#include <MotorSimplemotion.h>

Inheritance diagram for MotorSimplemotion:

Classes
struct	Sm2FastUpdate

struct	Sm2FastUpdate_reply

Public Member Functions
	MotorSimplemotion (uint8_t instance)

virtual	~MotorSimplemotion ()

const ClassIdentifier	getInfo ()=0
	Command handlers always have class infos. Works well with ChoosableClass. More...

void	turn (int16_t power) override

void	stopMotor () override

void	startMotor () override

Encoder *	getEncoder () override

bool	hasIntegratedEncoder ()

int32_t	getPos () override

void	setPos (int32_t pos) override

EncoderType	getEncoderType () override

uint32_t	getCpr () override

CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies) override

void	registerCommands ()

std::string	getHelpstring ()

void	uartRcv (char &buf)

void	sendFastUpdate (uint16_t val1, uint16_t val2=0)

void	startUartTransfer (UARTPort *port, bool transmit)

void	endUartTransfer (UARTPort *port, bool transmit)

bool	sendCommand (uint8_t *buf, uint8_t len, uint8_t adr)

uint8_t	queueCommand (uint8_t *buf, MotorSimplemotion_cmdtypes type, uint32_t data)

bool	read1Parameter (MotorSimplemotion_param paramId, uint32_t *reply_p, MotorSimplemotion_cmdtypes replylen=MotorSimplemotion_cmdtypes::none)

bool	set1Parameter (MotorSimplemotion_param paramId, int32_t value, uint32_t *reply_p=nullptr)

bool	getSettings ()

uint32_t	getCumstat ()

bool	motorReady ()

int16_t	getTorque ()

int16_t	getVoltage ()

void	restart ()

Public Member Functions inherited from MotorDriver
	MotorDriver ()

virtual	~MotorDriver ()

const ClassType	getClassType () override
	returns the used classchooser selection id of this instance More...

virtual void	emergencyStop (bool reset=false)

virtual void	setEncoder (std::shared_ptr< Encoder > &encoder)

Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()

uint16_t	getSelectionID ()

Public Member Functions inherited from Encoder
	Encoder ()

virtual	~Encoder ()

virtual float	getPos_f ()

virtual int32_t	getPosAbs ()

virtual float	getPosAbs_f ()

virtual const ClassType	getClassType () override
	returns the used classchooser selection id of this instance More...

Public Member Functions inherited from CommandHandler
virtual const ClassType	getClassType ()

	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID >
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

Public Member Functions inherited from UARTDevice
	UARTDevice ()

	UARTDevice (UARTPort &port)

virtual	~UARTDevice ()

Static Public Attributes
static const uint8_t	SMCMD_FAST_UPDATE_CYCLE = 2<<3

static const uint8_t	SMCMD_FAST_UPDATE_CYCLE_RET = (2<<3) \| 1

static const uint8_t	SMP_FAST_UPDATE_CYCLE_FORMAT = 17

static const uint8_t	SMCMD_INSTANT_CMD = 0x24

static const uint8_t	SMCMD_INSTANT_CMD_RET = 0x25

static const uint8_t	SMPCMD_SETPARAMADDR = 2

Static Public Attributes inherited from MotorDriver
static ClassIdentifier	info ={.name = "None" , .id=CLSID_MOT_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< MotorDriver > >	all_drivers

Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info

Static Public Attributes inherited from Encoder
static ClassIdentifier	info ={.name = "None" , .id=CLSID_ENCODER_NONE, .visibility = ClassVisibility::visible}

static const std::vector< class_entry< Encoder > >	all_encoders

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Protected Attributes
const OutputPin &	writeEnablePin = gpMotor

volatile char	rxbuf [RXBUF_SIZE]

volatile uint8_t	rxbuf_i = 0

char	txbuf [TXBUF_SIZE]

volatile uint8_t	replyidx = 0

volatile uint32_t	replyvalues [REPLYBUF_SIZE]

volatile uint32_t	crcerrors = 0

int16_t	lastTorque = 0

volatile uint32_t	lastUpdateTime = 0

volatile uint32_t	uarterrors = 0

Protected Attributes inherited from MotorDriver
std::shared_ptr< Encoder >	drvEncoder = std::make_shared<Encoder>()

Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation. More...

