#include <ODriveCAN.h>

Inheritance diagram for ODriveCAN:

Public Member Functions
	ODriveCAN (uint8_t id)

virtual	~ODriveCAN ()

const ClassIdentifier	getInfo ()=0

void	turn (int16_t power) override

void	stopMotor () override

void	startMotor () override

Encoder *	getEncoder () override

bool	hasIntegratedEncoder ()

template<class T>
void	sendMsg (uint8_t cmd, T value)

void	sendMsg (uint8_t cmd, float value)

void	requestMsg (uint8_t cmd)

bool	motorReady () override

void	startAnticogging ()

void	Run ()

void	setTorque (float torque)

void	canRxPendCallback (CANPort *port, CAN_rx_msg &msg) override

void	canErrorCallback (CANPort *port, uint32_t errcode)

float	getPos_f () override

uint32_t	getCpr () override

int32_t	getPos () override

void	setPos (int32_t pos) override

EncoderType	getEncoderType () override

void	setMode (ODriveControlMode controlMode, ODriveInputMode inputMode)

void	setState (ODriveState state)

void	readyCb ()

void	saveFlash () override

void	restoreFlash () override

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

void	registerCommands ()

std::string	getHelpstring ()

void	setCanFilter ()

Public Member Functions inherited from MotorDriver
	MotorDriver ()

virtual	~MotorDriver ()

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

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 PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

Public Member Functions inherited from Encoder
	Encoder ()

virtual	~Encoder ()

virtual int32_t	getPosAbs ()

virtual float	getPosAbs_f ()

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

Public Member Functions inherited from CanHandler
	CanHandler ()

virtual	~CanHandler ()

virtual void	canRxFullCallback (CANPort *port, uint32_t fifo)

virtual void	canTxCpltCallback (CANPort *port, uint32_t mailbox)

virtual void	canTxAbortCallback (CANPort *port, uint32_t mailbox)

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)

Private Attributes
CANPort *	port = &canport

float	lastPos = 0

float	lastSpeed = 0

float	posOffset = 0

float	lastVoltage = 0

uint32_t	lastVoltageUpdate = 0

uint32_t	lastCanMessage = 0

uint32_t	lastPosTime = 0

bool	posWaiting = false

bool	reloadPosAfterStartup = false

int8_t	nodeId = 0

int8_t	motorId = 0

volatile ODriveState	odriveCurrentState = ODriveState::AXIS_STATE_UNDEFINED

volatile uint32_t	errors = 0

volatile uint32_t	odriveMotorFlags = 0

volatile uint32_t	odriveEncoderFlags = 0

volatile uint32_t	odriveControllerFlags = 0

float	maxTorque = 1.0

volatile bool	waitReady = true

bool	active = false

int32_t	filterId = 0

volatile ODriveLocalState	state = ODriveLocalState::IDLE

bool	connected = false

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

Static Public Member Functions inherited from PersistentStorage
static std::vector< PersistentStorage * > &	getFlashHandlers ()

static void	restoreFlashStartupCb ()

Static Public Member Functions inherited from CanHandler
static std::vector< CanHandler * > &	getCANHandlers ()

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

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

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)

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 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 ()

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.

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Protected Attributes inherited from Encoder
uint32_t	cpr = 0

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

Private Member Functions inherited from cpp_freertos::Thread
	Thread (const std::string Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (const char *Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (uint16_t StackDepth, UBaseType_t Priority)

bool	Start ()

virtual	~Thread ()

TaskHandle_t	GetHandle ()

void	Suspend ()

void	Resume ()

void	ResumeFromISR ()

void	Notify ()

void	NotifyFromISR ()

uint32_t	WaitForNotification (TickType_t Timeout=portMAX_DELAY)

UBaseType_t	GetPriority ()

UBaseType_t	GetPriorityFromISR ()

void	SetPriority (UBaseType_t NewPriority)

std::string	GetName ()

char *	GetName ()

virtual void	Cleanup ()

void	Delay (const TickType_t Delay)

void	DelayUntil (const TickType_t Period)

void	ResetDelayUntil ()

bool	Wait (ConditionVariable &Cv, Mutex &CvLock, TickType_t Timeout=portMAX_DELAY)

Static Private Member Functions inherited from cpp_freertos::Thread
static void	Yield ()

static void	StartScheduler ()

static void	EndScheduler ()

Detailed Description

Definition at line 35 of file ODriveCAN.h.

Constructor & Destructor Documentation

◆ ODriveCAN()

ODriveCAN::ODriveCAN ( uint8_t id )

Definition at line 40 of file ODriveCAN.cpp.

◆ ~ODriveCAN()

ODriveCAN::~ODriveCAN ( )

virtual

Definition at line 61 of file ODriveCAN.cpp.

Member Function Documentation

◆ canErrorCallback()

void ODriveCAN::canErrorCallback	(	CANPort *	port,
		uint32_t	errcode )

virtual

Error during can transfer

Reimplemented from CanHandler.

