Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
CanDriveHarmonica Class Reference

#include <CanDriveHarmonica.h>

Inheritance diagram for CanDriveHarmonica:
Inheritance graph
[legend]

List of all members.

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

ElmoRecorderElmoRec
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
CanItfm_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

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

Default constructor.

Definition at line 62 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 513 of file CanDriveHarmonica.cpp.

Performs homing procedure Drives wheel in neutral Position for Startup.

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

Definition at line 1171 of file CanDriveHarmonica.cpp.

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

Definition at line 1290 of file CanDriveHarmonica.cpp.

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

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

Parameters:
msgmessage to be evaluated.

Implements CanDriveItf.

Definition at line 114 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 1054 of file CanDriveHarmonica.cpp.

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

Definition at line 1188 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::execHoming ( ) [virtual]

Performs homing procedure.

Implements CanDriveItf.

Definition at line 583 of file CanDriveHarmonica.cpp.

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 1156 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:
pdPosGearRadposition of the drive
pdVelGearRadSvelocity of the drive
piTorqueCtrltorque
piStatusCtrl

Definition at line 784 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 776 of file CanDriveHarmonica.cpp.

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

Returns the current position.

Implements CanDriveItf.

Definition at line 763 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 769 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 1378 of file CanDriveHarmonica.cpp.

Internal use.

Definition at line 1061 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.

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

Implements CanDriveItf.

Definition at line 526 of file CanDriveHarmonica.cpp.

Returns the elapsed time since the last received message.

Implements CanDriveItf.

Definition at line 519 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::init ( ) [virtual]

Initializes the driver. Call this function once after construction.

Implements CanDriveItf.

Definition at line 290 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::initHoming ( ) [virtual]

Inits homing procedure.

Implements CanDriveItf.

Definition at line 531 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 944 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 922 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 830 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.

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 1092 of file CanDriveHarmonica.cpp.

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 1070 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 996 of file CanDriveHarmonica.cpp.

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 822 of file CanDriveHarmonica.cpp.

Dummy implementation for completing CanDriveItf.

Implements CanDriveItf.

Definition at line 794 of file CanDriveHarmonica.cpp.

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 816 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::reset ( ) [virtual]

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

Implements CanDriveItf.

Definition at line 432 of file CanDriveHarmonica.cpp.

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

Disable the emergency stop.

Implements CanDriveItf.

Definition at line 318 of file CanDriveHarmonica.h.

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

Definition at line 806 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 972 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 1026 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 1002 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 1131 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:
iTxPDO1first transmit process data object
iTxPDO2second transmit process data object
iRxPDO2second receive process data object
iTxSDOtransmit service data object
iRxSDOreceive service data object

Definition at line 103 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 655 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 706 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 1327 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:
iFlagTo 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 1392 of file CanDriveHarmonica.cpp.

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

Sets the motion type drive.

Implements CanDriveItf.

Definition at line 854 of file CanDriveHarmonica.cpp.

bool CanDriveHarmonica::shutdown ( ) [virtual]

Shutdown the motor.

Implements CanDriveItf.

Definition at line 450 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 377 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 460 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 368 of file CanDriveHarmonica.cpp.


Member Data Documentation

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double CanDriveHarmonica::m_dMotorCurr [protected]

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double CanDriveHarmonica::m_dOldPos [protected]

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std::string CanDriveHarmonica::m_sErrorMessage [protected]

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


cob_canopen_motor
Author(s): Christian Connette
autogenerated on Sun Oct 5 2014 23:02:12