Protected Attributes inherited from Encoder
uint32_t	cpr = 0

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Protected Attributes inherited from UARTDevice
UARTPort *	uartport = nullptr

Static Protected Attributes
static std::array< uint8_t, 256 >	tableCRC8

static std::array< uint16_t, 256 >	tableCRC16

static const uint8_t	crcpoly = 0x07

static const uint16_t	crcpoly16 = 0x8005

static bool	crcTableInitialized = false

static const uint8_t	crc8init = 0x52

static const uint8_t	RXBUF_SIZE = 32

static const uint8_t	TXBUF_SIZE = 32

static const uint8_t	REPLYBUF_SIZE = 32

Private Types
enum class	MotorSimplemotion_commands : uint8_t { crcerrors , uarterrors , voltage , torque , status , restart , reg , devtype }

enum class	MotorSimplemotion_cmdtypes : uint8_t { param32b = 0 , param24b = 1 , setparamadr = 2 , status =3 , none = 0xff }

enum class	MotorSimplemotion_param : uint16_t { FBD = 493 , FBR = 565 , ControlMode = 559 , Voltage = 900 , Torque = 901 , systemcontrol = 554 , status = 553 , CB1 = 2533 , cumstat = 13 , faults = 552 , devtype = 6020 }

enum class	MotorSimplemotion_FBR : uint8_t { none = 0 , ABN1 , ABN2 , Resolver , Hall , Serial , Sincos16 , Sincos64 , Sincos256 }

Private Member Functions
struct MotorSimplemotion::Sm2FastUpdate	__attribute__ ((packed))

struct MotorSimplemotion::Sm2FastUpdate_reply	__attribute__ ((packed))

void	updatePosition (uint16_t value)

void	updateStatus (uint16_t value)

void	resetBuffer ()

bool	prepareUartTransmit ()

template<size_t params, size_t replynum>
bool	readParameter (std::array< MotorSimplemotion_param, params > paramIds, std::array< uint32_t *, replynum > replies, MotorSimplemotion_cmdtypes replylen=MotorSimplemotion_cmdtypes::none, uint32_t timeout_ms=uartErrorTimeout)

template<size_t params, size_t replynum>
bool	writeParameter (std::array< std::pair< MotorSimplemotion_param, int32_t >, params > paramIds_value, std::array< uint32_t *, replynum > replies, MotorSimplemotion_cmdtypes type, uint32_t timeout_ms=uartErrorTimeout)

Static Private Member Functions
static uint16_t	calculateCrc16rev (std::array< uint16_t, 256 > &crctable, uint8_t *buf, uint16_t len, uint16_t crc)

Private Attributes
uint8_t	address

uint16_t	status

uint16_t	devicetype =0

int32_t	position = 0

int32_t	position_offset = 0

uint16_t	lastPosRep = 0x7fff

volatile bool	waitingFastUpdate = false

volatile bool	waitingReply = false

int32_t	overflows = 0

Sm2FastUpdate	fastbuffer

volatile uint32_t	lastSentTime = 0

volatile uint32_t	lastStatusTime = 0

volatile uint32_t	lastTimeByteReceived = 0

volatile bool	uartErrorOccured = false

bool	initialized = false

bool	hardfault = false

Error	configError = {ErrorCode::externalConfigurationError, ErrorType::critical, "Simplemotion device invalid configuration"}

MotorSimplemotion_FBR	encodertype

Static Private Attributes
static const uint32_t	uartErrorTimeout = 10

Additional Inherited Members
Static Public Member Functions inherited from ChoosableClass
static bool	isCreatable ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence. More...

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on. More...