Definition at line 385 of file ODriveCAN.cpp.

◆ canRxPendCallback()

void ODriveCAN::canRxPendCallback	(	CANPort *	port,
		CAN_rx_msg &	msg )

overridevirtual

New message received in fifo number

Reimplemented from CanHandler.

Definition at line 389 of file ODriveCAN.cpp.

◆ command()

CommandStatus ODriveCAN::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 306 of file ODriveCAN.cpp.

◆ getCpr()

uint32_t ODriveCAN::getCpr ( )

overridevirtual

Gets the amount of counts per full rotation of the encoder

Reimplemented from Encoder.

Definition at line 268 of file ODriveCAN.cpp.

◆ getEncoder()

Encoder * ODriveCAN::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 230 of file ODriveCAN.cpp.

◆ getEncoderType()

EncoderType ODriveCAN::getEncoderType ( )

overridevirtual

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

Reimplemented from Encoder.

Definition at line 277 of file ODriveCAN.cpp.

◆ getHelpstring()

std::string ODriveCAN::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from CommandHandler.

Definition at line 94 of file ODriveCAN.h.

◆ getInfo()

const ClassIdentifier ODriveCAN::getInfo ( )

pure virtual

Reimplemented from MotorDriver.

Implemented in ODriveCAN1, and ODriveCAN2.

◆ getPos()

int32_t ODriveCAN::getPos ( )

overridevirtual

Returns the encoder position as raw counts

Reimplemented from Encoder.

Definition at line 263 of file ODriveCAN.cpp.

◆ getPos_f()

float ODriveCAN::getPos_f ( )

overridevirtual

Returns a float position in rotations

Reimplemented from Encoder.

Definition at line 251 of file ODriveCAN.cpp.

◆ hasIntegratedEncoder()

bool ODriveCAN::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 49 of file ODriveCAN.h.

◆ motorReady()

bool ODriveCAN::motorReady ( )

overridevirtual

Reimplemented from MotorDriver.

Definition at line 260 of file ODriveCAN.cpp.

◆ readyCb()

void ODriveCAN::readyCb ( )

◆ registerCommands()

void ODriveCAN::registerCommands ( )

Definition at line 79 of file ODriveCAN.cpp.

◆ requestMsg()

void ODriveCAN::requestMsg ( uint8_t cmd )

Definition at line 243 of file ODriveCAN.cpp.

◆ restoreFlash()

void ODriveCAN::restoreFlash ( )

overridevirtual

Should be implemented to restore settings. This is not automatically called and should be called when appropriate.

Reimplemented from PersistentStorage.

Definition at line 92 of file ODriveCAN.cpp.

◆ Run()

void ODriveCAN::Run ( )

virtual

Implementation of your actual thread code. You must override this function.

Note: If INCLUDE_vTaskDelete is defined, then you may return from your Run method. This will cause the task to be deleted from FreeRTOS, however you are still responsible to delete the task object. If this is not defined, then retuning from your Run() method will result in an assert.

Implements cpp_freertos::Thread.

Definition at line 150 of file ODriveCAN.cpp.

◆ saveFlash()

void ODriveCAN::saveFlash ( )

overridevirtual

Called when the user uses the "save" command and presses the save button in the configurator Automatically called by the command parser thread for every class that inherits from PersistentStorage

Reimplemented from PersistentStorage.

Definition at line 121 of file ODriveCAN.cpp.

◆ sendMsg() [1/2]

void ODriveCAN::sendMsg	(	uint8_t	cmd,
		float	value )

◆ sendMsg() [2/2]

template<class T>

void ODriveCAN::sendMsg	(	uint8_t	cmd,
		T	value )

inline

Definition at line 52 of file ODriveCAN.h.

◆ setCanFilter()

void ODriveCAN::setCanFilter ( )

Definition at line 67 of file ODriveCAN.cpp.

◆ setMode()

void ODriveCAN::setMode	(	ODriveControlMode	controlMode,
		ODriveInputMode	inputMode )

Definition at line 282 of file ODriveCAN.cpp.

◆ setPos()

void ODriveCAN::setPos ( int32_t pos )

overridevirtual

Must be in encoder cpr if not just used to zero the axis

Reimplemented from Encoder.

Definition at line 237 of file ODriveCAN.cpp.

◆ setState()

void ODriveCAN::setState ( ODriveState state )

Definition at line 287 of file ODriveCAN.cpp.

◆ setTorque()

void ODriveCAN::setTorque ( float torque )

Definition at line 271 of file ODriveCAN.cpp.

◆ startAnticogging()

void ODriveCAN::startAnticogging ( )

Sends the start anticogging command

Definition at line 301 of file ODriveCAN.cpp.

◆ startMotor()

void ODriveCAN::startMotor ( )

overridevirtual

Enable the motor driver

Reimplemented from MotorDriver.

