#include <CanDriveHarmonica.h>

Inheritance diagram for CanDriveHarmonica:

Classes
struct	ParamCanOpenType
struct	ParamType
Public Types
enum	StateHarmonica { ST_PRE_INITIALIZED, ST_OPERATION_ENABLED, ST_OPERATION_DISABLED, ST_MOTOR_FAILURE }
Public Member Functions
	CanDriveHarmonica ()
bool	disableBrake (bool bDisabled)
bool	endHoming ()
bool	evalReceivedMsg (CanMsg &msg)
bool	evalReceivedMsg ()
void	evalSDO (CanMsg &CMsg, int pIndex, int pSubindex)
bool	execHoming ()
void	getData (double pdPosGearRad, double pdVelGearRadS, int piTorqueCtrl, int piStatusCtrl)
unsigned int	getError ()
void	getGearDeltaPosVelRadS (double pdDeltaAngleGearRad, double pdVelGearRadS)
void	getGearPosRad (double *pdPosGearRad)
void	getGearPosVelRadS (double pdAngleGearRad, double pdVelGearRadS)
void	getMotorTorque (double *dTorqueNm)
int	getSDODataInt32 (CanMsg &CMsg)
void	getStatus (int piStatus, int piTempCel)
bool	getStatusLimitSwitch ()
double	getTimeToLastMsg ()
bool	init ()
bool	initHoming ()
void	IntprtSetFloat (int iDataLen, char cCmdChar1, char cCmdChar2, int iIndex, float fData)
void	IntprtSetInt (int iDataLen, char cCmdChar1, char cCmdChar2, int iIndex, int iData)
bool	isError ()
bool	isInitialized ()
void	requestMotorTorque ()
void	requestPosVel ()
void	requestStatus ()
bool	reset ()
bool	resetEMStop ()
void	sendHeartbeat ()
void	sendSDOAbort (int iObjIndex, int iObjSubIndex, unsigned int iErrorCode)
void	sendSDODownload (int iObjIndex, int iObjSub, int iData)
void	sendSDOUpload (int iObjIndex, int iObjSub)
void	setCanItf (CanItf *pCanItf)
void	setCanOpenParam (int iTxPDO1, int iTxPDO2, int iRxPDO2, int iTxSDO, int iRxSDO)
void	setDriveParam (DriveParam driveParam)
bool	setEMStop ()
void	setGearPosVelRadS (double dPosRad, double dVelRadS)
void	setGearVelRadS (double dVelEncRadS)
void	setMotorTorque (double dTorqueNm)
int	setRecorder (int iFlag, int iParam=0, std::string sParam="/home/MyLog_")
bool	setTypeMotion (int iType)
bool	shutdown ()
bool	start ()
bool	startWatchdog (bool bStarted)
bool	stop ()
Protected Member Functions
double	estimVel (double dPos)
void	evalMotorFailure (int iFailure)
bool	evalStatusRegister (int iStatus)
void	finishedSDOSegmentedTransfer ()
bool	isBitSet (int iVal, int iNrBit)
int	receivedSDODataSegment (CanMsg &msg)
int	receivedSDOSegmentedInitiation (CanMsg &msg)
void	receivedSDOTransferAbort (unsigned int iErrorCode)
void	sendSDOUploadSegmentConfirmation (bool toggleBit)
Protected Attributes
ElmoRecorder *	ElmoRec
bool	m_bCurrentLimitOn
bool	m_bIsInitialized
bool	m_bLimitSwitchEnabled
bool	m_bLimSwLeft
bool	m_bLimSwRight
bool	m_bOutputOfFailure
bool	m_bWatchdogActive
CanMsg	m_CanMsgLast
TimeStamp	m_CurrentTime
double	m_dAngleGearRadMem
double	m_dMotorCurr
double	m_dOldPos
double	m_dPosGearMeasRad
DriveParam	m_DriveParam
double	m_dVelGearMeasRadS
TimeStamp	m_FailureStartTime
int	m_iCountRequestDiv
int	m_iDistSteerAxisToDriveWheelMM
int	m_iMotorState
int	m_iNewMotorState
int	m_iNumAttempsRecFail
int	m_iPartnerDriveRatio
int	m_iStatusCtrl
int	m_iTorqueCtrl
int	m_iTypeMotion
ParamType	m_Param
ParamCanOpenType	m_ParamCanOpen
CanItf *	m_pCanCtrl
TimeStamp	m_SendTime
std::string	m_sErrorMessage
TimeStamp	m_StartTime
TimeStamp	m_VelCalcTime
TimeStamp	m_WatchdogTime
segData	seg_Data

Detailed Description

Driver class for the motor drive of type Harmonica.