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal >
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal , class cls , class cls1 , class cls2 >
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal , class cls , class cls1 >
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Detailed Description

Requires a uart port and one GPIO output for the transceiver

Definition at line 24 of file MotorSimplemotion.h.

Member Enumeration Documentation

◆ MotorSimplemotion_cmdtypes

enum class MotorSimplemotion::MotorSimplemotion_cmdtypes : uint8_t

strongprivate

Enumerator
param32b
param24b
setparamadr
status
none

Definition at line 30 of file MotorSimplemotion.h.

◆ MotorSimplemotion_commands

enum class MotorSimplemotion::MotorSimplemotion_commands : uint8_t

strongprivate

Enumerator
crcerrors
uarterrors
voltage
torque
status
restart
reg
devtype

Definition at line 26 of file MotorSimplemotion.h.

◆ MotorSimplemotion_FBR

enum class MotorSimplemotion::MotorSimplemotion_FBR : uint8_t

strongprivate

Enumerator
none
ABN1
ABN2
Resolver
Hall
Serial
Sincos16
Sincos64
Sincos256

Definition at line 38 of file MotorSimplemotion.h.

◆ MotorSimplemotion_param

enum class MotorSimplemotion::MotorSimplemotion_param : uint16_t

strongprivate

Enumerator
FBD
FBR
ControlMode
Voltage
Torque
systemcontrol
status
CB1
cumstat
faults
devtype

Definition at line 34 of file MotorSimplemotion.h.

Constructor & Destructor Documentation

◆ MotorSimplemotion()

MotorSimplemotion::MotorSimplemotion ( uint8_t instance )

Definition at line 30 of file MotorSimplemotion.cpp.

◆ ~MotorSimplemotion()

MotorSimplemotion::~MotorSimplemotion ( )

virtual

Definition at line 54 of file MotorSimplemotion.cpp.

Member Function Documentation

◆ attribute() [1/2]

struct MotorSimplemotion::Sm2FastUpdate_reply MotorSimplemotion::__attribute__ ( (packed) )

private

◆ attribute() [2/2]

struct MotorSimplemotion::Sm2FastUpdate MotorSimplemotion::__attribute__ ( (packed) )

private

◆ calculateCrc16rev()

static uint16_t MotorSimplemotion::calculateCrc16rev	(	std::array< uint16_t, 256 > &	crctable,
		uint8_t *	buf,
		uint16_t	len,
		uint16_t	crc
	)

staticprivate

◆ command()

CommandStatus MotorSimplemotion::command	(	const ParsedCommand &	cmd,
		std::vector< CommandReply > &	replies
	)

overridevirtual

Parameters

[in]	cmd	The parsed command to be executed.
[out]	replies	A vector to return one or multiple reply objects into. Replies to the interface will be generated based on the reply objects. A string reply may not contain start, end and separation markers: [,],\| Other characters are allowed.

Reimplemented from CommandHandler.

Definition at line 485 of file MotorSimplemotion.cpp.

◆ endUartTransfer()

void MotorSimplemotion::endUartTransfer	(	UARTPort *	port,
		bool	transmit
	)

virtual

Reimplemented from UARTDevice.

Definition at line 462 of file MotorSimplemotion.cpp.

◆ getCpr()

uint32_t MotorSimplemotion::getCpr ( )

overridevirtual

This is requested always before position so we need to make sure we have the cpr

Reimplemented from Encoder.

Definition at line 128 of file MotorSimplemotion.cpp.

◆ getCumstat()

uint32_t MotorSimplemotion::getCumstat ( )

Definition at line 140 of file MotorSimplemotion.cpp.

◆ getEncoder()

Encoder * MotorSimplemotion::getEncoder ( )

overridevirtual

Returns the encoder of this motor driver. Either the integrated encoder or an external encoder assigned to this motor driver passed externally

Reimplemented from MotorDriver.

Definition at line 106 of file MotorSimplemotion.cpp.

◆ getEncoderType()

EncoderType MotorSimplemotion::getEncoderType ( )

overridevirtual

Returns the type of the encoder. Must override this and NOT return NONE in other classes

Reimplemented from Encoder.

