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BrusaMotorController.h
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/*
* BrusaMotorController.h
*
*
Copyright (c) 2013 Collin Kidder, Michael Neuweiler, Charles Galpin
Permission is hereby granted, free of charge, to any person obtaining
a copy of this software and associated documentation files (the
"Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to
permit persons to whom the Software is furnished to do so, subject to
the following conditions:
The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef BRUSAMOTORCONTROLLER_H_
#define BRUSAMOTORCONTROLLER_H_
#include <Arduino.h>
#include "config.h"
#include "MotorController.h"
#include "sys_io.h"
#include "TickHandler.h"
#include "CanHandler.h"
#include "DeviceManager.h"
#include "ichip_2128.h"
#include "DeviceTypes.h"
// CAN bus id's for frames sent to DMC5
#define CAN_ID_CONTROL 0x210 // send commands (DMC_CTRL)
#define CAN_ID_LIMIT 0x211 // send limitations (DMC_LIM)
#define CAN_ID_CONTROL_2 0x212 // send commands (DMC_CTRL2)
// CAN bus id's for frames received from DMC5
#define CAN_ID_STATUS 0x258 // receive (limit) status message (DMC_TRQS) 01001011000
#define CAN_ID_ACTUAL_VALUES 0x259 // receive actual values (DMC_ACTV) 01001011001
#define CAN_ID_ERRORS 0x25a // receive error codes (DMC_ERR) 01001011010
#define CAN_ID_TORQUE_LIMIT 0x268 // receive torque limit information (DMC_TRQS2) 01001101000
#define CAN_MASK_1 0x7cc // mask for above id's 11111001100
#define CAN_MASKED_ID_1 0x248 // masked id for id's from 0x258 to 0x268 01001001000
#define CAN_ID_TEMP 0x458 // receive temperature information (DMC_TEMP) 10001011000
#define CAN_MASK_2 0x7ff // mask for above id's 11111111111
#define CAN_MASKED_ID_2 0x458 // masked id for id's from 0x258 to 0x268 10001011000
class BrusaMotorControllerConfiguration : public MotorControllerConfiguration {
public:
// DMC_CTRL2
uint16_t maxMechanicalPowerMotor; // maximal mechanical power of motor in 4W steps
uint16_t maxMechanicalPowerRegen; // maximal mechanical power of regen in 4W steps
// DMC_LIM
uint16_t dcVoltLimitMotor; // minimum DC voltage limit for motoring in 0.1V
uint16_t dcVoltLimitRegen; // maximum DC voltage limit for regen in 0.1V
uint16_t dcCurrentLimitMotor; // current limit for motoring in 0.1A
uint16_t dcCurrentLimitRegen; // current limit for regen in 0.1A
bool enableOscillationLimiter; // this will enable the DMC5 oscillation limiter (if also enabled by parameter)
};
class BrusaMotorController: public MotorController, CanObserver {
public:
// Message id=0x258, DMC_TRQS
// The value is composed of 2 bytes: (data[1] << 0) | (data[0] << 8)
enum Status {
motorModelLimitation = 1 << 0, // 0x0001
mechanicalPowerLimitation = 1 << 1, // 0x0002
maxTorqueLimitation = 1 << 2, // 0x0004
acCurrentLimitation = 1 << 3, // 0x0008
temperatureLimitation = 1 << 4, // 0x0010
speedLimitation = 1 << 5, // 0x0020
voltageLimitation = 1 << 6, // 0x0040
currentLimitation = 1 << 7, // 0x0080
torqueLimitation = 1 << 8, // 0x0100
errorFlag = 1 << 9, // 0x0200, see DMC_ERR
warningFlag = 1 << 10, // 0x0400, see DMC_ERR
slewRateLimitation = 1 << 12, // 0x1000
motorTemperatureLimitation = 1 << 13, // 0x2000
stateRunning = 1 << 14, // 0x4000
stateReady = 1 << 15 // 0x8000
};
// Message id=0x25a, DMC_ERR
