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UltrawipfUltrawipf
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RMD MyActuator CAN motor class
1 parent cc47be6 commit c5d01e7

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9 files changed

+604
-2
lines changed

9 files changed

+604
-2
lines changed

‎Firmware/FFBoard/Src/Axis.cpp‎

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@@ -12,6 +12,7 @@
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#include "VescCAN.h"
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#include "ODriveCAN.h"
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#include "MotorSimplemotion.h"
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#include "RmdMotorCAN.h"
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//////////////////////////////////////////////
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/*
@@ -48,6 +49,9 @@ const std::vector<class_entry<MotorDriver>> Axis::axis1_drivers =
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#ifdef SIMPLEMOTION
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add_class<MotorSimplemotion1,MotorDriver>(9),
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#endif
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#ifdef RMDCAN
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add_class<RmdMotorCAN1,MotorDriver>(11),
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#endif
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};
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/**
@@ -69,6 +73,9 @@ const std::vector<class_entry<MotorDriver>> Axis::axis2_drivers =
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#ifdef VESC
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add_class<VESC_2,MotorDriver>(8),
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#endif
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#ifdef RMDCAN
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add_class<RmdMotorCAN2,MotorDriver>(12),
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#endif
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//#ifdef SIMPLEMOTION
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// add_class<MotorSimplemotion2,MotorDriver>(10), // TODO this likely does not work reliably with a single uart port and multiple devices
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//#endif

‎Firmware/FFBoard/Src/MotorDriver.cpp‎

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@@ -13,6 +13,7 @@
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#include "MotorPWM.h"
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#include "VescCAN.h"
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#include "MotorSimplemotion.h"
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#include "RmdMotorCAN.h"
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ClassIdentifier MotorDriver::info ={.name = "None" , .id=CLSID_MOT_NONE, .visibility = ClassVisibility::visible};
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@@ -46,6 +47,10 @@ const std::vector<class_entry<MotorDriver>> MotorDriver::all_drivers =
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add_class<MotorSimplemotion1,MotorDriver>(9),
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add_class<MotorSimplemotion2,MotorDriver>(10),
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#endif
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#ifdef RMDCAN
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add_class<RmdMotorCAN1,MotorDriver>(11),
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add_class<RmdMotorCAN2,MotorDriver>(12),
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#endif
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};
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/**

‎Firmware/FFBoard/UserExtensions/Inc/ClassIDs.h‎

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@@ -78,6 +78,8 @@ enum class ClassType : uint16_t {
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#define CLSID_MOT_VESC1 0x88
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#define CLSID_MOT_SM1 0x89
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#define CLSID_MOT_SM2 0x8A
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#define CLSID_MOT_RMD1 0x8B
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#define CLSID_MOT_RMD2 0x8C
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// Internal classes
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#define CLSID_AXIS 0xA01

