autosync

Author: actions-user

.gitignore

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+
+# Doxygen
+/src/xml
+
+# PlatformIO
+/.pio

examples/TrapTrajCAN/.arduino-ci.yml

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+# See https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
+
+compile:
+  platforms:
+    - uno_minima_r4
+
+packages:
+  teensy:teensy:
+    url: https://www.pjrc.com/teensy/package_teensy_index.json
+  arduino:renesas_uno:
+    url: https://downloads.arduino.cc/packages/package_index.json
+
+platforms:
+  uno_minima_r4:
+    board: arduino:renesas_uno:minima
+    package: arduino:renesas_uno
+    gcc:
+      features:
+      defines:
+        - IS_ARDUINO_BUILTIN
+      warnings:
+      flags:
+  teensy41:
+    board: teensy:teensy:teensy41
+    package: teensy:teensy
+    gcc:
+      features:
+      defines:
+        - __IMXRT1062__
+        - ARDUINO_ARCH_TEENSY
+        - TEENSY41
+        - IS_TEENSY_BUILTIN
+      warnings:
+      flags:

examples/TrapTrajCAN/TrapTrajCAN.ino

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+
+#include <Arduino.h>
+#include "ODriveCAN.hpp"
+
+
+/* Configuration of example sketch -------------------------------------------*/
+
+// CAN bus baudrate. Make sure this matches for every device on the bus
+#define CAN_BAUDRATE 250000
+
+// ODrive node_id for odrv0
+#define ODRV0_NODE_ID 0
+
+//========================================================================
+// required ODrive Configuration:
+// odrv.can.config.baud_rate = <CAN_BAUDRATE>
+// odrv.axis0.config.can.node_id = <ODRV{i}_NODE_ID>
+// odrv.axis0.config.can.encoder_msg_rate_ms != 0, suggest 25
+// odrv.axis0.config.can.heartbeat_msg_rate_ms != 0, suggest 250
+//========================================================================
+
+// Uncomment below the line that corresponds to your hardware.
+// See also "Board-specific settings" to adapt the details for your hardware setup.
+
+// #define IS_TEENSY_BUILTIN // Teensy boards with built-in CAN interface (e.g. Teensy 4.1). See below to select which interface to use.
+// #define IS_ARDUINO_BUILTIN // Arduino boards with built-in CAN interface (e.g. Arduino Uno R4 Minima)
+// #define IS_MCP2515 // Any board with external MCP2515 based extension module. See below to configure the module.
+
+
+/* Board-specific includes ---------------------------------------------------*/
+
+#if defined(IS_TEENSY_BUILTIN) + defined(IS_ARDUINO_BUILTIN) + defined(IS_MCP2515) != 1
+#warning "Select exactly one hardware option at the top of this file."
+
+#if CAN_HOWMANY > 0 || CANFD_HOWMANY > 0
+#define IS_ARDUINO_BUILTIN
+#warning "guessing that this uses HardwareCAN"
+#else
+#error "cannot guess hardware version"
+#endif
+
+#endif
+
+#ifdef IS_ARDUINO_BUILTIN
+// See https://github.com/arduino/ArduinoCore-API/blob/master/api/HardwareCAN.h
+// and https://github.com/arduino/ArduinoCore-renesas/tree/main/libraries/Arduino_CAN
+
+#include <Arduino_CAN.h>
+#include <ODriveHardwareCAN.hpp>
+#endif // IS_ARDUINO_BUILTIN
+
+#ifdef IS_MCP2515
+// See https://github.com/sandeepmistry/arduino-CAN/
+#include "MCP2515.h"
+#include "ODriveMCPCAN.hpp"
+#endif // IS_MCP2515
+
+#ifdef IS_TEENSY_BUILTIN
+// See https://github.com/tonton81/FlexCAN_T4