Definition at line 450 of file MotorSimplemotion.cpp.

◆ getHelpstring()

std::string MotorSimplemotion::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from CommandHandler.

Definition at line 78 of file MotorSimplemotion.h.

◆ getInfo()

const ClassIdentifier MotorSimplemotion::getInfo ( )

pure virtual

Command handlers always have class infos. Works well with ChoosableClass.

Implements CommandHandler.

Implemented in MotorSimplemotion1, and MotorSimplemotion2.

◆ getPos()

int32_t MotorSimplemotion::getPos ( )

overridevirtual

In order to get a position update the fast update must be sent first by updating a torque value

Reimplemented from Encoder.

Definition at line 114 of file MotorSimplemotion.cpp.

◆ getSettings()

bool MotorSimplemotion::getSettings ( )

Definition at line 148 of file MotorSimplemotion.cpp.

◆ getTorque()

int16_t MotorSimplemotion::getTorque ( )

Definition at line 248 of file MotorSimplemotion.cpp.

◆ getVoltage()

int16_t MotorSimplemotion::getVoltage ( )

Definition at line 239 of file MotorSimplemotion.cpp.

◆ hasIntegratedEncoder()

bool MotorSimplemotion::hasIntegratedEncoder ( )

inlinevirtual

If returned true it signals that this motor driver contains its own encoder and does not require an external encoder

Reimplemented from MotorDriver.

Definition at line 68 of file MotorSimplemotion.h.

◆ motorReady()

bool MotorSimplemotion::motorReady ( )

virtual

Reimplemented from MotorDriver.

Definition at line 135 of file MotorSimplemotion.cpp.

◆ prepareUartTransmit()

bool MotorSimplemotion::prepareUartTransmit ( )

private

Checks for a failed transfer and takes the semaphore for uart port

Definition at line 289 of file MotorSimplemotion.cpp.

◆ queueCommand()

uint8_t MotorSimplemotion::queueCommand	(	uint8_t *	buf,
		MotorSimplemotion_cmdtypes	type,
		uint32_t	data
	)

Appends a subpacket to a buffer. Buffer must be 0 initialized returns appended length

Definition at line 331 of file MotorSimplemotion.cpp.

◆ read1Parameter()

bool MotorSimplemotion::read1Parameter	(	MotorSimplemotion_param	paramId,
		uint32_t *	reply_p,
		MotorSimplemotion_cmdtypes	replylen = `MotorSimplemotion_cmdtypes::none`
	)

Definition at line 226 of file MotorSimplemotion.cpp.

◆ readParameter()

template<size_t params, size_t replynum>

bool MotorSimplemotion::readParameter	(	std::array< MotorSimplemotion_param, params >	paramIds,
		std::array< uint32_t *, replynum >	replies,
		MotorSimplemotion_cmdtypes	replylen = `MotorSimplemotion_cmdtypes::none`,
		uint32_t	timeout_ms = `uartErrorTimeout`
	)

inlineprivate

Templated function to read multiple parameters TODO: support more than 1 request at once

Definition at line 173 of file MotorSimplemotion.h.

◆ registerCommands()

void MotorSimplemotion::registerCommands ( )

Definition at line 472 of file MotorSimplemotion.cpp.

◆ resetBuffer()

void MotorSimplemotion::resetBuffer ( )

private

Resets the buffer and ends a transfer. must be called after every receive

Definition at line 344 of file MotorSimplemotion.cpp.

◆ restart()

void MotorSimplemotion::restart ( )

Definition at line 256 of file MotorSimplemotion.cpp.

◆ sendCommand()

bool MotorSimplemotion::sendCommand	(	uint8_t *	buf,
		uint8_t	len,
		uint8_t	adr
	)

Sends a command buffer

Definition at line 300 of file MotorSimplemotion.cpp.

◆ sendFastUpdate()

void MotorSimplemotion::sendFastUpdate	(	uint16_t	val1,
		uint16_t	val2 = `0`
	)

Sends a fast cycle packet. Driver will reply with status and position

Definition at line 62 of file MotorSimplemotion.cpp.

