#include <VescCAN.h>

Inheritance diagram for VescCAN:

Public Member Functions
	VescCAN (uint8_t address)

virtual	~VescCAN ()

void	setAddress (uint8_t address)

void	turn (int16_t power) override

void	stopMotor () override

void	startMotor () override

Encoder *	getEncoder () override

bool	hasIntegratedEncoder () override

EncoderType	getEncoderType () override

bool	motorReady () override

void	saveFlash () override

void	restoreFlash () override

float	getPos_f () override

uint32_t	getCpr () override

int32_t	getPos () override

void	setPos (int32_t pos) override

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

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

void	registerCommands ()

virtual std::string	getHelpstring ()

void	Run ()

Public Member Functions inherited from MotorDriver
	MotorDriver ()

virtual	~MotorDriver ()

const ClassIdentifier	getInfo ()

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 ()

const ClassIdentifier	getInfo ()

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

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 Member Functions
void	saveFlashOffset ()

void	getFirmwareInfo ()

bool	isFirmwareCompatible ()

void	sendPing ()

void	setTorque (float torque)

void	decodeEncoderPosition (float newPos)

void	askGetValue ()

void	askPositionEncoder ()

void	sendMsg (uint8_t cmd, uint8_t *buffer, uint8_t len)

void	decode_buffer (uint8_t *buffer, uint8_t len)

void	buffer_append_float32 (uint8_t buffer, float number, float scale, int32_t index)

void	buffer_append_int32 (uint8_t buffer, int32_t number, int32_t index)

void	buffer_append_uint32 (uint8_t buffer, uint32_t number, int32_t index)

uint32_t	buffer_get_uint32 (const uint8_t buffer, int32_t index)

int32_t	buffer_get_int32 (const uint8_t buffer, int32_t index)

int16_t	buffer_get_int16 (const uint8_t buffer, int32_t index)

float	buffer_get_float16 (const uint8_t buffer, float scale, int32_t index)

float	buffer_get_float32 (const uint8_t buffer, float scale, int32_t index)

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
VescFlashAddrs	flashAddrs

volatile VescState	state = VescState::VESC_STATE_UNKNOWN

volatile uint8_t	vescErrorFlag

bool	activeMotor = false

float	lastTorque

float	voltage

bool	useEncoder = true

float	lastPos = 0

float	mtPos = 0

float	prevPos360 = 0

float	posOffset = 0

volatile uint32_t	encCount = 0

volatile uint32_t	encStartPeriod = 0

volatile float	encRate = 0

volatile uint32_t	lastVescResponse = 0

CANPort *	port = &canport

int32_t	filterId = 0

uint8_t	OFFB_can_Id = 0x40

uint8_t	VESC_can_Id = 0xFF

uint8_t	buffer_rx [BUFFER_RX_SIZE]

Static Private Attributes
static std::array< uint16_t, 256 >	crc16_tab

static const uint16_t	crcpoly = 0x1021

static bool	crcTableInitialized = 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. 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 67 of file VescCAN.h.

Constructor & Destructor Documentation

◆ VescCAN()

VescCAN::VescCAN ( uint8_t address )

Definition at line 52 of file VescCAN.cpp.

◆ ~VescCAN()

VescCAN::~VescCAN ( )

virtual

Definition at line 82 of file VescCAN.cpp.

Member Function Documentation

◆ askGetValue()

void VescCAN::askGetValue ( )

private

Definition at line 412 of file VescCAN.cpp.

◆ askPositionEncoder()

void VescCAN::askPositionEncoder ( )

private

Ask a position with the new system Call the new short response command with a 2 messages communications

Definition at line 431 of file VescCAN.cpp.

◆ buffer_append_float32()

void VescCAN::buffer_append_float32	(	uint8_t *	buffer,
		float	number,
		float	scale,
		int32_t *	index
	)

private

Definition at line 656 of file VescCAN.cpp.

◆ buffer_append_int32()

void VescCAN::buffer_append_int32	(	uint8_t *	buffer,
		int32_t	number,
		int32_t *	index
	)

private

Definition at line 661 of file VescCAN.cpp.

◆ buffer_append_uint32()

void VescCAN::buffer_append_uint32	(	uint8_t *	buffer,
		uint32_t	number,
		int32_t *	index
	)

private

Definition at line 669 of file VescCAN.cpp.

◆ buffer_get_float16()

float VescCAN::buffer_get_float16	(	const uint8_t *	buffer,
		float	scale,
		int32_t *	index
	)

private

Definition at line 707 of file VescCAN.cpp.

◆ buffer_get_float32()

float VescCAN::buffer_get_float32	(	const uint8_t *	buffer,
		float	scale,
		int32_t *	index
	)

private

Definition at line 702 of file VescCAN.cpp.

