TMCDebugBridge Class Reference

#include <TMCDebugBridge.h>

Inheritance diagram for TMCDebugBridge:

Public Member Functions
	TMCDebugBridge ()
virtual	~TMCDebugBridge ()
const ClassIdentifier	getInfo ()
void	cdcRcv (char *Buf, uint32_t *Len)
CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies)
void	registerCommands ()
std::string	getHelpstring ()
Public Member Functions inherited from FFBoardMain
const ClassType	getClassType () override
	returns the used classchooser selection id of this instance
	FFBoardMain ()
virtual	~FFBoardMain ()
virtual void	usbInit ()
virtual void	update ()
virtual void	cdcRcvReady (uint8_t itf)
virtual void	usbSuspend ()
virtual void	usbResume ()
Public Member Functions inherited from ChoosableClass
virtual	~ChoosableClass ()
uint16_t	getSelectionID ()
Public Member Functions inherited from CommandHandler
	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)

Static Public Member Functions
static bool	isCreatable ()
Static Public Member Functions inherited from FFBoardMain
static bool	isCreatable ()
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.
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
static ClassIdentifier	info
Static Public Attributes inherited from FFBoardMain
static ClassIdentifier	info ={.name = "Basic (Failsafe)" ,.id=0}
Static Public Attributes inherited from ChoosableClass
static ClassIdentifier	info
Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Private Types
enum class	TMCDebugBridge_commands : uint32_t {   torque , pos , openloopspeed , velocity ,   mode , reg , openloopspeedpwm }

Private Member Functions
uint8_t	checksum (std::vector< uint8_t > *buffer, uint8_t len)
HAL_StatusTypeDef	SPI_transmit_receive (uint8_t *tx_data, uint8_t *rx_data, uint16_t len, uint32_t timeout)

Static Private Member Functions
static void	sendCdc (char *dat, uint32_t len)

Private Attributes
const TMC4671PIDConf	tmcpids
const TMC4671Limits	tmclimits
std::unique_ptr< TMC4671 >	drv

Additional Inherited Members
Public Attributes inherited from FFBoardMain
std::unique_ptr< FFBoardMainCommandThread >	commandThread
std::unique_ptr< CDC_CommandInterface >	cdcCmdInterface = std::make_unique<CDC_CommandInterface>()
ErrorPrinter	errorPrinter
SystemCommands	systemCommands
	System command handler.
std::unique_ptr< UART_CommandInterface >	uartCmdInterface = std::make_unique<UART_CommandInterface>(115200)
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 FFBoardMain
std::unique_ptr< USBdevice >	usbdev
Protected Attributes inherited from ChoosableClass
uint16_t	selectionId
	Should only be written by ClassChooser during creation.
Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true
std::vector< CmdHandlerCommanddef >	registeredCommands
CmdHandlerInfo	cmdHandlerInfo
Static Protected Attributes inherited from FFBoardMain
static char	cdcbuf []

Detailed Description

Definition at line 24 of file TMCDebugBridge.h.

Member Enumeration Documentation

TMCDebugBridge_commands

enum class TMCDebugBridge::TMCDebugBridge_commands : uint32_t

strongprivate

Enumerator
torque
pos
openloopspeed
velocity
mode
reg
openloopspeedpwm

Definition at line 25 of file TMCDebugBridge.h.

Constructor & Destructor Documentation

TMCDebugBridge()

TMCDebugBridge::TMCDebugBridge

(

)

Definition at line 236 of file TMCDebugBridge.cpp.

~TMCDebugBridge()

TMCDebugBridge::~TMCDebugBridge ( )

virtual

Definition at line 254 of file TMCDebugBridge.cpp.

Member Function Documentation

cdcRcv()

void TMCDebugBridge::cdcRcv ( char * Buf, uint32_t * Len )

virtual

Called when data is received on the CDC port

Reimplemented from FFBoardMain.

Definition at line 133 of file TMCDebugBridge.cpp.

checksum()

uint8_t TMCDebugBridge::checksum ( std::vector< uint8_t > * buffer, uint8_t len )

private

Definition at line 25 of file TMCDebugBridge.cpp.

command()

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

virtual

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 FFBoardMain.

Definition at line 47 of file TMCDebugBridge.cpp.

getHelpstring()

std::string TMCDebugBridge::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from FFBoardMain.

Definition at line 40 of file TMCDebugBridge.h.

getInfo()

const ClassIdentifier TMCDebugBridge::getInfo ( )

virtual

Reimplemented from FFBoardMain.

Definition at line 21 of file TMCDebugBridge.cpp.

isCreatable()

static bool TMCDebugBridge::isCreatable ( )

inlinestatic

Definition at line 35 of file TMCDebugBridge.h.

registerCommands()

void TMCDebugBridge::registerCommands

(

)

Definition at line 34 of file TMCDebugBridge.cpp.

sendCdc()

void TMCDebugBridge::sendCdc ( char * dat, uint32_t len )

staticprivate

Definition at line 128 of file TMCDebugBridge.cpp.

SPI_transmit_receive()

HAL_StatusTypeDef TMCDebugBridge::SPI_transmit_receive ( uint8_t * tx_data, uint8_t * rx_data, uint16_t len, uint32_t timeout )

private

Member Data Documentation

drv

std::unique_ptr<TMC4671> TMCDebugBridge::drv

private

Definition at line 65 of file TMCDebugBridge.h.

info

ClassIdentifier TMCDebugBridge::info

static

Initial value:

= {
         .name = "TMC Debug Bridge" ,
         .id=CLSID_MAIN_TMCDBG, 
         .visibility = ClassVisibility::debug
 }

Definition at line 15 of file TMCDebugBridge.h.

tmclimits

const TMC4671Limits TMCDebugBridge::tmclimits

private

Initial value:

= TMC4671Limits({
        .pid_torque_flux_ddt    = 32767,
        .pid_uq_ud              = 30000,
        .pid_torque_flux        = 32767,
        .pid_acc_lim            = 50, 
        .pid_vel_lim            = 2147483647,
        .pid_pos_low                = -2147483647,
        .pid_pos_high           = 2147483647
    })

Definition at line 55 of file TMCDebugBridge.h.

tmcpids

const TMC4671PIDConf TMCDebugBridge::tmcpids

private

Initial value:

= TMC4671PIDConf({
         .fluxI = 400,
         .fluxP = 400,
         .torqueI = 400,
         .torqueP = 300,
         .velocityI = 10,
         .velocityP = 500,
         .positionI = 0,
         .positionP = 40,
         .sequentialPI = true})

Definition at line 44 of file TMCDebugBridge.h.

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

• TMCDebugBridge.h
• TMCDebugBridge.cpp