Merge pull request #709 from odriverobotics/can_controller_error

Add controller error message
odriverobotics · Sep 6, 2022 · 6131bc0 · 6131bc0
2 parents 3985bb7 + 317d09a
commit 6131bc0
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Showing 6 changed files with 33 additions and 1 deletion.
diff --git a/.gitignore b/.gitignore
@@ -65,3 +65,4 @@ GUI/node_modules
 GUI/build
 
 docs/reStructuredText/_build/
+tools/odrive-cansimple.ini
diff --git a/Firmware/communication/can/can_simple.cpp b/Firmware/communication/can/can_simple.cpp
@@ -154,6 +154,9 @@ void CANSimple::do_command(Axis& axis, const can_Message_t& msg) {
         case MSG_GET_ADC_VOLTAGE:
             get_adc_voltage_callback(axis, msg);
             break;
+        case MSG_GET_CONTROLLER_ERROR:
+            get_controller_error_callback(axis);
+            break;
         default:
             break;
     }
@@ -203,6 +206,18 @@ bool CANSimple::get_sensorless_error_callback(const Axis& axis) {
     return canbus_->send_message(txmsg);
 }
 
+bool CANSimple::get_controller_error_callback(const Axis& axis) {
+    can_Message_t txmsg;
+    txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS;
+    txmsg.id += MSG_GET_CONTROLLER_ERROR;  // heartbeat ID
+    txmsg.isExt = axis.config_.can.is_extended;
+    txmsg.len = 8;
+
+    can_setSignal(txmsg, axis.controller_.error_, 0, 32, true);
+
+    return canbus_->send_message(txmsg);
+}
+
 void CANSimple::set_axis_nodeid_callback(Axis& axis, const can_Message_t& msg) {
     axis.config_.can.node_id = can_getSignal<uint32_t>(msg, 0, 32, true);
 }

diff --git a/Firmware/communication/can/can_simple.hpp b/Firmware/communication/can/can_simple.hpp
@@ -36,6 +36,7 @@ class CANSimple {
         MSG_SET_POS_GAIN,
         MSG_SET_VEL_GAINS,
         MSG_GET_ADC_VOLTAGE,
+        MSG_GET_CONTROLLER_ERROR,
         MSG_CO_HEARTBEAT_CMD = 0x700,  // CANOpen NMT Heartbeat  SEND
     };
 

diff --git a/docs/figures/can-protocol.csv b/docs/figures/can-protocol.csv
@@ -105,4 +105,5 @@ IEEE 754 Float","32
 1","0
 0"
 0x01C,Get ADC Voltage****,Master***,ADC Voltage,0,IEEE 754 Float,32,1,0
+0x01D,Get Controller Error*,Axis,Controller Error,0,Unsigned Int,32,1,0
 0x700,CANOpen Heartbeat Message**,Slave,-,-,-,-,-,-
diff --git a/tools/create_can_dbc.py b/tools/create_can_dbc.py
@@ -161,6 +161,12 @@
 adcVoltage = cantools.database.can.Signal("ADC_Voltage", 0, 32, is_float=True)
 getADCVoltageMsg = cantools.database.can.Message(0x01C, "Get_ADC_Voltage", 8, [adcVoltage])
 
+# 0x01D - Controller Error
+controllerError = cantools.database.can.Signal("Controller_Error", 0, 32)
+controllerErrorMsg = cantools.database.can.Message(
+    0x01D, "Get_Controller_Error", 8, [controllerError]
+)
+
 db = cantools.database.can.Database(
     [
         heartbeatMsg,
@@ -189,7 +195,8 @@
         setLinearCountMsg,
         setPosGainMsg,
         setVelGainsMsg,
-        getADCVoltageMsg
+        getADCVoltageMsg,
+        controllerErrorMsg,
     ]
 )
 

diff --git a/tools/odrive-cansimple.dbc b/tools/odrive-cansimple.dbc
@@ -125,12 +125,18 @@ BO_ 27 Set_Vel_gains: 8 Vector__XXX
  SG_ Vel_Integrator_Gain : 32|32@1+ (1,0) [0|0] "" Vector__XXX
  SG_ Vel_Gain : 0|32@1+ (1,0) [0|0] "" Vector__XXX
 
+BO_ 28 Get_ADC_Voltage: 8 Vector__XXX
+ SG_ ADC_Voltage : 0|32@1+ (1,0) [0|0] "" Vector__XXX
 
+BO_ 29 Get_Controller_Error: 8 Vector__XXX
+ SG_ Controller_Error : 0|32@1+ (1,0) [0|0] "" Vector__XXX
 
 
 
 
 
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 
 SIG_VALTYPE_ 9 Pos_Estimate : 1;
@@ -153,5 +159,6 @@ SIG_VALTYPE_ 23 Vbus_Voltage : 1;
 SIG_VALTYPE_ 26 Pos_Gain : 1;
 SIG_VALTYPE_ 27 Vel_Gain : 1;
 SIG_VALTYPE_ 27 Vel_Integrator_Gain : 1;
+SIG_VALTYPE_ 28 ADC_Voltage : 1;
Original file line number	Diff line number	Diff line change
Expand Up		@@ -65,3 +65,4 @@ GUI/node_modules
		GUI/build

		docs/reStructuredText/_build/
		tools/odrive-cansimple.ini