◆ buffer_get_int16()

int16_t VescCAN::buffer_get_int16	(	const uint8_t *	buffer,
		int32_t *	index
	)

private

Definition at line 695 of file VescCAN.cpp.

◆ buffer_get_int32()

int32_t VescCAN::buffer_get_int32	(	const uint8_t *	buffer,
		int32_t *	index
	)

private

Definition at line 686 of file VescCAN.cpp.

◆ buffer_get_uint32()

uint32_t VescCAN::buffer_get_uint32	(	const uint8_t *	buffer,
		int32_t *	index
	)

private

Definition at line 677 of file VescCAN.cpp.

◆ canRxPendCallback()

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

overridevirtual

New message received in fifo number

Reimplemented from CanHandler.

Definition at line 566 of file VescCAN.cpp.

◆ command()

CommandStatus VescCAN::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 CommandHandler.

Definition at line 235 of file VescCAN.cpp.

◆ decode_buffer()

void VescCAN::decode_buffer	(	uint8_t *	buffer,
		uint8_t	len
	)

private

Definition at line 469 of file VescCAN.cpp.

◆ decodeEncoderPosition()

void VescCAN::decodeEncoderPosition ( float newPos )

private

Definition at line 441 of file VescCAN.cpp.

◆ getCpr()

uint32_t VescCAN::getCpr ( )

overridevirtual

Gets the amount of counts per full rotation of the encoder

Reimplemented from Encoder.

Definition at line 215 of file VescCAN.cpp.

◆ getEncoder()

Encoder * VescCAN::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 113 of file VescCAN.cpp.

◆ getEncoderType()

EncoderType VescCAN::getEncoderType ( )

overridevirtual

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

Reimplemented from Encoder.

Definition at line 124 of file VescCAN.cpp.

◆ getFirmwareInfo()

void VescCAN::getFirmwareInfo ( )

private

Get the firmware vesc information

Definition at line 369 of file VescCAN.cpp.

◆ getHelpstring()

virtual std::string VescCAN::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from CommandHandler.

Definition at line 103 of file VescCAN.h.

◆ getPos()

int32_t VescCAN::getPos ( )

overridevirtual

Returns the encoder position as raw counts

Reimplemented from Encoder.

Definition at line 211 of file VescCAN.cpp.

◆ getPos_f()

float VescCAN::getPos_f ( )

overridevirtual

Returns a float position in rotations

Reimplemented from Encoder.

Definition at line 204 of file VescCAN.cpp.

◆ hasIntegratedEncoder()

bool VescCAN::hasIntegratedEncoder ( )

overridevirtual

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 120 of file VescCAN.cpp.

◆ isFirmwareCompatible()

bool VescCAN::isFirmwareCompatible ( )

private

◆ motorReady()

bool VescCAN::motorReady ( )

overridevirtual

Reimplemented from MotorDriver.

Definition at line 131 of file VescCAN.cpp.

◆ registerCommands()

void VescCAN::registerCommands ( )

Definition at line 219 of file VescCAN.cpp.

◆ restoreFlash()

void VescCAN::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 135 of file VescCAN.cpp.

◆ Run()

void VescCAN::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 317 of file VescCAN.cpp.

◆ saveFlash()

void VescCAN::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 164 of file VescCAN.cpp.

◆ saveFlashOffset()

void VescCAN::saveFlashOffset ( )

private

Definition at line 179 of file VescCAN.cpp.

◆ sendMsg()

void VescCAN::sendMsg	(	uint8_t	cmd,
		uint8_t *	buffer,
		uint8_t	len
	)

private

send the message to the CAN with an Extended Can message

Definition at line 459 of file VescCAN.cpp.

◆ sendPing()

void VescCAN::sendPing ( )

private

Send a ping command to the vesc to check if it's here.

Definition at line 382 of file VescCAN.cpp.

◆ setAddress()

void VescCAN::setAddress ( uint8_t address )

Definition at line 88 of file VescCAN.cpp.

◆ setPos()

void VescCAN::setPos ( int32_t pos )

overridevirtual

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

Reimplemented from Encoder.

Definition at line 197 of file VescCAN.cpp.

◆ setTorque()

void VescCAN::setTorque ( float torque )

private

Send a torque command to the vesc : value is [-1,1] range relative to max torque settings in the vesc fw.

Definition at line 394 of file VescCAN.cpp.

◆ startMotor()

void VescCAN::startMotor ( )

overridevirtual

Enable the motor driver

Reimplemented from MotorDriver.

Definition at line 109 of file VescCAN.cpp.

◆ stopMotor()

void VescCAN::stopMotor ( )

overridevirtual

Disable the motor driver

Reimplemented from MotorDriver.