Definition at line 72 of file CanDriveHarmonica.h.

Member Enumeration Documentation

enum CanDriveHarmonica::StateHarmonica

States of the drive.

Enumerator:

ST_PRE_INITIALIZED
ST_OPERATION_ENABLED
ST_OPERATION_DISABLED
ST_MOTOR_FAILURE

Definition at line 89 of file CanDriveHarmonica.h.

Constructor & Destructor Documentation

CanDriveHarmonica::CanDriveHarmonica ( )

Default constructor.

Definition at line 61 of file CanDriveHarmonica.cpp.

Member Function Documentation

bool CanDriveHarmonica::disableBrake ( bool bDisabled ) [virtual]

Disables the brake. This function is not implemented for Harmonica, because brakes are released upon power on and shut only at emergency stop.

Implements CanDriveItf.

Definition at line 512 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::endHoming ( )

Performs homing procedure Drives wheel in neutral Position for Startup.

double CanDriveHarmonica::estimVel ( double dPos ) [protected]

Definition at line 1170 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::evalMotorFailure ( int iFailure ) [protected]

Definition at line 1289 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::evalReceivedMsg ( CanMsg & msg ) [virtual]

Evals a received message. Only messages with fitting identifiers are evaluated.

Parameters:

msg	message to be evaluated.

Implements CanDriveItf.

Definition at line 113 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::evalReceivedMsg ( ) [inline, virtual]

Evals received messages in OBJECT mode.

Todo:: To be implemented!

Implements CanDriveItf.

Definition at line 205 of file CanDriveHarmonica.h.

void CanDriveHarmonica::evalSDO	(	CanMsg &	CMsg,
		int *	pIndex,
		int *	pSubindex
	)

CANopen: Evaluates a service data object and gives back object and sub-object ID

Definition at line 1053 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::evalStatusRegister ( int iStatus ) [protected]

Definition at line 1187 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::execHoming ( ) [virtual]

Performs homing procedure.

Implements CanDriveItf.

Definition at line 582 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::finishedSDOSegmentedTransfer ( ) [protected]

CANopen: Give the collected data of a finished segmented SDO transfer to an appropriate (depending on the current object ID) processing function. Function is called by receivedSDODataSegment, when the transfer is finished. Currently, only Elmo Recorder data is uploaded segmented and is processed here.

See also:: receivedSDODataSegment()

Definition at line 1155 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::getData	(	double *	pdPosGearRad,
		double *	pdVelGearRadS,
		int *	piTorqueCtrl,
		int *	piStatusCtrl
	)

Returns some received values from the drive.

Deprecated:: use the other functions instead.

Parameters:

pdPosGearRad	position of the drive
pdVelGearRadS	velocity of the drive
piTorqueCtrl	torque
piStatusCtrl

Definition at line 783 of file CanDriveHarmonica.cpp.

unsigned int CanDriveHarmonica::getError ( ) [inline, virtual]

Return a bitfield containing information about the pending errors.

Implements CanDriveItf.

Definition at line 254 of file CanDriveHarmonica.h.

void CanDriveHarmonica::getGearDeltaPosVelRadS	(	double *	pdDeltaAngleGearRad,
		double *	pdVelGearRadS
	)		`[virtual]`

Returns the change of the position and the velocity. The given delta position is given since the last call of this function.

Implements CanDriveItf.

Definition at line 775 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::getGearPosRad ( double * pdPosGearRad ) [virtual]

Returns the current position.

Implements CanDriveItf.

Definition at line 762 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::getGearPosVelRadS	(	double *	pdAngleGearRad,
		double *	pdVelGearRadS
	)		`[virtual]`

Returns the position and the velocity of the drive.

Implements CanDriveItf.

Definition at line 768 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::getMotorTorque ( double * dTorqueNm ) [virtual]

Return member variable m_MotorCurrent To update this value call requestMotorCurrent at first

Implements CanDriveItf.

Definition at line 1377 of file CanDriveHarmonica.cpp.

int CanDriveHarmonica::getSDODataInt32 ( CanMsg & CMsg )

Internal use.

Definition at line 1060 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::getStatus	(	int *	piStatus,
		int *	piTempCel
	)		`[inline, virtual]`

Dummy implementation for completing CanDriveItf.

Implements CanDriveItf.

Definition at line 272 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::getStatusLimitSwitch ( ) [virtual]

Returns the status of the limit switch needed for homing. true = limit switch is reached; false = not reached

Implements CanDriveItf.

Definition at line 525 of file CanDriveHarmonica.cpp.

double CanDriveHarmonica::getTimeToLastMsg ( ) [virtual]

Returns the elapsed time since the last received message.

Implements CanDriveItf.

Definition at line 518 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::init ( ) [virtual]

Initializes the driver. Call this function once after construction.

Implements CanDriveItf.

Definition at line 289 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::initHoming ( ) [virtual]

Inits homing procedure.

Implements CanDriveItf.

Definition at line 530 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::IntprtSetFloat	(	int	iDataLen,
		char	cCmdChar1,
		char	cCmdChar2,
		int	iIndex,
		float	fData
	)

Sends a float value to the Harmonica using the built in interpreter.

Definition at line 943 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::IntprtSetInt	(	int	iDataLen,
		char	cCmdChar1,
		char	cCmdChar2,
		int	iIndex,
		int	iData
	)		`[virtual]`

Sends an integer value to the Harmonica using the built in interpreter.

Implements CanDriveItf.

Definition at line 921 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::isBitSet	(	int	iVal,
		int	iNrBit
	)		`[inline, protected]`

Definition at line 456 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::isError ( ) [virtual]

Returns true if an error has been detected.

Implements CanDriveItf.

Definition at line 829 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::isInitialized ( ) [inline, virtual]

Check if the driver is already initialized. This is necessary if a drive gets switched off during runtime.

Returns:: true if initialization occured already, false if not.

Implements CanDriveItf.

Definition at line 126 of file CanDriveHarmonica.h.

int CanDriveHarmonica::receivedSDODataSegment ( CanMsg & msg ) [protected]

CANopen: Segment data is stored to the SDOSegmented container. Function is called, when a segment during a segmented SDO transfer is received (by evalReceivedMsg). It analyzes the SDO transfer header to see, if the transfer is finished. If it's not finished, sendSDOUploadSegmentConfirmation is called to confirm the receive of the current segment and request the next one. -Currently only used for Elmo Recorder read-out

See also:: evalReceivedMsg(); sendSDOUploadSegmentConfirmation(); finishedSDOSegmentedTransfer()

Definition at line 1091 of file CanDriveHarmonica.cpp.

int CanDriveHarmonica::receivedSDOSegmentedInitiation ( CanMsg & msg ) [protected]

CANopen: Evaluates a service data object and gives back object and sub-object ID. Function is called, when a SDO initialize transfer segment is received (by evalReceivedMsg)

See also:: evalReceivedMsg()

Definition at line 1069 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::receivedSDOTransferAbort ( unsigned int iErrorCode ) [protected]

CANopen: Function is called by evalReceivedMsg when the current segmented SDO transfer is cancelled with an error code.

See also:: evalReceivedMsg()

Definition at line 995 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::requestMotorTorque ( ) [virtual]

Sends Requests for "active current" to motor via CAN To read Motor current perform the following: 1.) request motor current m_pW1DriveMotor->requestMotorTorque(); 2.) evaluate Can buffer to read motor current and decode it evalCanBuffer();

Implements CanDriveItf.

Definition at line 821 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::requestPosVel ( ) [virtual]

Dummy implementation for completing CanDriveItf.

Implements CanDriveItf.

Definition at line 793 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::requestStatus ( ) [virtual]

Requests status :) checks whether motor is operational, switched off or in error state. If motor is in which error state it checks which error occured

Implements CanDriveItf.

Definition at line 815 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::reset ( ) [virtual]

Resets the drive. The drive changes into the state after initializaton.

Implements CanDriveItf.

Definition at line 431 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::resetEMStop ( ) [inline, virtual]

Disable the emergency stop.

Implements CanDriveItf.

