#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 Types inherited from CanDriveItf
enum	MotionType { MOTIONTYPE_VELCTRL, MOTIONTYPE_TORQUECTRL, MOTIONTYPE_POSCTRL }

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 33 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 50 of file CanDriveHarmonica.h.

Constructor & Destructor Documentation

CanDriveHarmonica::CanDriveHarmonica ( )

Default constructor.

Definition at line 23 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 474 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 1132 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::evalMotorFailure ( int iFailure )

protected

Definition at line 1251 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 75 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::evalReceivedMsg ( )

inlinevirtual

Evals received messages in OBJECT mode.

Todo:: To be implemented!

Implements CanDriveItf.

Definition at line 166 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 1015 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::evalStatusRegister ( int iStatus )

protected

Definition at line 1149 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::execHoming ( )

virtual

Performs homing procedure.

Implements CanDriveItf.

Definition at line 544 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 1117 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 745 of file CanDriveHarmonica.cpp.

unsigned int CanDriveHarmonica::getError ( )

inlinevirtual

Return a bitfield containing information about the pending errors.

Implements CanDriveItf.

Definition at line 215 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 737 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::getGearPosRad ( double * pdPosGearRad )

virtual

Returns the current position.

Implements CanDriveItf.

Definition at line 724 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 730 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 1339 of file CanDriveHarmonica.cpp.

int CanDriveHarmonica::getSDODataInt32 ( CanMsg & CMsg )

Internal use.

Definition at line 1022 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::getStatus	(	int *	piStatus,
		int *	piTempCel
	)

inlinevirtual

Dummy implementation for completing CanDriveItf.

Implements CanDriveItf.

Definition at line 233 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 487 of file CanDriveHarmonica.cpp.

double CanDriveHarmonica::getTimeToLastMsg ( )

virtual

Returns the elapsed time since the last received message.

Implements CanDriveItf.

Definition at line 480 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::init ( )

virtual

Initializes the driver. Call this function once after construction.

Implements CanDriveItf.

Definition at line 251 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::initHoming ( )

virtual

Inits homing procedure.

Implements CanDriveItf.

Definition at line 492 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 905 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 883 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::isBitSet	(	int	iVal,
		int	iNrBit
	)

inlineprotected

Definition at line 417 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::isError ( )

virtual

Returns true if an error has been detected.

Implements CanDriveItf.

Definition at line 791 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::isInitialized ( )

inlinevirtual

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 87 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 1053 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 1031 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 957 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 783 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::requestPosVel ( )

virtual

Dummy implementation for completing CanDriveItf.

Implements CanDriveItf.

Definition at line 755 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 777 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::reset ( )

virtual

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

Implements CanDriveItf.

Definition at line 393 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::resetEMStop ( )

inlinevirtual

Disable the emergency stop.

Implements CanDriveItf.

Definition at line 279 of file CanDriveHarmonica.h.

void CanDriveHarmonica::sendHeartbeat ( )

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

Definition at line 767 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 933 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 987 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 963 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 1092 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::setCanItf ( CanItf * pCanItf )

inlinevirtual

Sets the CAN interface.

Implements CanDriveItf.

Definition at line 74 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 64 of file CanDriveHarmonica.cpp.

void CanDriveHarmonica::setDriveParam ( DriveParam driveParam )

inlinevirtual

Sets the drive parameter.

Implements CanDriveItf.

Definition at line 205 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::setEMStop ( )

inlinevirtual

Enable the emergency stop.

Implements CanDriveItf.

Definition at line 274 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 616 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 667 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 1288 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 1353 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::setTypeMotion ( int iType )

virtual

Sets the motion type drive.

Implements CanDriveItf.

Definition at line 815 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::shutdown ( )

virtual

Shutdown the motor.

Implements CanDriveItf.

Definition at line 411 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 338 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 421 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 329 of file CanDriveHarmonica.cpp.

Member Data Documentation

ElmoRecorder* CanDriveHarmonica::ElmoRec

protected

Definition at line 364 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::m_bCurrentLimitOn

protected

Definition at line 393 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::m_bIsInitialized

protected

Definition at line 399 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::m_bLimitSwitchEnabled

protected

Definition at line 357 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::m_bLimSwLeft

protected

Definition at line 381 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::m_bLimSwRight

protected

Definition at line 382 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::m_bOutputOfFailure

protected

Definition at line 397 of file CanDriveHarmonica.h.

bool CanDriveHarmonica::m_bWatchdogActive

protected

Definition at line 403 of file CanDriveHarmonica.h.

CanMsg CanDriveHarmonica::m_CanMsgLast

protected

Definition at line 362 of file CanDriveHarmonica.h.

TimeStamp CanDriveHarmonica::m_CurrentTime

protected

Definition at line 370 of file CanDriveHarmonica.h.

double CanDriveHarmonica::m_dAngleGearRadMem

protected

Definition at line 377 of file CanDriveHarmonica.h.

double CanDriveHarmonica::m_dMotorCurr

protected

Definition at line 401 of file CanDriveHarmonica.h.

double CanDriveHarmonica::m_dOldPos

protected

Definition at line 384 of file CanDriveHarmonica.h.

double CanDriveHarmonica::m_dPosGearMeasRad

protected

Definition at line 379 of file CanDriveHarmonica.h.

DriveParam CanDriveHarmonica::m_DriveParam

protected

Definition at line 356 of file CanDriveHarmonica.h.

double CanDriveHarmonica::m_dVelGearMeasRadS

protected

Definition at line 378 of file CanDriveHarmonica.h.

TimeStamp CanDriveHarmonica::m_FailureStartTime

protected

Definition at line 373 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iCountRequestDiv

protected

Definition at line 391 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iDistSteerAxisToDriveWheelMM

protected

Definition at line 415 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iMotorState

protected

Definition at line 388 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iNewMotorState

protected

Definition at line 389 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iNumAttempsRecFail

protected

Definition at line 395 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iPartnerDriveRatio

protected

Definition at line 414 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iStatusCtrl

protected

Definition at line 367 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iTorqueCtrl

protected

Definition at line 368 of file CanDriveHarmonica.h.

int CanDriveHarmonica::m_iTypeMotion

protected

Definition at line 366 of file CanDriveHarmonica.h.

ParamType CanDriveHarmonica::m_Param

protected

Definition at line 358 of file CanDriveHarmonica.h.

ParamCanOpenType CanDriveHarmonica::m_ParamCanOpen

protected

Definition at line 355 of file CanDriveHarmonica.h.

CanItf* CanDriveHarmonica::m_pCanCtrl

protected

Definition at line 361 of file CanDriveHarmonica.h.

TimeStamp CanDriveHarmonica::m_SendTime

protected

Definition at line 374 of file CanDriveHarmonica.h.

std::string CanDriveHarmonica::m_sErrorMessage

protected

Definition at line 386 of file CanDriveHarmonica.h.

TimeStamp CanDriveHarmonica::m_StartTime

protected

Definition at line 375 of file CanDriveHarmonica.h.

TimeStamp CanDriveHarmonica::m_VelCalcTime

protected

Definition at line 372 of file CanDriveHarmonica.h.

TimeStamp CanDriveHarmonica::m_WatchdogTime

protected

Definition at line 371 of file CanDriveHarmonica.h.

segData CanDriveHarmonica::seg_Data

protected

Definition at line 405 of file CanDriveHarmonica.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation