#include <RmdMotorCAN.h>

Inheritance diagram for RmdMotorCAN:

Classes
union	ErrorStatus

Public Member Functions
	RmdMotorCAN (uint8_t instance)

virtual	~RmdMotorCAN ()

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 ()

void	setTorque (int16_t torque)

bool	motorReady ()

void	Run ()

void	saveFlash () override

void	restoreFlash () 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

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 PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

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 CanHandler
	CanHandler ()

virtual	~CanHandler ()

virtual void	canErrorCallback (CANPort *port, uint32_t errcode)

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	getHelpstring ()

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 Attributes
const uint32_t	angleUpdateMs = 10

Private Member Functions
void	errorCb (ErrorStatus &errors)

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)

Private Attributes
CANPort *	port = &canport

uint8_t	nodeId = 1

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

int32_t	filterId = -2

int16_t	curCurrent = 0

uint8_t	curTemp = 0

uint16_t	curVoltage = 0

ErrorStatus	lastErrors = {0}

int32_t	posOffset = 0

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. 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)

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. More...

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

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

static void	StartScheduler ()

static void	EndScheduler ()

Detailed Description

Definition at line 28 of file RmdMotorCAN.h.

Constructor & Destructor Documentation

◆ RmdMotorCAN()

RmdMotorCAN::RmdMotorCAN ( uint8_t instance )

Definition at line 42 of file RmdMotorCAN.cpp.

◆ ~RmdMotorCAN()

RmdMotorCAN::~RmdMotorCAN ( )

virtual

Definition at line 61 of file RmdMotorCAN.cpp.

Member Function Documentation

◆ canRxPendCallback()

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

overridevirtual

New message received in fifo number

Reimplemented from CanHandler.

Definition at line 240 of file RmdMotorCAN.cpp.

◆ command()

CommandStatus RmdMotorCAN::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 334 of file RmdMotorCAN.cpp.

◆ errorCb()

void RmdMotorCAN::errorCb ( ErrorStatus & errors )

private

Definition at line 223 of file RmdMotorCAN.cpp.

◆ getCpr()

uint32_t RmdMotorCAN::getCpr ( )

overridevirtual

Gets the amount of counts per full rotation of the encoder

Reimplemented from Encoder.

Definition at line 161 of file RmdMotorCAN.cpp.

◆ getEncoder()

Encoder * RmdMotorCAN::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 151 of file RmdMotorCAN.cpp.

◆ getEncoderType()

EncoderType RmdMotorCAN::getEncoderType ( )

overridevirtual

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

Reimplemented from Encoder.

Definition at line 219 of file RmdMotorCAN.cpp.

◆ getInfo()

const ClassIdentifier RmdMotorCAN::getInfo ( )

pure virtual

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

Implements CommandHandler.

Implemented in RmdMotorCAN1, and RmdMotorCAN2.

◆ getPos()

int32_t RmdMotorCAN::getPos ( )

overridevirtual

Returns the encoder position as raw counts

Reimplemented from Encoder.

Definition at line 165 of file RmdMotorCAN.cpp.

◆ hasIntegratedEncoder()

bool RmdMotorCAN::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 38 of file RmdMotorCAN.h.

◆ motorReady()

bool RmdMotorCAN::motorReady ( )

virtual

Reimplemented from MotorDriver.

Definition at line 155 of file RmdMotorCAN.cpp.

◆ registerCommands()

void RmdMotorCAN::registerCommands ( )

Definition at line 322 of file RmdMotorCAN.cpp.

◆ requestConstantReports()

void RmdMotorCAN::requestConstantReports	(	uint8_t	cmd,
		bool	enable,
		uint16_t	interval_10ms
	)

Request constant automatic replies interval 0 = 10ms, 1= 20ms...

Definition at line 233 of file RmdMotorCAN.cpp.

◆ restoreFlash()

void RmdMotorCAN::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 67 of file RmdMotorCAN.cpp.

◆ Run()

void RmdMotorCAN::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 98 of file RmdMotorCAN.cpp.

◆ saveFlash()

void RmdMotorCAN::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 85 of file RmdMotorCAN.cpp.

◆ sendCmd()

void RmdMotorCAN::sendCmd ( uint8_t cmd )

Definition at line 187 of file RmdMotorCAN.cpp.

◆ sendMsg()

void RmdMotorCAN::sendMsg	(	std::array< uint8_t, 8 > &	data,
		uint8_t	len = `8`
	)

Definition at line 177 of file RmdMotorCAN.cpp.

◆ setCanFilter()

void RmdMotorCAN::setCanFilter ( )

Definition at line 123 of file RmdMotorCAN.cpp.

◆ setPos()

void RmdMotorCAN::setPos ( int32_t pos )

overridevirtual

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

Reimplemented from Encoder.

Definition at line 173 of file RmdMotorCAN.cpp.

◆ setTorque()

void RmdMotorCAN::setTorque ( int16_t torque )

Torque 0.01A * torque

Definition at line 205 of file RmdMotorCAN.cpp.

