0220_palm_edc_ethercat_protocol.h

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//
// © 2010 Shadow Robot Company Limited.
//
// FileName:        this_node.h
// Dependencies:
// Processor:       PIC32
// Compiler:        MPLAB® C32
//
//  +------------------------------------------------------------------------+
//  | This file is part of The Shadow Robot PIC32 firmware code base.        |
//  |                                                                        |
//  | It is free software: you can redistribute it and/or modify             |
//  | it under the terms of the GNU General Public License as published by   |
//  | the Free Software Foundation, either version 3 of the License, or      |
//  | (at your option) any later version.                                    |
//  |                                                                        |
//  | It is distributed in the hope that it will be useful,                  |
//  | but WITHOUT ANY WARRANTY; without even the implied warranty of         |
//  | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          |
//  | GNU General Public License for more details.                           |
//  |                                                                        |
//  | You should have received a copy of the GNU General Public License      |
//  | along with this code repository. The text of the license can be found  |
//  | in Pic32/License/gpl.txt. If not, see <http://www.gnu.org/licenses/>.  |
//  +------------------------------------------------------------------------+
//
//
//
//  Doxygen
//  -------
//
//

#ifndef PALM_EDC_0220_ETHERCAT_PROTOCOL_H_INCLUDED
#define PALM_EDC_0220_ETHERCAT_PROTOCOL_H_INCLUDED

#include "../common/tactile_edc_ethercat_protocol.h"
#include "../common/ethercat_can_bridge_protocol.h"
#include "../common/common_edc_ethercat_protocol.h"


#define NUM_MOTORS 20


// ========================================================
//
//       F R O M    M O T O R    D A T A    T Y P E
//
// ========================================================


typedef enum
{
    MOTOR_DATA_INVALID                  = 0x0,                  
    MOTOR_DATA_SGL                      = 0x1,                  
    MOTOR_DATA_SGR                      = 0x2,                  
    MOTOR_DATA_PWM                      = 0x3,                  
    MOTOR_DATA_FLAGS                    = 0x4,                  
    MOTOR_DATA_CURRENT                  = 0x5,                  
    MOTOR_DATA_VOLTAGE                  = 0x6,                  
    MOTOR_DATA_TEMPERATURE              = 0x7,                  
    MOTOR_DATA_CAN_NUM_RECEIVED         = 0x8,                  
    MOTOR_DATA_CAN_NUM_TRANSMITTED      = 0x9,                  
    MOTOR_DATA_SLOW_MISC                = 0xA,                  
    MOTOR_DATA_READBACK_LAST_CONFIG     = 0xB,                  
    MOTOR_DATA_CAN_ERROR_COUNTERS       = 0xC,                  

    MOTOR_DATA_PTERM                    = 0xD,                  
    MOTOR_DATA_ITERM                    = 0xE,                  
    MOTOR_DATA_DTERM                    = 0xF                   
}FROM_MOTOR_DATA_TYPE;


// ========================================================
//
//                 S L O W    D A T A
//
// ========================================================


typedef enum
{
    MOTOR_SLOW_DATA_INVALID              = 0x0000,              
    MOTOR_SLOW_DATA_SVN_REVISION         = 0x0001,              
    MOTOR_SLOW_DATA_SVN_SERVER_REVISION  = 0x0002,              
    MOTOR_SLOW_DATA_SVN_MODIFIED         = 0x0003,              
    MOTOR_SLOW_DATA_SERIAL_NUMBER_LOW    = 0x0004,              
    MOTOR_SLOW_DATA_SERIAL_NUMBER_HIGH   = 0x0005,              
    MOTOR_SLOW_DATA_GEAR_RATIO           = 0x0006,              
    MOTOR_SLOW_DATA_ASSEMBLY_DATE_YYYY   = 0x0007,              
    MOTOR_SLOW_DATA_ASSEMBLY_DATE_MMDD   = 0x0008,              