Definition at line 224 of file ODriveCAN.cpp.

◆ stopMotor()

void ODriveCAN::stopMotor ( )

overridevirtual

Disable the motor driver

Reimplemented from MotorDriver.

Definition at line 217 of file ODriveCAN.cpp.

◆ turn()

void ODriveCAN::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 292 of file ODriveCAN.cpp.

Member Data Documentation

◆ active

bool ODriveCAN::active = false

private

Definition at line 124 of file ODriveCAN.h.

◆ connected

bool ODriveCAN::connected = false

private

Definition at line 128 of file ODriveCAN.h.

◆ errors

volatile uint32_t ODriveCAN::errors = 0

private

Definition at line 115 of file ODriveCAN.h.

◆ filterId

int32_t ODriveCAN::filterId = 0

private

Definition at line 126 of file ODriveCAN.h.

◆ lastCanMessage

uint32_t ODriveCAN::lastCanMessage = 0

private

Definition at line 105 of file ODriveCAN.h.

◆ lastPos

float ODriveCAN::lastPos = 0

private

Definition at line 100 of file ODriveCAN.h.

◆ lastPosTime

uint32_t ODriveCAN::lastPosTime = 0

private

Definition at line 107 of file ODriveCAN.h.

◆ lastSpeed

float ODriveCAN::lastSpeed = 0

private

Definition at line 101 of file ODriveCAN.h.

◆ lastVoltage

float ODriveCAN::lastVoltage = 0

private

Definition at line 103 of file ODriveCAN.h.

◆ lastVoltageUpdate

uint32_t ODriveCAN::lastVoltageUpdate = 0

private

Definition at line 104 of file ODriveCAN.h.

◆ maxTorque

float ODriveCAN::maxTorque = 1.0

private

Definition at line 121 of file ODriveCAN.h.

◆ motorId

int8_t ODriveCAN::motorId = 0

private

Definition at line 112 of file ODriveCAN.h.

◆ nodeId

int8_t ODriveCAN::nodeId = 0

private

Definition at line 111 of file ODriveCAN.h.

◆ odriveControllerFlags

volatile uint32_t ODriveCAN::odriveControllerFlags = 0

private

Definition at line 119 of file ODriveCAN.h.

◆ odriveCurrentState

volatile ODriveState ODriveCAN::odriveCurrentState = ODriveState::AXIS_STATE_UNDEFINED

private

Definition at line 114 of file ODriveCAN.h.

◆ odriveEncoderFlags

volatile uint32_t ODriveCAN::odriveEncoderFlags = 0

private

Definition at line 118 of file ODriveCAN.h.

◆ odriveMotorFlags

volatile uint32_t ODriveCAN::odriveMotorFlags = 0

private

Definition at line 117 of file ODriveCAN.h.

◆ port

CANPort* ODriveCAN::port = &canport

private

Definition at line 99 of file ODriveCAN.h.

◆ posOffset

float ODriveCAN::posOffset = 0

private

Definition at line 102 of file ODriveCAN.h.

◆ posWaiting

bool ODriveCAN::posWaiting = false

private

Definition at line 108 of file ODriveCAN.h.

◆ reloadPosAfterStartup

bool ODriveCAN::reloadPosAfterStartup = false

private

Definition at line 109 of file ODriveCAN.h.

◆ state

volatile ODriveLocalState ODriveCAN::state = ODriveLocalState::IDLE

private

Definition at line 127 of file ODriveCAN.h.

◆ waitReady

volatile bool ODriveCAN::waitReady = true

private

Definition at line 122 of file ODriveCAN.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ODriveCAN()

◆ ~ODriveCAN()

Member Function Documentation

◆ canErrorCallback()

◆ canRxPendCallback()

◆ command()

◆ getCpr()

◆ getEncoder()

◆ getEncoderType()

◆ getHelpstring()

◆ getInfo()

◆ getPos()

◆ getPos_f()

◆ hasIntegratedEncoder()

◆ motorReady()

◆ readyCb()

◆ registerCommands()

◆ requestMsg()

◆ restoreFlash()

◆ Run()

◆ saveFlash()

◆ sendMsg() [1/2]

◆ sendMsg() [2/2]

◆ setCanFilter()

◆ setMode()

◆ setPos()

◆ setState()

◆ setTorque()

◆ startAnticogging()

◆ startMotor()

◆ stopMotor()

◆ turn()

Member Data Documentation

◆ active

◆ connected

◆ errors

◆ filterId

◆ lastCanMessage

◆ lastPos

◆ lastPosTime

◆ lastSpeed

◆ lastVoltage

◆ lastVoltageUpdate

◆ maxTorque

◆ motorId

◆ nodeId

◆ odriveControllerFlags

◆ odriveCurrentState

◆ odriveEncoderFlags

◆ odriveMotorFlags

◆ port

◆ posOffset

◆ posWaiting

◆ reloadPosAfterStartup

◆ state

◆ waitReady