◆ startMotor()

void RmdMotorCAN::startMotor ( )

overridevirtual

Enable the motor driver

Reimplemented from MotorDriver.

Definition at line 144 of file RmdMotorCAN.cpp.

◆ stopMotor()

void RmdMotorCAN::stopMotor ( )

overridevirtual

Disable the motor driver

Reimplemented from MotorDriver.

Definition at line 138 of file RmdMotorCAN.cpp.

◆ turn()

void RmdMotorCAN::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 210 of file RmdMotorCAN.cpp.

◆ updateRequestMode()

void RmdMotorCAN::updateRequestMode ( bool activerequests )

Definition at line 305 of file RmdMotorCAN.cpp.

◆ updateStatus()

void RmdMotorCAN::updateStatus ( )

Requests Status1 update Contains voltage, errors and temperature

Definition at line 198 of file RmdMotorCAN.cpp.

Member Data Documentation

◆ active

bool RmdMotorCAN::active = false

private

Definition at line 90 of file RmdMotorCAN.h.

◆ activerequests

bool RmdMotorCAN::activerequests = false

private

Definition at line 93 of file RmdMotorCAN.h.

◆ angleUpdateMs

const uint32_t RmdMotorCAN::angleUpdateMs = 10

Definition at line 67 of file RmdMotorCAN.h.

◆ available

bool RmdMotorCAN::available = false

private

Definition at line 92 of file RmdMotorCAN.h.

◆ curCurrent

int16_t RmdMotorCAN::curCurrent = 0

private

Definition at line 106 of file RmdMotorCAN.h.

◆ curTemp

uint8_t RmdMotorCAN::curTemp = 0

private

Definition at line 107 of file RmdMotorCAN.h.

◆ curVoltage

uint16_t RmdMotorCAN::curVoltage = 0

private

Definition at line 108 of file RmdMotorCAN.h.

◆ filterId

int32_t RmdMotorCAN::filterId = -2

private

Definition at line 104 of file RmdMotorCAN.h.

◆ lastAngleUpdate

uint32_t RmdMotorCAN::lastAngleUpdate = 0

private

Definition at line 98 of file RmdMotorCAN.h.

◆ lastErrors

ErrorStatus RmdMotorCAN::lastErrors = {0}

private

Definition at line 110 of file RmdMotorCAN.h.

◆ lastPos

float RmdMotorCAN::lastPos = 0

private

Definition at line 101 of file RmdMotorCAN.h.

◆ lastTorqueStatusUpdate_us

uint32_t RmdMotorCAN::lastTorqueStatusUpdate_us = 0

private

Definition at line 99 of file RmdMotorCAN.h.

◆ maxTorque

uint16_t RmdMotorCAN::maxTorque = 1000

private

Definition at line 102 of file RmdMotorCAN.h.

◆ modelName

char RmdMotorCAN::modelName[8] = {0}

private

Definition at line 96 of file RmdMotorCAN.h.

◆ motorId

uint8_t RmdMotorCAN::motorId = 0

private

Definition at line 89 of file RmdMotorCAN.h.

◆ nextAvailable

bool RmdMotorCAN::nextAvailable = false

private

Definition at line 91 of file RmdMotorCAN.h.

◆ nodeId

uint8_t RmdMotorCAN::nodeId = 1

private

Definition at line 88 of file RmdMotorCAN.h.

◆ port

CANPort* RmdMotorCAN::port = &canport

private

Definition at line 87 of file RmdMotorCAN.h.

◆ posOffset

int32_t RmdMotorCAN::posOffset = 0

private

Definition at line 112 of file RmdMotorCAN.h.

◆ requestConstantReportEnable

bool RmdMotorCAN::requestConstantReportEnable = false

private

Definition at line 94 of file RmdMotorCAN.h.

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

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RmdMotorCAN()

◆ ~RmdMotorCAN()

Member Function Documentation

◆ canRxPendCallback()

◆ command()

◆ errorCb()

◆ getCpr()

◆ getEncoder()

◆ getEncoderType()

◆ getInfo()

◆ getPos()

◆ hasIntegratedEncoder()

◆ motorReady()

◆ registerCommands()

◆ requestConstantReports()

◆ restoreFlash()

◆ Run()

◆ saveFlash()

◆ sendCmd()

◆ sendMsg()

◆ setCanFilter()

◆ setPos()

◆ setTorque()

◆ startMotor()

◆ stopMotor()

◆ turn()

◆ updateRequestMode()

◆ updateStatus()

Member Data Documentation

◆ active

◆ activerequests

◆ angleUpdateMs

◆ available

◆ curCurrent

◆ curTemp

◆ curVoltage

◆ filterId

◆ lastAngleUpdate

◆ lastErrors

◆ lastPos

◆ lastTorqueStatusUpdate_us

◆ maxTorque

◆ modelName

◆ motorId

◆ nextAvailable

◆ nodeId

◆ port

◆ posOffset

◆ requestConstantReportEnable