‎Firmware/FFBoard/UserExtensions/Inc/RmdMotorCAN.h‎

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@@ -0,0 +1,144 @@
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/*
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* RmdMotorCAN.h
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*
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* Created on: Dec 7, 2024
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* Author: Yannick
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*/
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#ifndef USEREXTENSIONS_SRC_RMDMOTORCAN_H_
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#define USEREXTENSIONS_SRC_RMDMOTORCAN_H_
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#include "MotorDriver.h"
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#include "cpp_target_config.h"
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#include "CAN.h"
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#include "Encoder.h"
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#include "thread.hpp"
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#include "CanHandler.h"
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#include "CommandHandler.h"
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#include "PersistentStorage.h"
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#ifdef RMDCAN
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#define RMD_THREAD_MEM 256
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#define RMD_THREAD_PRIO 25 // Must be higher than main thread
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enum class RmdCAN_commands : uint32_t{
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canid,errors,maxtorque,current,temperature,voltage,activerequests,modelname
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};
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class RmdMotorCAN : public MotorDriver,public PersistentStorage, public Encoder, public CanHandler, public CommandHandler, cpp_freertos::Thread {
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public:
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RmdMotorCAN(uint8_t instance);
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virtual ~RmdMotorCAN();
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const ClassIdentifier getInfo() = 0;
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void turn(int16_t power) override;
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void stopMotor() override;
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void startMotor() override;
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Encoder* getEncoder() override;
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bool hasIntegratedEncoder() {return true;}
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void setTorque(int16_t torque);
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bool motorReady();
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void Run();
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void saveFlash() override; // Write to flash here
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void restoreFlash() override; // Load from flash
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// float getPos_f() override;
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uint32_t getCpr() override;
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int32_t getPos() override;
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void setPos(int32_t pos) override;
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EncoderType getEncoderType() override;
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void setCanFilter();
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void updateRequestMode(bool activerequests);
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void sendMsg(std::array<uint8_t,8> &data,uint8_t len = 8);
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void sendCmd(uint8_t cmd);
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void canRxPendCallback(CANPort* port,CAN_rx_msg& msg) override;
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void updateStatus();
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void requestConstantReports(uint8_t cmd,bool enable,uint16_t interval_10ms);
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void registerCommands();
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CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies) override;
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const uint32_t angleUpdateMs = 10;
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union ErrorStatus {
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struct ErrorStatur_s{
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uint16_t res1 : 1,
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stall : 1,
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undervoltage : 1,
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overvoltage : 1,
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overcurrent : 1,
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overpower : 1,
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calibrationWriteErr : 1,
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overspeed : 1,
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overtemp : 1,
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calibrationErr : 1,
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res2 : 6;
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};
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uint16_t asInt;
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ErrorStatur_s flags;
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};
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private:
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CANPort* port = &canport;
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uint8_t nodeId = 1; // can ID 1-32
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uint8_t motorId = 0;
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bool active = false;
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bool nextAvailable = false;
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bool available = false;
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bool activerequests = false;
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bool requestConstantReportEnable = false;
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char modelName[8] = {0};
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uint32_t lastAngleUpdate = 0;
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uint32_t lastTorqueStatusUpdate_us = 0;
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float lastPos = 0;
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uint16_t maxTorque = 1000; // in 0.01A, max 0x7fff
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int32_t filterId = -2;
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int16_t curCurrent = 0;
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uint8_t curTemp = 0;
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uint16_t curVoltage = 0;
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ErrorStatus lastErrors = {0};
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int32_t posOffset = 0;
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void errorCb(ErrorStatus &errors);
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};
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/**
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* Instance 1 of RMD motor
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*/
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class RmdMotorCAN1 : public RmdMotorCAN{
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public:
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RmdMotorCAN1() : RmdMotorCAN{0} {inUse = true;}
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const ClassIdentifier getInfo();
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~RmdMotorCAN1(){inUse = false;}
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static bool isCreatable();
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static ClassIdentifier info;
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static bool inUse;
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};
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/**
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* Instance 2 of RMD motor
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*/
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class RmdMotorCAN2 : public RmdMotorCAN{
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public:
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RmdMotorCAN2() : RmdMotorCAN{1} {inUse = true;}
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const ClassIdentifier getInfo();
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~RmdMotorCAN2(){inUse = false;}
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static bool isCreatable();
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static ClassIdentifier info;
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static bool inUse;
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};
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#endif
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#endif /* USEREXTENSIONS_SRC_RMDMOTORCAN_H_ */

‎Firmware/FFBoard/UserExtensions/Inc/eeprom_addresses.h‎

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@@ -13,11 +13,11 @@
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#include "main.h"
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// Change this to the amount of currently registered variables
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#define NB_OF_VAR 153
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#define NB_OF_VAR 159
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extern const uint16_t VirtAddVarTab[NB_OF_VAR];
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// Amount of variables in exportable list
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#define NB_EXPORTABLE_ADR 138
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#define NB_EXPORTABLE_ADR 144
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extern const uint16_t exportableFlashAddresses[NB_EXPORTABLE_ADR];
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@@ -164,6 +164,13 @@ uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data) will return 1 if
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#define ADR_TMC3_FLUX_I 0x3AA
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#define ADR_TMC3_PHIE_OFS 0x3AB
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#define ADR_TMC3_TRQ_FILT 0x3AC
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// RMD CAN Motor
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#define ADR_RMD1_DATA1 0x3C0 //0-4 CAN ID
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#define ADR_RMD1_TORQUE 0x3C1 //Maximum current
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#define ADR_RMD1_OFFSET 0x3C2 //Position offset
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#define ADR_RMD2_DATA1 0x3C3
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#define ADR_RMD2_TORQUE 0x3C4
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#define ADR_RMD2_OFFSET 0x3C5
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// Odrive
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#define ADR_ODRIVE_CANID 0x3D0 //0-6 ID M0, 7-12 ID M1, 13-15 can speed
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#define ADR_ODRIVE_SETTING1_M0 0x3D1

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