Definition at line 318 of file CanDriveHarmonica.h.

void CanDriveHarmonica::sendHeartbeat ( )

Sends a heartbeat to the CAN-network to keep all listening watchdogs sleeping

Definition at line 805 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::sendSDOAbort	(	int	iObjIndex,
		int	iObjSubIndex,
		unsigned int	iErrorCode
	)

CANopen: This protocol cancels an active segmented transmission due to the given Error Code

Definition at line 971 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::sendSDODownload	(	int	iObjIndex,
		int	iObjSub,
		int	iData
	)

CANopen: Downloads a service data object (master to device). (in expedited transfer mode, means in only one message)

Definition at line 1025 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::sendSDOUpload	(	int	iObjIndex,
		int	iObjSub
	)

CANopen: Uploads a service data object (device to master). (in expedited transfer mode, means in only one message)

Definition at line 1001 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::sendSDOUploadSegmentConfirmation ( bool toggleBit ) [protected]

CANopen: Answer a data mesage during a segmented SDO transfer including a toggling bit. Current toggle bit is stored in the SDOSegmented container. Function is called, when any SDO transfer segment is received (by receivedSDODataSegment)

Definition at line 1130 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::setCanItf ( CanItf * pCanItf ) [inline, virtual]

Sets the CAN interface.

Implements CanDriveItf.

Definition at line 113 of file CanDriveHarmonica.h.

void CanDriveHarmonica::setCanOpenParam	(	int	iTxPDO1,
		int	iTxPDO2,
		int	iRxPDO2,
		int	iTxSDO,
		int	iRxSDO
	)

Sets the CAN identifiers of the drive node.

Parameters:

iTxPDO1	first transmit process data object
iTxPDO2	second transmit process data object
iRxPDO2	second receive process data object
iTxSDO	transmit service data object
iRxSDO	receive service data object

Definition at line 102 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::setDriveParam ( DriveParam driveParam ) [inline, virtual]

Sets the drive parameter.

Implements CanDriveItf.

Definition at line 244 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::setEMStop ( ) [inline, virtual]

Enable the emergency stop.

Implements CanDriveItf.

Definition at line 313 of file CanDriveHarmonica.h.

void CanDriveHarmonica::setGearPosVelRadS	(	double	dPosRad,
		double	dVelRadS
	)		`[virtual]`

Sets required position and veolocity. Use this function only in position mode.

Implements CanDriveItf.

Definition at line 654 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::setGearVelRadS ( double dVelEncRadS ) [virtual]

Sets the velocity. By calling the function the status is requested, too.

Implements CanDriveItf.

Definition at line 705 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::setMotorTorque ( double dTorqueNm ) [virtual]

Sets MotorTorque in Nm By sending this command the status is requested, too

Implements CanDriveItf.

Definition at line 1326 of file CanDriveHarmonica.cpp.

int CanDriveHarmonica::setRecorder	(	int	iFlag,
		int	iParam = `0`,
		std::string	sParam = `"/home/MyLog_"`
	)		`[virtual]`

Provides several functions for drive information recording purposes using the built in ElmoRecorder, which allows to record drive information at a high frequency.

Parameters:

iFlag To keep the interface slight, use iParam to command the recorder: 0: Configure the Recorder to record the sources Main Speed(1), Main position(2), Active current(10), Speed command(16). With iParam = iRecordingGap you specify every which time quantum (4*90usec) a new data point (of 1024 points in total) is recorded; 1: Query Upload of recorded source (1=Main Speed, 2=Main position, 10=Active Current, 16=Speed command) with iParam and log data to file sParam = file prefix. Filename is extended with _MotorNumber_RecordedSource.log 2: Request status of ongoing readout process 99: Abort and clear current SDO readout process

Returns:: 0: Success, 1: Recorder hasn't been configured yet, 2: data collection still in progress

overwrites previous collected data (even from other processes)

Implements CanDriveItf.

Definition at line 1391 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::setTypeMotion ( int iType ) [virtual]

Sets the motion type drive.

Implements CanDriveItf.

Definition at line 853 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::shutdown ( ) [virtual]

Shutdown the motor.

Implements CanDriveItf.

Definition at line 449 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::start ( ) [virtual]

Enables the motor. After calling the drive accepts velocity and position commands.

Implements CanDriveItf.

Definition at line 376 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::startWatchdog ( bool bStarted ) [virtual]

Starts the watchdog. The Harmonica provides watchdog functionality which means the drive stops if the watchdog becomes active. To keep the watchdog inactive a heartbeat message has to be sent periodically. The update rate is set to 1s. The update is done in function setGearVelRadS().

Implements CanDriveItf.

Definition at line 459 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::stop ( ) [virtual]

Disables the motor. After calling the drive won't accepts velocity and position commands.

Implements CanDriveItf.

Definition at line 367 of file CanDriveHarmonica.cpp.