◆ set1Parameter()

bool MotorSimplemotion::set1Parameter	(	MotorSimplemotion_param	paramId,
		int32_t	value,
		uint32_t *	reply_p = `nullptr`
	)

Definition at line 232 of file MotorSimplemotion.cpp.

◆ setPos()

void MotorSimplemotion::setPos ( int32_t pos )

overridevirtual

Change the position of the encoder Can be used to reset the center

Reimplemented from Encoder.

Definition at line 121 of file MotorSimplemotion.cpp.

◆ startMotor()

void MotorSimplemotion::startMotor ( )

overridevirtual

Enable the motor driver

Reimplemented from MotorDriver.

Definition at line 441 of file MotorSimplemotion.cpp.

◆ startUartTransfer()

void MotorSimplemotion::startUartTransfer	(	UARTPort *	port,
		bool	transmit
	)

virtual

Reimplemented from UARTDevice.

Definition at line 454 of file MotorSimplemotion.cpp.

◆ stopMotor()

void MotorSimplemotion::stopMotor ( )

overridevirtual

Disable the motor driver

Reimplemented from MotorDriver.

Definition at line 445 of file MotorSimplemotion.cpp.

◆ turn()

void MotorSimplemotion::turn ( int16_t val )

overridevirtual

Turn the motor with positive/negative power. Range should be full signed 16 bit A value of 0 should have no torque. The sign is the direction.

Reimplemented from MotorDriver.

Definition at line 101 of file MotorSimplemotion.cpp.

◆ uartRcv()

void MotorSimplemotion::uartRcv ( char & buf )

virtual

Reimplemented from UARTDevice.

Definition at line 353 of file MotorSimplemotion.cpp.

◆ updatePosition()

void MotorSimplemotion::updatePosition ( uint16_t value )

private

Definition at line 261 of file MotorSimplemotion.cpp.

◆ updateStatus()

void MotorSimplemotion::updateStatus ( uint16_t value )

private

Definition at line 277 of file MotorSimplemotion.cpp.

◆ writeParameter()

template<size_t params, size_t replynum>

bool MotorSimplemotion::writeParameter	(	std::array< std::pair< MotorSimplemotion_param, int32_t >, params >	paramIds_value,
		std::array< uint32_t *, replynum >	replies,
		MotorSimplemotion_cmdtypes	type,
		uint32_t	timeout_ms = `uartErrorTimeout`
	)

inlineprivate

Definition at line 219 of file MotorSimplemotion.h.

Member Data Documentation

◆ address

uint8_t MotorSimplemotion::address

private

Definition at line 137 of file MotorSimplemotion.h.

◆ configError

Error MotorSimplemotion::configError = {ErrorCode::externalConfigurationError, ErrorType::critical, "Simplemotion device invalid configuration"}

private

Definition at line 163 of file MotorSimplemotion.h.

◆ crc8init

const uint8_t MotorSimplemotion::crc8init = 0x52

staticprotected

Definition at line 116 of file MotorSimplemotion.h.

◆ crcerrors

volatile uint32_t MotorSimplemotion::crcerrors = 0

protected

Definition at line 131 of file MotorSimplemotion.h.

◆ crcpoly

const uint8_t MotorSimplemotion::crcpoly = 0x07

staticprotected

Definition at line 113 of file MotorSimplemotion.h.

◆ crcpoly16

const uint16_t MotorSimplemotion::crcpoly16 = 0x8005

staticprotected

Definition at line 114 of file MotorSimplemotion.h.

◆ crcTableInitialized

bool MotorSimplemotion::crcTableInitialized = false

staticprotected

Definition at line 115 of file MotorSimplemotion.h.

◆ devicetype

uint16_t MotorSimplemotion::devicetype =0

private

Definition at line 142 of file MotorSimplemotion.h.

