Tinymovr v2x

.gitignore

@@ -0,0 +1 @@
+.DS_Store

CMakeLists.txt

@@ -130,14 +130,23 @@ include_directories(
 set(TINYMOVR_SOURCES
   src/tinymovr/can.cpp
   src/tinymovr/comms.cpp
+  src/tinymovr/commutation_sensor.cpp
   src/tinymovr/controller.cpp
   src/tinymovr/current.cpp
-  src/tinymovr/encoder.cpp
+  src/tinymovr/external_spi.cpp
+  src/tinymovr/hall.cpp
+  src/tinymovr/homing.cpp
   src/tinymovr/motor.cpp
+  src/tinymovr/onboard.cpp
+  src/tinymovr/position_sensor.cpp
   src/tinymovr/position.cpp
   src/tinymovr/scheduler.cpp
+  src/tinymovr/select.cpp
+  src/tinymovr/setup.cpp
+  src/tinymovr/stall_detect.cpp
   src/tinymovr/tinymovr.cpp
   src/tinymovr/traj_planner.cpp
+  src/tinymovr/user_frame.cpp
   src/tinymovr/velocity.cpp
   src/tinymovr/voltage.cpp
   src/tinymovr/watchdog.cpp

include/tinymovr/can.hpp

@@ -20,5 +20,7 @@ class Can_ : Node
         void set_rate(uint32_t value);
         uint32_t get_id(void);
         void set_id(uint32_t value);
+        bool get_heartbeat(void);
+        void set_heartbeat(bool value);
 
 };

include/tinymovr/commutation_sensor.hpp

@@ -0,0 +1,27 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Commutation_sensor_ : Node
+{
+    public:
+
+        Commutation_sensor_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        uint8_t get_connection(void);
+        void set_connection(uint8_t value);
+        float get_bandwidth(void);
+        void set_bandwidth(float value);
+        int32_t get_raw_angle(void);
+        float get_position_estimate(void);
+        float get_velocity_estimate(void);
+
+};

include/tinymovr/external_spi.hpp

@@ -0,0 +1,26 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class External_spi_ : Node
+{
+    public:
+
+        External_spi_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        uint8_t get_type(void);
+        void set_type(uint8_t value);
+        uint8_t get_rate(void);
+        void set_rate(uint8_t value);
+        bool get_calibrated(void);
+        uint8_t get_errors(void);
+
+};

include/tinymovr/hall.hpp

@@ -0,0 +1,22 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Hall_ : Node
+{
+    public:
+
+        Hall_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        bool get_calibrated(void);
+        uint8_t get_errors(void);
+
+};

include/tinymovr/helpers.hpp

@@ -22,11 +22,11 @@
 #endif
 
 #define CAN_EP_SIZE (12)
-#define CAN_EP_MASK ((1 << CAN_EP_SIZE) - 1)
+#define CAN_EP_MASK ((1UL << CAN_EP_SIZE) - 1)
 #define CAN_SEQ_SIZE (9)
-#define CAN_SEQ_MASK (((1 << CAN_SEQ_SIZE) - 1) << CAN_EP_SIZE)
+#define CAN_SEQ_MASK (((1UL << CAN_SEQ_SIZE) - 1) << CAN_EP_SIZE)
 #define CAN_DEV_SIZE (8)
-#define CAN_DEV_MASK (((1 << CAN_DEV_SIZE) - 1) << (CAN_EP_SIZE + CAN_SEQ_SIZE))
+#define CAN_DEV_MASK (((1UL << CAN_DEV_SIZE) - 1) << (CAN_EP_SIZE + CAN_SEQ_SIZE))
 