Definition at line 104 of file VescCAN.cpp.

◆ turn()

void VescCAN::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 98 of file VescCAN.cpp.

Member Data Documentation

◆ activeMotor

bool VescCAN::activeMotor = false

private

Definition at line 116 of file VescCAN.h.

◆ buffer_rx

uint8_t VescCAN::buffer_rx[BUFFER_RX_SIZE]

private

Definition at line 140 of file VescCAN.h.

◆ crc16_tab

std::array<uint16_t,256> VescCAN::crc16_tab

staticprivate

Definition at line 162 of file VescCAN.h.

◆ crcpoly

const uint16_t VescCAN::crcpoly = 0x1021

staticprivate

Definition at line 163 of file VescCAN.h.

◆ crcTableInitialized

bool VescCAN::crcTableInitialized = false

staticprivate

Definition at line 164 of file VescCAN.h.

◆ encCount

volatile uint32_t VescCAN::encCount = 0

private

Definition at line 127 of file VescCAN.h.

◆ encRate

volatile float VescCAN::encRate = 0

private

Definition at line 129 of file VescCAN.h.

◆ encStartPeriod

volatile uint32_t VescCAN::encStartPeriod = 0

private

Definition at line 128 of file VescCAN.h.

◆ filterId

int32_t VescCAN::filterId = 0

private

Definition at line 137 of file VescCAN.h.

◆ flashAddrs

VescFlashAddrs VescCAN::flashAddrs

private

Definition at line 113 of file VescCAN.h.

◆ lastPos

float VescCAN::lastPos = 0

private

Definition at line 123 of file VescCAN.h.

◆ lastTorque

float VescCAN::lastTorque

private

Definition at line 117 of file VescCAN.h.

◆ lastVescResponse

volatile uint32_t VescCAN::lastVescResponse = 0

private

Definition at line 130 of file VescCAN.h.

◆ mtPos

float VescCAN::mtPos = 0

private

Definition at line 124 of file VescCAN.h.

◆ OFFB_can_Id

uint8_t VescCAN::OFFB_can_Id = 0x40

private

Definition at line 138 of file VescCAN.h.

◆ port

CANPort* VescCAN::port = &canport

private

Definition at line 136 of file VescCAN.h.

◆ posOffset

float VescCAN::posOffset = 0

private

Definition at line 126 of file VescCAN.h.

◆ prevPos360

float VescCAN::prevPos360 = 0

private

Definition at line 125 of file VescCAN.h.

◆ state

volatile VescState VescCAN::state = VescState::VESC_STATE_UNKNOWN

private

Definition at line 114 of file VescCAN.h.

◆ useEncoder

bool VescCAN::useEncoder = true

private

Definition at line 122 of file VescCAN.h.

◆ VESC_can_Id

uint8_t VescCAN::VESC_can_Id = 0xFF

private

Definition at line 139 of file VescCAN.h.

◆ vescErrorFlag

volatile uint8_t VescCAN::vescErrorFlag

private

Definition at line 115 of file VescCAN.h.

◆ voltage

float VescCAN::voltage

private

Definition at line 118 of file VescCAN.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VescCAN()

◆ ~VescCAN()

Member Function Documentation

◆ askGetValue()

◆ askPositionEncoder()

◆ buffer_append_float32()

◆ buffer_append_int32()

◆ buffer_append_uint32()

◆ buffer_get_float16()

◆ buffer_get_float32()

◆ buffer_get_int16()

◆ buffer_get_int32()

◆ buffer_get_uint32()

◆ canRxPendCallback()

◆ command()

◆ decode_buffer()

◆ decodeEncoderPosition()

◆ getCpr()

◆ getEncoder()

◆ getEncoderType()

◆ getFirmwareInfo()

◆ getHelpstring()

◆ getPos()

◆ getPos_f()

◆ hasIntegratedEncoder()

◆ isFirmwareCompatible()

◆ motorReady()

◆ registerCommands()

◆ restoreFlash()

◆ Run()

◆ saveFlash()

◆ saveFlashOffset()

◆ sendMsg()

◆ sendPing()

◆ setAddress()

◆ setPos()

◆ setTorque()

◆ startMotor()

◆ stopMotor()

◆ turn()

Member Data Documentation

◆ activeMotor

◆ buffer_rx

◆ crc16_tab

◆ crcpoly

◆ crcTableInitialized

◆ encCount

◆ encRate

◆ encStartPeriod

◆ filterId

◆ flashAddrs

◆ lastPos

◆ lastTorque

◆ lastVescResponse

◆ mtPos

◆ OFFB_can_Id

◆ port

◆ posOffset

◆ prevPos360

◆ state

◆ useEncoder

◆ VESC_can_Id

◆ vescErrorFlag

◆ voltage