RmdMotorCAN.h

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

class RmdMotorCAN1 : public RmdMotorCAN{
public:
    RmdMotorCAN1() : RmdMotorCAN{0} {inUse = true;}
    const ClassIdentifier getInfo();
    ~RmdMotorCAN1(){inUse = false;}
    static bool isCreatable();
    static ClassIdentifier info;
    static bool inUse;
};

class RmdMotorCAN2 : public RmdMotorCAN{
public:
    RmdMotorCAN2() : RmdMotorCAN{1} {inUse = true;}
    const ClassIdentifier getInfo();
    ~RmdMotorCAN2(){inUse = false;}
    static bool isCreatable();
    static ClassIdentifier info;
    static bool inUse;
};
#endif
#endif /* USEREXTENSIONS_SRC_RMDMOTORCAN_H_ */