// The value is composed of 2 bytes: (data[7] << 0) | (data[6] << 8)
enum Warning {
systemCheckActive = 1 << 0, // 0x0001
externalShutdownPathAw2Off = 1 << 1, // 0x0002
externalShutdownPathAw1Off = 1 << 2, // 0x0004
oscillationLimitControllerActive = 1 << 3, // 0x0008
driverShutdownPathActive = 1 << 10, // 0x0400
powerMismatchDetected = 1 << 11, // 0x0800
speedSensorSignal = 1 << 12, // 0x1000
hvUndervoltage = 1 << 13, // 0x2000
maximumModulationLimiter = 1 << 14, // 0x4000
temperatureSensor = 1 << 15, // 0x8000
};
// Message id=0x25a, DMC_ERR
// The error value is composed of 4 bytes : (data[1] << 0) | (data[0] << 8) | (data[5] << 16) | (data[4] << 24)
enum Error {
speedSensorSupply = 1 << 0, // 0x00000001, data[1]
speedSensor = 1 << 1, // 0x00000002, data[1]
canLimitMessageInvalid = 1 << 2, // 0x00000004, data[1]
canControlMessageInvalid = 1 << 3, // 0x00000008, data[1]
canLimitMessageLost = 1 << 4, // 0x00000010, data[1]
overvoltageSkyConverter = 1 << 5, // 0x00000020, data[1]
voltageMeasurement = 1 << 6, // 0x00000040, data[1]
shortCircuit = 1 << 7, // 0x00000080, data[1]
canControlMessageLost = 1 << 8, // 0x00000100, data[0]
overtemp = 1 << 9, // 0x00000200, data[0]
overtempMotor = 1 << 10, // 0x00000400, data[0]
overspeed = 1 << 11, // 0x00000800, data[0]
undervoltage = 1 << 12, // 0x00001000, data[0]
overvoltage = 1 << 13, // 0x00002000, data[0]
overcurrent = 1 << 14, // 0x00004000, data[0]
initalisation = 1 << 15, // 0x00008000, data[0]
analogInput = 1 << 16, // 0x00010000, data[5]
driverShutdown = 1 << 22, // 0x00400000, data[5]
powerMismatch = 1 << 23, // 0x00800000, data[5]
canControl2MessageLost = 1 << 24, // 0x01000000, data[4]
motorEeprom = 1 << 25, // 0x02000000, data[4]
storage = 1 << 26, // 0x04000000, data[4]
enablePinSignalLost = 1 << 27, // 0x08000000, data[4]
canCommunicationStartup = 1 << 28, // 0x10000000, data[4]
internalSupply = 1 << 29, // 0x20000000, data[4]
acOvercurrent = 1 << 30, // 0x40000000, data[4]
osTrap = 1 << 31 // 0x80000000, data[4]
};
// Message id=0x210, DMC_CTRL
// The value is composed of 1 byte : data[0]
enum Control {
enablePositiveTorqueSpeed = 1 << 0, // 0x01
enableNegativeTorqueSpeed = 1 << 1, // 0x02
clearErrorLatch = 1 << 3, // 0x08
enableOscillationLimiter = 1 << 5, // 0x20
enableSpeedMode = 1 << 6, // 0x40
enablePowerStage = 1 << 7 // 0x80
};
BrusaMotorController();
void handleTick();
void handleCanFrame(CAN_FRAME *frame);
void setup();
DeviceId getId();
uint32_t getTickInterval();
void loadConfiguration();
void saveConfiguration();
private:
// DMC_TRQS2
int16_t maxPositiveTorque; // max positive available torque in 0.01Nm -> divide by 100 to get Nm
int16_t minNegativeTorque; // minimum negative available torque in 0.01Nm
uint8_t limiterStateNumber; // state number of active limiter
int tickCounter; // count how many times handleTick() was called
PowerMode powerMode; // the desired power mode
uint8_t controlBitField; // the control bit field to send via DMC_CTRL in data[0]
CAN_FRAME outputFrame; // the output CAN frame;
void sendControl();
void sendControl2();
void sendLimits();
void prepareOutputFrame(uint32_t);
void processStatus(uint8_t data[]);
void processActualValues(uint8_t data[]);
void processErrors(uint8_t data[]);
void processTorqueLimit(uint8_t data[]);
void processTemperature(uint8_t data[]);
};
#endif /* BRUSAMOTORCONTROLLER_H_ */