    MOTOR_SLOW_DATA_CONTROLLER_F         = 0x0009,              
    MOTOR_SLOW_DATA_CONTROLLER_P         = 0x000A,              
    MOTOR_SLOW_DATA_CONTROLLER_I         = 0x000B,              
    MOTOR_SLOW_DATA_CONTROLLER_IMAX      = 0x000C,              
    MOTOR_SLOW_DATA_CONTROLLER_D         = 0x000D,              
    MOTOR_SLOW_DATA_CONTROLLER_DEADSIGN  = 0x000E,              
    MOTOR_SLOW_DATA_CONTROLLER_FREQUENCY = 0x000F,              

    MOTOR_SLOW_DATA_STRAIN_GAUGE_TYPE    = 0x0010,              

    MOTOR_SLOW_DATA_LAST                 = 0x0010               
}FROM_MOTOR_SLOW_DATA_TYPE;

#define STRAIN_GAUGE_TYPE_COUPLED       0x0C
#define STRAIN_GAUGE_TYPE_DECOUPLED     0x0D


// ========================================================
//
//                       F L A G S
//
// ========================================================


                                                                // Non serious flags, Just for information. Control still works.
                                                                // -------------------------------------------------------------
#define MOTOR_FLAG_BITS_CURRENT_CHOKE               0x000F      

#define MOTOR_FLAG_BITS_EEPROM_WRITING              0x0010      
#define MOTOR_FLAG_BITS_LAST_CONFIG_CRC_FAILED      0x0020      
#define MOTOR_FLAG_BITS_LAST_CONFIG_OUT_OF_RANGE    0x0040      
#define MOTOR_FLAG_BITS_JIGGLING_IN_PROGRESS        0x0080      


                                                                // Serious flags cause the motor to be switched off
                                                                // ------------------------------------------------
//#define                                           0x0100
#define MOTOR_FLAG_BITS_MOTOR_ID_IS_INVALID         0x0200      
#define MOTOR_FLAG_BITS_NO_DEMAND_SEEN              0x0400      
#define MOTOR_FLAG_BITS_SGL_FAULT                   0x0800      

#define MOTOR_FLAG_BITS_SGR_FAULT                   0x1000      
#define MOTOR_FLAG_BITS_A3950_NFAULT                0x2000      
#define MOTOR_FLAG_BITS_EEPROM_CONFIG_BAD_CRC       0x4000      
#define MOTOR_FLAG_BITS_OVER_TEMP                   0x8000      


#define NO_TORQUE_CONTROL_ERROR_FLAGS  (  MOTOR_FLAG_BITS_SGL_FAULT              \
                                        | MOTOR_FLAG_BITS_SGR_FAULT )

#define PALM_0200_EDC_SERIOUS_ERROR_FLAGS            (  MOTOR_FLAG_BITS_NO_DEMAND_SEEN         \
                                                      | MOTOR_FLAG_BITS_A3950_NFAULT           \
                                                      | MOTOR_FLAG_BITS_EEPROM_CONFIG_BAD_CRC  \
                                                      | MOTOR_FLAG_BITS_OVER_TEMP    )


#define PALM_0200_EDC_NO_DEMAND_TIMEOUT_MS    20                                                              

#ifndef NO_STRINGS                                                                                                                                  // The PIC compiler doesn't deal well with strings.

    static const char* palm_0200_edc_error_flag_names[16] = { "Current choke bit 6",                          // 0x0001
                                                "Current choke bit 7",                          // 0x0002
                                                "Current choke bit 8",                          // 0x0004
                                                "Current choke bit 9",                          // 0x0008

                                                "EEPROM write in progress",                     // 0x0010
                                                "Last CRC sent didn't match configs",           // 0x0020
                                                "Last config received was out of range",        // 0x0040
                                                "Jiggling in progress",                         // 0x0080

                                                "Invalid flag",                                 // 0x0100
                                                "Motor ID is invalid",                          // 0x0200
                                                "No demand seen for more than 20ms",            // 0x0400
                                                "Fault with strain gauge 0: left",              // 0x0800

                                                "Fault with strain gauge 1: right",             // 0x1000
                                                "A3950 H-bridge nFault asserted",               // 0x2000
                                                "EEPROM contains bad CRC. Motor off.",          // 0x4000
                                                "Motor over temperature"                        // 0x8000
                                               };
#endif