◆ encodertype

MotorSimplemotion_FBR MotorSimplemotion::encodertype

private

Definition at line 164 of file MotorSimplemotion.h.

◆ fastbuffer

Sm2FastUpdate MotorSimplemotion::fastbuffer

private

Definition at line 150 of file MotorSimplemotion.h.

◆ hardfault

bool MotorSimplemotion::hardfault = false

private

Definition at line 162 of file MotorSimplemotion.h.

◆ initialized

bool MotorSimplemotion::initialized = false

private

Definition at line 161 of file MotorSimplemotion.h.

◆ lastPosRep

uint16_t MotorSimplemotion::lastPosRep = 0x7fff

private

Definition at line 146 of file MotorSimplemotion.h.

◆ lastSentTime

volatile uint32_t MotorSimplemotion::lastSentTime = 0

private

Definition at line 151 of file MotorSimplemotion.h.

◆ lastStatusTime

volatile uint32_t MotorSimplemotion::lastStatusTime = 0

private

Definition at line 152 of file MotorSimplemotion.h.

◆ lastTimeByteReceived

volatile uint32_t MotorSimplemotion::lastTimeByteReceived = 0

private

Definition at line 155 of file MotorSimplemotion.h.

◆ lastTorque

int16_t MotorSimplemotion::lastTorque = 0

protected

Definition at line 132 of file MotorSimplemotion.h.

◆ lastUpdateTime

volatile uint32_t MotorSimplemotion::lastUpdateTime = 0

protected

Definition at line 133 of file MotorSimplemotion.h.

◆ overflows

int32_t MotorSimplemotion::overflows = 0

private

Definition at line 149 of file MotorSimplemotion.h.

◆ position

int32_t MotorSimplemotion::position = 0

private

Definition at line 144 of file MotorSimplemotion.h.

◆ position_offset

int32_t MotorSimplemotion::position_offset = 0

private

Definition at line 145 of file MotorSimplemotion.h.

◆ REPLYBUF_SIZE

const uint8_t MotorSimplemotion::REPLYBUF_SIZE = 32

staticprotected

Definition at line 128 of file MotorSimplemotion.h.

◆ replyidx

volatile uint8_t MotorSimplemotion::replyidx = 0

protected

Definition at line 127 of file MotorSimplemotion.h.

◆ replyvalues

volatile uint32_t MotorSimplemotion::replyvalues[REPLYBUF_SIZE]

protected

Definition at line 129 of file MotorSimplemotion.h.

◆ rxbuf

volatile char MotorSimplemotion::rxbuf[RXBUF_SIZE]

protected

Definition at line 120 of file MotorSimplemotion.h.

◆ rxbuf_i

volatile uint8_t MotorSimplemotion::rxbuf_i = 0

protected

Definition at line 121 of file MotorSimplemotion.h.

◆ RXBUF_SIZE

const uint8_t MotorSimplemotion::RXBUF_SIZE = 32

staticprotected

Definition at line 119 of file MotorSimplemotion.h.

◆ SMCMD_FAST_UPDATE_CYCLE

const uint8_t MotorSimplemotion::SMCMD_FAST_UPDATE_CYCLE = 2<<3

static

Definition at line 100 of file MotorSimplemotion.h.

◆ SMCMD_FAST_UPDATE_CYCLE_RET

const uint8_t MotorSimplemotion::SMCMD_FAST_UPDATE_CYCLE_RET = (2<<3) | 1

static

Definition at line 101 of file MotorSimplemotion.h.

◆ SMCMD_INSTANT_CMD

const uint8_t MotorSimplemotion::SMCMD_INSTANT_CMD = 0x24

static

Definition at line 103 of file MotorSimplemotion.h.

◆ SMCMD_INSTANT_CMD_RET

const uint8_t MotorSimplemotion::SMCMD_INSTANT_CMD_RET = 0x25

static

Definition at line 104 of file MotorSimplemotion.h.

◆ SMP_FAST_UPDATE_CYCLE_FORMAT

const uint8_t MotorSimplemotion::SMP_FAST_UPDATE_CYCLE_FORMAT = 17

static

Definition at line 102 of file MotorSimplemotion.h.