 typedef void (*send_callback)(uint32_t arbitration_id, uint8_t *data, uint8_t dlc, bool rtr);
 typedef bool (*recv_callback)(uint32_t *arbitration_id, uint8_t *data, uint8_t *dlc);
@@ -48,7 +48,7 @@ class Node {
     uint8_t _dlc;
     uint32_t get_arbitration_id(uint32_t cmd_id)
     {
-        return ((this->can_node_id << (CAN_EP_SIZE + CAN_SEQ_SIZE)) & CAN_DEV_MASK) | (cmd_id & CAN_EP_MASK);
+        return ((((uint32_t)this->can_node_id) << (CAN_EP_SIZE + CAN_SEQ_SIZE)) & CAN_DEV_MASK) | (cmd_id & CAN_EP_MASK);
     }
     void send(uint32_t cmd_id, uint8_t *data, uint8_t data_size, bool rtr)
     {

include/tinymovr/motor.hpp

@@ -24,10 +24,6 @@ class Motor_ : Node
         void set_pole_pairs(uint8_t value);
         uint8_t get_type(void);
         void set_type(uint8_t value);
-        float get_offset(void);
-        void set_offset(float value);
-        int8_t get_direction(void);
-        void set_direction(int8_t value);
         bool get_calibrated(void);
         float get_I_cal(void);
         void set_I_cal(float value);

include/tinymovr/onboard.hpp

@@ -0,0 +1,22 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+
+class Onboard_ : Node
+{
+    public:
+
+        Onboard_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        bool get_calibrated(void);
+        uint8_t get_errors(void);
+
+};

include/tinymovr/encoder.hpp → include/tinymovr/position_sensor.hpp

@@ -10,19 +10,18 @@
 
 #include <helpers.hpp>
 
-class Encoder_ : Node
+class Position_sensor_ : Node
 {
     public:
 
-        Encoder_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+        Position_sensor_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
             Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
-        float get_position_estimate(void);
-        float get_velocity_estimate(void);
-        uint8_t get_type(void);
-        void set_type(uint8_t value);
+        uint8_t get_connection(void);
+        void set_connection(uint8_t value);
         float get_bandwidth(void);
         void set_bandwidth(float value);
-        bool get_calibrated(void);
-        uint8_t get_errors(void);
+        int32_t get_raw_angle(void);
+        float get_position_estimate(void);
+        float get_velocity_estimate(void);
 
 };

include/tinymovr/scheduler.hpp

@@ -16,6 +16,7 @@ class Scheduler_ : Node
 
         Scheduler_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
             Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
-        uint8_t get_errors(void);
+        uint32_t get_load(void);
+        uint8_t get_warnings(void);
 
 };

include/tinymovr/select.hpp

@@ -0,0 +1,26 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+#include <position_sensor.hpp>
+#include <commutation_sensor.hpp>
+
+class Select_ : Node
+{
+    public:
+
+        Select_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , position_sensor(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , commutation_sensor(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        Position_sensor_ position_sensor;
+        Commutation_sensor_ commutation_sensor;
+
+};

include/tinymovr/sensors.hpp

@@ -0,0 +1,29 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+#include <user_frame.hpp>
+#include <setup.hpp>
+#include <select.hpp>
+
+class Sensors_ : Node
+{
+    public:
+
+        Sensors_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , user_frame(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , setup(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , select(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        User_frame_ user_frame;
+        Setup_ setup;
+        Select_ select;
+
+};

include/tinymovr/setup.hpp

@@ -0,0 +1,29 @@
+/*
+* This file was automatically generated using Avlos.
+* https://github.com/tinymovr/avlos
+*
+* Any changes to this file will be overwritten when
+* content is regenerated.
+*/
+
+#pragma once
+
+#include <helpers.hpp>
+#include <onboard.hpp>
+#include <external_spi.hpp>
+#include <hall.hpp>
+
+class Setup_ : Node
+{
+    public:
+
+        Setup_(uint8_t _can_node_id, send_callback _send_cb, recv_callback _recv_cb, delay_us_callback _delay_us_cb, uint32_t _delay_us_value):
+            Node(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , onboard(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , external_spi(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value)
+            , hall(_can_node_id, _send_cb, _recv_cb, _delay_us_cb, _delay_us_value) {};
+        Onboard_ onboard;
+        External_spi_ external_spi;
+        Hall_ hall;
+
+};