// ========================================================
//
//         T O    M O T O R    D A T A    T Y P E
//
// ========================================================

typedef enum
{
    MOTOR_DEMAND_INVALID                = 0x0,                  
    MOTOR_DEMAND_TORQUE                 = 0x1,                  
    MOTOR_DEMAND_PWM                    = 0x2,                  

    MOTOR_SYSTEM_RESET                  = 0x3,                  
    MOTOR_SYSTEM_CONTROLS               = 0x4,                  

    MOTOR_CONFIG_FIRST_VALUE            = 0x5,                  
    MOTOR_CONFIG_TORQUE_LIMIT           = 0x5,                  
    MOTOR_CONFIG_TORQUE_LIMITER_GAIN    = 0x6,                  
    MOTOR_CONFIG_MAX_PWM                = 0x7,                  
    MOTOR_CONFIG_SG_REFS                = 0x8,                  
    MOTOR_CONFIG_F                      = 0x9,                  
    MOTOR_CONFIG_P                      = 0xA,                  
    MOTOR_CONFIG_I                      = 0xB,                  
    MOTOR_CONFIG_D                      = 0xC,                  
    MOTOR_CONFIG_IMAX                   = 0xD,                  
    MOTOR_CONFIG_DEADBAND_SIGN          = 0xE,                  
    MOTOR_CONFIG_LAST_VALUE             = 0xE,                  
    MOTOR_CONFIG_CRC                    = 0xF                   
}TO_MOTOR_DATA_TYPE;

#define MOTOR_SYSTEM_RESET_KEY                              0x5200              

#define MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_ENABLE   0x0001              
#define MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_DISABLE  0x0002              
#define MOTOR_SYSTEM_CONTROL_SGL_TRACKING_INC               0x0004              
#define MOTOR_SYSTEM_CONTROL_SGL_TRACKING_DEC               0x0008              
#define MOTOR_SYSTEM_CONTROL_SGR_TRACKING_INC               0x0010              
#define MOTOR_SYSTEM_CONTROL_SGR_TRACKING_DEC               0x0020              
#define MOTOR_SYSTEM_CONTROL_INITIATE_JIGGLING              0x0040              
#define MOTOR_SYSTEM_CONTROL_EEPROM_WRITE                   0x0080              



#define MOTOR_DEMAND_TORQUE_RANGE_MIN       -0x7FFF
#define MOTOR_DEMAND_TORQUE_RANGE_MAX        0x7FFF

#define MOTOR_DEMAND_PWM_RANGE_MIN          -0x03FF
#define MOTOR_DEMAND_PWM_RANGE_MAX           0x03FF

#define MOTOR_CONFIG_F_RANGE_MIN             0x0000
#define MOTOR_CONFIG_F_RANGE_MAX             0x7FFF

#define MOTOR_CONFIG_P_RANGE_MIN             0x0000
#define MOTOR_CONFIG_P_RANGE_MAX             0x7FFF

#define MOTOR_CONFIG_I_RANGE_MIN             0x0000
#define MOTOR_CONFIG_I_RANGE_MAX             0x7FFF

#define MOTOR_CONFIG_D_RANGE_MIN             0x0000
#define MOTOR_CONFIG_D_RANGE_MAX             0x7FFF

#define MOTOR_CONFIG_IMAX_RANGE_MIN          0x0000
#define MOTOR_CONFIG_IMAX_RANGE_MAX          0x3FFF

#define MOTOR_CONFIG_DEADBAND_RANGE_MIN      0x00
#define MOTOR_CONFIG_DEADBAND_RANGE_MAX      0xFF

#define MOTOR_CONFIG_SIGN_RANGE_MIN          0x00
#define MOTOR_CONFIG_SIGN_RANGE_MAX          0x01

#define MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MIN -0x0200
#define MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MAX  0x0200


#ifndef NO_STRINGS                                                                                                                          // The PIC compiler doesn't deal well with strings.