◆ SMPCMD_SETPARAMADDR

const uint8_t MotorSimplemotion::SMPCMD_SETPARAMADDR = 2

static

Definition at line 105 of file MotorSimplemotion.h.

◆ status

uint16_t MotorSimplemotion::status

private

Definition at line 141 of file MotorSimplemotion.h.

◆ tableCRC16

std::array<uint16_t,256> MotorSimplemotion::tableCRC16

staticprotected

Definition at line 112 of file MotorSimplemotion.h.

◆ tableCRC8

std::array<uint8_t,256> MotorSimplemotion::tableCRC8

staticprotected

Definition at line 111 of file MotorSimplemotion.h.

◆ txbuf

char MotorSimplemotion::txbuf[TXBUF_SIZE]

protected

Definition at line 125 of file MotorSimplemotion.h.

◆ TXBUF_SIZE

const uint8_t MotorSimplemotion::TXBUF_SIZE = 32

staticprotected

Definition at line 124 of file MotorSimplemotion.h.

◆ uartErrorOccured

volatile bool MotorSimplemotion::uartErrorOccured = false

private

Definition at line 156 of file MotorSimplemotion.h.

◆ uarterrors

volatile uint32_t MotorSimplemotion::uarterrors = 0

protected

Definition at line 134 of file MotorSimplemotion.h.

◆ uartErrorTimeout

const uint32_t MotorSimplemotion::uartErrorTimeout = 10

staticprivate

Definition at line 154 of file MotorSimplemotion.h.

◆ waitingFastUpdate

volatile bool MotorSimplemotion::waitingFastUpdate = false

private

Definition at line 147 of file MotorSimplemotion.h.

◆ waitingReply

volatile bool MotorSimplemotion::waitingReply = false

private

Definition at line 148 of file MotorSimplemotion.h.

◆ writeEnablePin

const OutputPin& MotorSimplemotion::writeEnablePin = gpMotor

protected

Definition at line 108 of file MotorSimplemotion.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Static Public Attributes

Protected Attributes

Static Protected Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MotorSimplemotion_cmdtypes

◆ MotorSimplemotion_commands

◆ MotorSimplemotion_FBR

◆ MotorSimplemotion_param

Constructor & Destructor Documentation

◆ MotorSimplemotion()

◆ ~MotorSimplemotion()

Member Function Documentation

◆ __attribute__() [1/2]

◆ __attribute__() [2/2]

◆ calculateCrc16rev()

◆ command()

◆ endUartTransfer()

◆ getCpr()

◆ getCumstat()

◆ getEncoder()

◆ getEncoderType()

◆ getHelpstring()

◆ getInfo()

◆ getPos()

◆ getSettings()

◆ getTorque()

◆ getVoltage()

◆ hasIntegratedEncoder()

◆ motorReady()

◆ prepareUartTransmit()

◆ queueCommand()

◆ read1Parameter()

◆ readParameter()

◆ registerCommands()

◆ resetBuffer()

◆ restart()

◆ sendCommand()

◆ sendFastUpdate()

◆ set1Parameter()

◆ setPos()

◆ startMotor()

◆ startUartTransfer()

◆ stopMotor()

◆ turn()

◆ uartRcv()

◆ updatePosition()

◆ updateStatus()

◆ writeParameter()

Member Data Documentation

◆ address

◆ configError

◆ crc8init

◆ crcerrors

◆ crcpoly

◆ crcpoly16

◆ crcTableInitialized

◆ devicetype

◆ encodertype

◆ fastbuffer

◆ hardfault

◆ initialized

◆ lastPosRep

◆ lastSentTime

◆ lastStatusTime

◆ lastTimeByteReceived

◆ lastTorque

◆ lastUpdateTime

◆ overflows

◆ position

◆ position_offset

◆ REPLYBUF_SIZE

◆ attribute() [1/2]

◆ attribute() [2/2]