+// clone https://github.com/tonton81/FlexCAN_T4.git into /src
+#include <FlexCAN_T4.h>
+#include "ODriveFlexCAN.hpp"
+struct ODriveStatus; // hack to prevent teensy compile error
+#endif // IS_TEENSY_BUILTIN
+
+
+
+
+/* Board-specific settings ---------------------------------------------------*/
+
+
+/* Teensy */
+
+#ifdef IS_TEENSY_BUILTIN
+
+FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> can_intf;
+
+bool setupCan() {
+    can_intf.begin();
+    can_intf.setBaudRate(CAN_BAUDRATE);
+    can_intf.setMaxMB(16);
+    can_intf.enableFIFO();
+    can_intf.enableFIFOInterrupt();
+    can_intf.onReceive(onCanMessage);
+    return true;
+}
+
+#endif // IS_TEENSY_BUILTIN
+
+
+/* MCP2515-based extension modules -*/
+
+#ifdef IS_MCP2515
+
+MCP2515Class& can_intf = CAN;
+
+// chip select pin used for the MCP2515
+#define MCP2515_CS 10
+
+// interrupt pin used for the MCP2515
+// NOTE: not all Arduino pins are interruptable, check the documentation for your board!
+#define MCP2515_INT 2
+
+// freqeuncy of the crystal oscillator on the MCP2515 breakout board. 
+// common values are: 16 MHz, 12 MHz, 8 MHz
+#define MCP2515_CLK_HZ 8000000
+
+
+static inline void receiveCallback(int packet_size) {
+    if (packet_size > 8) {
+        return; // not supported
+    }
+    CanMsg msg = {.id = (unsigned int)CAN.packetId(), .len = (uint8_t)packet_size};
+    CAN.readBytes(msg.buffer, packet_size);
+    onCanMessage(msg);
+}
+
+bool setupCan() {
+    // configure and initialize the CAN bus interface
+    CAN.setPins(MCP2515_CS, MCP2515_INT);
+    CAN.setClockFrequency(MCP2515_CLK_HZ);
+    if (!CAN.begin(CAN_BAUDRATE)) {
+        return false;
+    }
+
+    CAN.onReceive(receiveCallback);
+    return true;
+}
+
+#endif // IS_MCP2515
+
+
+/* Arduinos with built-in CAN */
+
+#ifdef IS_ARDUINO_BUILTIN
+
+HardwareCAN& can_intf = CAN;
+
+bool setupCan() {
+    return can_intf.begin((CanBitRate)CAN_BAUDRATE);
+}
+
+#endif
+
+
+/* Example sketch ------------------------------------------------------------*/
+
+// Instantiate ODrive objects
+ODriveCAN odrv0(wrap_can_intf(can_intf), ODRV0_NODE_ID); // Standard CAN message ID
+ODriveCAN* odrives[] = {&odrv0}; // Make sure all ODriveCAN instances are accounted for here
+
+struct ODriveUserData {
+    Heartbeat_msg_t last_heartbeat;
+    bool received_heartbeat = false;
+    Get_Encoder_Estimates_msg_t last_feedback;
+    bool received_feedback = false;
+};
+
+ODriveUserData odrv0_user_data;
+
+void onHeartbeat(Heartbeat_msg_t& msg, void* user_data) {
+    ODriveUserData* odrv_user_data = static_cast<ODriveUserData*>(user_data);
+    odrv_user_data->last_heartbeat = msg;
+    odrv_user_data->received_heartbeat = true;
+}
+
+void onFeedback(Get_Encoder_Estimates_msg_t& msg, void* user_data) {
+    ODriveUserData* odrv_user_data = static_cast<ODriveUserData*>(user_data);
+    odrv_user_data->last_feedback = msg;
+    odrv_user_data->received_feedback = true;
+}
+
+void onCanMessage(const CanMsg& msg) {
+    for (auto odrive: odrives) {
+        onReceive(msg, *odrive);
+    }
+}
+
+void setup() {
+    Serial.begin(115200);
+
+    // Wait for up to 3 seconds for the serial port to be opened on the PC side.
+    // If no PC connects, continue anyway.
+    for (int i = 0; i < 30 && !Serial; ++i) {