    static const char* to_motor_data_type_names[16] = { "INVALID",
                                                        "Demand: Torque",
                                                        "Demand: PWM",
                                                        "INVALID",
                                                        "INVALID",
                                                        "INVALID",
                                                        "INVALID",
                                                        "Config: Maximum PWM value",
                                                        "Config: Strain gauge amp references. LSB = ref for SGL, MSB = ref for SGR",
                                                        "Config: Feed forward gain",
                                                        "Config: Proportional gain",
                                                        "Config: Integral gain",
                                                        "Config: Derivative gain",
                                                        "Config: Maximum integral windup",
                                                        "Config: MSB=Deadband. LSB=Sign",
                                                        "Config: CRC",
                                                        };
#endif


typedef enum
{
    MOTOR_DEBUG_INVALID                 = 0x0,                  
    MOTOR_DEBUG_TORQUE_DEMAND           = 0x1,                  
    MOTOR_DEBUG_SGL                     = 0x2,                  
    MOTOR_DEBUG_SGR                     = 0x3,                  
    MOTOR_DEBUG_CURRENT                 = 0x4,                  
    MOTOR_DEBUG_TEMPERATURE             = 0x5                   
}TO_MOTOR_DEBUG_TYPE;



typedef struct
{
    int16s              torque;                                 
    int16u              misc;                                   
}MOTOR_DATA_PACKET;



#define MESSAGE_ID_MOTOR_ID_SHIFT_POS   5                       
#define MESSAGE_ID_MOTOR_ID_BOTTOM_BIT  0b00000100000           
#define MESSAGE_ID_MOTOR_ID_TOP_2_BITS  0b00110000000           



#define SENSORS_NUM_0220  ((int)36)                             

#define JOINTS_NUM_0220   ((int)28)                             


//#if (int)IGNORE > SENSORS_NUM
//    #error Not enough sensors[] in ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS
//#endif

typedef struct
{
    EDC_COMMAND                 EDC_command;                        

        int16u                                      sensors[SENSORS_NUM_0220+1];

    FROM_MOTOR_DATA_TYPE        motor_data_type;                    
    int16s                      which_motors;                       

    int32u                      which_motor_data_arrived;           
    int32u                      which_motor_data_had_errors;        

    MOTOR_DATA_PACKET           motor_data_packet[10];              

    int32u                      tactile_data_type;
    int16u                      tactile_data_valid;                 
    TACTILE_SENSOR_STATUS_v1    tactile[5];                         //

    int16u                      idle_time_us;                       

} __attribute__((packed)) ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS;



typedef struct
{
    EDC_COMMAND                 EDC_command;                        

    FROM_MOTOR_DATA_TYPE        from_motor_data_type;               
    int16s                      which_motors;                       

    TO_MOTOR_DATA_TYPE          to_motor_data_type;
    int16s                      motor_data[NUM_MOTORS];             

    int32u                      tactile_data_type;                  

} __attribute__((packed)) ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND;

/*
#define ETHERCAT_COMMAND_HEADER_SIZE  (  sizeof(EDC_COMMAND)           \       //!< What's the minimum amount of
                                       + sizeof(FROM_MOTOR_DATA_TYPE)   \
                                       + sizeof(int16s)  )
*/

#define PALM_0200_ETHERCAT_COMMAND_HEADER_SIZE  (  sizeof(EDC_COMMAND) + sizeof(FROM_MOTOR_DATA_TYPE) + sizeof(int16s)  )

#define PALM_0200_ETHERCAT_STATUS_DATA_SIZE       sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS)
#define PALM_0200_ETHERCAT_COMMAND_DATA_SIZE      sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND)

                                                //  Now we need to be *sure* that the Host and the Slave definitely
                                                //  agree on the size of the EtherCAT packets, even if the host is a
                                                //  64-bit machine or something. So we have these calculated sizes.
                                                //  The host and slave can ASSERT that the sizeof() the packets
                                                //  matches the agreed sizes.
#define ETHERCAT_STATUS_AGREED_SIZE     232     
#define ETHERCAT_COMMAND_AGREED_SIZE    70      




#define PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS               0x1000
#define PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS    (PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS            + PALM_0200_ETHERCAT_COMMAND_DATA_SIZE)

#define PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS                (PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)
#define PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS     (PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS             + PALM_0200_ETHERCAT_STATUS_DATA_SIZE)

//#define NUM_CONFIGS_REQUIRED 5


#endif