User Tools

Site Tools


the_quimdc_object_dictionary

The QuimDC Object Dictionary


How to add a parameter

All the parameters are added to the Object Dictionary (O.D.) in board/quimdc/od_factory.c file. Beware to check the max size of OD defined by MAX_NUM_OD_ENTRIES in common/lib/can/od.h.


O.D. layout

Index profile is inspired by this specification and this official specification.

Index Sub-index Attribute Type Name
0x1000 0 RO UINT32 Device type
0x1010 0 WO VOID Save parameters to flash
0x2000 0 RW INT32 Motor Watchdog (ms)
0x2040 1 RO INT32 Current Motor 1 (mA)
2 RO INT32 Current Motor 2 (mA)
0x3333 0 RW INT32 Operational Mode Manager (0 ⇒ leave, 1 ⇒ enter)
0x4000 1 RW INT32 Speed PID, P Motor 1
2 RW INT32 Speed PID, P Motor 2
0x4001 1 RW INT32 Speed PID, I Motor 1
2 RW INT32 Speed PID, I Motor 2
0x4002 1 RW INT32 Speed PID, D Motor 1
2 RW INT32 Speed PID, D Motor 2
0x4003 1 RW INT32 Speed PID, Do Motor 1
2 RW INT32 Speed PID, Do Motor 2
0x4004 1 RW INT32 Speed PID, Fixed Point Divider Motor 1
2 RW INT32 Speed PID, Fixed Point Divider Motor 2
0x4005 1 RW INT32 Speed PID, Anti Wu Limit Motor 1
2 RW INT32 Speed PID, Anti Wu Limit Motor 2
0x4010 1 RW INT32 Current PID, P Motor 1
2 RW INT32 Current PID, P Motor 2
0x4011 1 RW INT32 Current PID, I Motor 1
2 RW INT32 Current PID, I Motor 2
0x4012 1 RW INT32 Current PID, D Motor 1
2 RW INT32 Current PID, D Motor 2
0x4013 1 RW INT32 Current PID, Do Motor 1
2 RW INT32 Current PID, Do Motor 2
0x4014 1 RW INT32 Current PID, Fixed Point Divider Motor 1
2 RW INT32 Current PID, Fixed Point Divider Motor 2
0x4015 1 RW INT32 Current PID, Anti Wu Limit Motor 1
2 RW INT32 Current PID, Anti Wu Limit Motor 2
0x4020 1 RW INT32 Position PID, P Motor 1
2 RW INT32 Position PID, P Motor 2
0x4021 1 RW INT32 Position PID, I Motor 1
2 RW INT32 Position PID, I Motor 2
0x4022 1 RW INT32 Position PID, D Motor 1
2 RW INT32 Position PID, D Motor 2
0x4023 1 RW INT32 Position PID, Do Motor 1
2 RW INT32 Position PID, Do Motor 2
0x4024 1 RW INT32 Position PID, Fixed Point Divider Motor 1
2 RW INT32 Position PID, Fixed Point Divider Motor 2
0x4025 1 RW INT32 Position PID, Anti Wu Limit Motor 1
2 RW INT32 Position PID, Anti Wu Limit Motor 2
0x4100 1 RW FLOAT32 Resistance Motor 1 (Ohm)
2 RW FLOAT32 Resistance Motor 2 (Ohm)
0x4101 1 RW FLOAT32 Kv Motor 1 (Rpm/V)
2 RW FLOAT32 Kv Motor 2 (Rpm/V)
0x4102 1 RW INT32 Ticks per Turn Motor 1 (Tick/Turn)
2 RW INT32 Ticks per Turn Motor 2 (Tick/Turn)
0x4103 1 RW FLOAT32 Nominal Voltage Motor 1 (V)
2 RW FLOAT32 Nominal Voltage Motor 2 (V)
0x4105 1 RW INT32 Position Speed Period Motor 1 (V)
2 RW INT32 Position Speed Period Motor 2 (V)
0x6010 1 RO INT32 Digital Input External Encoder 1
2 RO INT32 Digital Input External Encoder 2
0x6060 1 RW INT32 Control Loop Function Motor 1
2 RW INT32 Control Loop Function Motor 2
0x6063 1 RO INT32 Motor Position 1 (Tick)
2 RO INT32 Motor Position 2 (Tick)
0x6078 1 RW INT32 Reference/Target Current Motor 1 (mA)
2 RW INT32 Reference/Target Current Motor 2 (mA)
0x607A 1 RW INT32 Reference/Target Position Motor 1 (Tick)
2 RW INT32 Reference/Target Position Motor 2 (Tick)
0x607E 1 RW INT32 Polarity Motor 1 (Tick)
2 RW INT32 Polarity Motor 2 (Tick)
0x60F0 1 RW INT32 PWM Motor 1 ([-128, 128])
2 RW INT32 PWM Motor 2 ([-128, 128])
0x607F 1 RW INT32 Pwm Duty Max 1 ([0, 127])
2 RW INT32 Pwm Duty Max 2 ([0, 127])
0x6080 1 WO INT32 Reset Position Motor 1 [0]
2 WO INT32 Reset Position Motor 2 [0]
0x60FF 1 RW INT32 Reference/Target Speed Motor 1 (Tick/s)
2 RW INT32 Reference/Target Speed Motor 2 (Tick/s)
0x6100 1 RO INT32 Motor Speed 1 (Tick/s)
2 RO INT32 Motor Speed 2 (Tick/s)
the_quimdc_object_dictionary.txt · Last modified: 2018/05/22 10:33 (external edit)