85 • nd is the source node id.
garivetm 0:faf0960419c1 86 • ccs is the Client Command Specifier, if 4 it is query response, 6 it is a successful
garivetm 0:faf0960419c1 87 response to command, 8 is an error in message received.
garivetm 0:faf0960419c1 88 • n is the Number of bytes in the data part which do not contain data
garivetm 0:faf0960419c1 89 • xx not necessary for the simplistic way. For more details advise CANOpen standard.
garivetm 0:faf0960419c1 90 • index is the object dictionary index of the data to be accessed.
garivetm 0:faf0960419c1 91 • subindex is the subindex of the object dictionary variable
garivetm 0:faf0960419c1 92 • data contains the data to be uploaded. Applicable only if css=4.
garivetm 0:faf0960419c1 93 */
garivetm 0:faf0960419c1 94 void SDO_query(uint8_t n, uint16_t idx, uint8_t sub_idx);
garivetm 0:faf0960419c1 95 void SDO_command(uint8_t n, uint16_t idx, uint8_t sub_idx, uint8_t *data);
garivetm 0:faf0960419c1 96 void CANMsg2SDO(const CANMessage& CANmsg, SDOMessage& SDOmsg);
garivetm 0:faf0960419c1 97
garivetm 0:faf0960419c1 98 uint8_t node_id; // Node id of the controller
garivetm 0:faf0960419c1 99 uint8_t mot_num; // Motor number within the controller
garivetm 0:faf0960419c1 100
garivetm 2:d61b4a989cab 101 /* General Configuration and Safety */
garivetm 2:d61b4a989cab 102 // TBD
garivetm 2:d61b4a989cab 103
garivetm 2:d61b4a989cab 104 /* Analog, Digital, Pulse IO Configurations */
garivetm 2:d61b4a989cab 105 // TBD
garivetm 0:faf0960419c1 106
garivetm 2:d61b4a989cab 107 /* Motor configuration (non-exhaustiv list) */
garivetm 2:d61b4a989cab 108 uint16_t alim; // Motor ampere limit (0.1 A)
garivetm 2:d61b4a989cab 109 uint8_t kp; // PID proportionnal gain
garivetm 2:d61b4a989cab 110 uint8_t ki; // PID integral gain
garivetm 2:d61b4a989cab 111 uint8_t kd; // PID derivative gain
garivetm 2:d61b4a989cab 112 int32_t mac; // Motor acceleration rate (0.1 RPM)
garivetm 2:d61b4a989cab 113 int32_t mdec; // Motor deceleration rate (0.1 RPM)
garivetm 2:d61b4a989cab 114 uint8_t mmod; // Motor mode
garivetm 2:d61b4a989cab 115 uint16_t mxrpm; // Maximal RPM value (eq to a cmd of 1000)
garivetm 2:d61b4a989cab 116
garivetm 2:d61b4a989cab 117 int16_t amp_bat; // Battery current (0.1 A)
garivetm 2:d61b4a989cab 118 int16_t amp_motor; // Motor current (0.1 A)
garivetm 2:d61b4a989cab 119 int16_t feedback; // Closed loop feedback
garivetm 2:d61b4a989cab 120 int32_t error // Closed loop error
garivetm 2:d61b4a989cab 121 int8_t temp_MCU; // MCU temperature
garivetm 2:d61b4a989cab 122 int8_t temp_ch1 // channel 1 temperature
garivetm 2:d61b4a989cab 123 int8_t temp_ch2; // channel 2 temperature
garivetm 2:d61b4a989cab 124 int32_t vars[16]; // Integer user variables
garivetm 2:d61b4a989cab 125 bool booleans[16]; // Boolean user variables
garivetm 2:d61b4a989cab 126 int16_t speed; // Rotor speed
garivetm 2:d61b4a989cab 127
garivetm 2:d61b4a989cab 128 /* CAN Identifiers */
garivetm 0:faf0960419c1 129 unsigned short Id_CSS_REQ; // CAN ID : CSS request (query or command)
garivetm 0:faf0960419c1 130 unsigned short Id_CSS_ANS; // CAN ID : CSS answer (from query or command)
garivetm 0:faf0960419c1 131
garivetm 0:faf0960419c1 132 };
garivetm 0:faf0960419c1 133
garivetm 0:faf0960419c1 134 #endif