+        delay(100);
+    }
+    delay(200);
+
+
+    Serial.print("Starting ODriveCAN demo");
+
+    // Set ODriveCAN callbacks for the encoder feedback and the axis status
+    odrv0.onFeedback(onFeedback, &odrv0_user_data);
+    odrv0.onStatus(onHeartbeat, &odrv0_user_data);
+
+    // Configure and initialize the CAN bus interface. This function is 
+    if (!setupCan()) {
+        Serial.println("CAN failed to initialize: reset required");
+        while (true); // spin indefinitely
+    }
+
+    Serial.println("Waiting for ODrive...");
+    while (!odrv0_user_data.received_heartbeat) {
+        pumpEvents(can_intf);
+        delay(100);
+    }
+
+    Serial.println("found ODrive");
+
+    // request bus voltage and current (1sec timeout)
+    Serial.println("attempting to read bus voltage and current");
+    Get_Bus_Voltage_Current_msg_t vbus;
+    if (!odrv0.request(vbus, 1)) {
+        Serial.println("vbus request failed!");
+        while (true); // spin indefinitely
+    }
+
+    Serial.print("DC voltage [V]: ");
+    Serial.println(vbus.Bus_Voltage);
+    Serial.print("DC current [A]: ");
+    Serial.println(vbus.Bus_Current);
+
+    
+    // make sure odrv0 is configured for trajectory commands
+    Serial.println("Setting trajectory mode...");
+    if (!odrv0.setControllerMode(ODriveControlMode::CONTROL_MODE_POSITION_CONTROL, ODriveInputMode::INPUT_MODE_TRAP_TRAJ)) {
+        Serial.println("failed to set Controller Mode");
+        while (true); // spin indefinitely
+    }
+
+    Serial.println("Enabling closed loop control...");
+    while (odrv0_user_data.last_heartbeat.Axis_State != ODriveAxisState::AXIS_STATE_CLOSED_LOOP_CONTROL) {
+        odrv0.clearErrors();
+        odrv0.setState(ODriveAxisState::AXIS_STATE_CLOSED_LOOP_CONTROL);
+        delay(10); // small delay to avoid spamming the CAN bus
+        pumpEvents(can_intf);
+    }
+
+    Serial.println("ODrive running!");
+}
+
+bool fwd_rev = false;
+
+void loop() {
+    pumpEvents(can_intf);
+
+    // print position and velocity for Serial Plotter
+    if (odrv0_user_data.received_feedback) {
+        odrv0_user_data.received_feedback = false;
+        Serial.print("odrv0-pos:");
+        Serial.print(odrv0_user_data.last_feedback.Pos_Estimate);
+        Serial.print(",");
+        Serial.print("odrv0-vel:");
+        Serial.println(odrv0_user_data.last_feedback.Vel_Estimate);
+    }
+
+    if (odrv0_user_data.last_heartbeat.Trajectory_Done_Flag) {
+        // If trajectory is done, set new target pos for the trajectory planner
+        float target_pos = fwd_rev ? 5.0f : -5.0f;
+        fwd_rev = !fwd_rev;
+        if (!odrv0.trapezoidalMove(target_pos)) Serial.println("trapezoidalMove command failed!");
+    }
+}

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[platformio]
+src_dir = examples/TrapTrajCAN
+lib_dir = .
+
+[env:teensy41]
+platform = teensy
+board = teensy41
+framework = arduino
+build_flags = -DIS_TEENSY_BUILTIN
+
+[env:uno_r4_minima]
+platform = renesas-ra
+board = uno_r4_minima
+framework = arduino
+build_flags = -DIS_ARDUINO_BUILTIN
+
+[env:uno]
+platform = atmelavr
+board = uno
+framework = arduino
+build_flags = -DIS_MCP2515
+lib_deps = 
+    https://github.com/sandeepmistry/arduino-CAN.git