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the_quimdc_object_dictionary

Table of Contents

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

Note: When setting/reading GPIOs, use this table to link their name to their ID:

GPIO Name ID
CA_R 0
CA_L 1
CB_R 2
CB_L 3
CQR 4
CQL 5

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
0x1011 0 WO VOID Load parameters from flash
0x411A 0 WO VOID Erase flash
0x2000 0 RW INT32 Motor Watchdog (ms)
0x2040 1 RO INT32 Current Motor 1 (mA)
2 RO INT32 Current Motor 2 (mA)
0x200C 0 RW INT32 Emergency stop (uint8_t flag_id)
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 (mOhm)
2 RW FLOAT32 Resistance Motor 2 (mOhm)
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 INT32 Nominal Voltage Motor 1 (mV)
2 RW INT32 Nominal Voltage Motor 2 (mV)
0x4105 1 RW INT32 Position speed period Motor 1 (ms)
2 RW INT32 Position speed period Motor 2 (ms)
0x4106 1 RW INT32 BEMF Compensation Motor 1 [0/1]
2 RW INT32 BEMF Compensation Motor 2 [0/1]
0x4107 1 RW INT32 Minimal Speed Motor 1 (Ticks/second)
2 RW INT32 Minimal Speed Motor 2 (Ticks/second)
0x4108 1 RW INT32 Free Wheel GPIO ID Motor 1 [0,5] (see table above)
2 RW INT32 Free Wheel GPIO ID Motor 2 [0,5] (see table above)
0x4109 1 RW INT32 Homing GPIO ID Motor 1 [0,5] (see table above)
2 RW INT32 Homing GPIO ID Motor 2 [0,5](see table above)
0x410A 1 RW INT32 Positive limit switch GPIO ID Motor 1 [0,5] (see table above)
2 RW INT32 Positive limit switch GPIO ID Motor 2 [0,5] (see table above)
0x410B 1 RW INT32 Negative limit switch GPIO ID Motor 1 [0,5] (see table above)
2 RW INT32 Negative limit switch GPIO ID Motor 2 [0,5] (see table above)
0x410C 1 RW INT32 Positive limit switch GPIO inversion Motor 1 [0/1]
2 RW INT32 Positive limit switch GPIO inversion Motor 2 [0/1]
0x410D 1 RW INT32 Negative limit switch GPIO inversion Motor 1 [0/1]
2 RW INT32 Negative limit switch GPIO inversion Motor 2 [0/1]
0x410E 1 RW INT32 Homing GPIO inversion Motor 1 [0/1]
2 RW INT32 Homing GPIO inversion Motor 2 [0/1]
0x410F 1 RW INT32 Max Position error Motor 1 (Ticks)
2 RW INT32 Max Position error Motor 2 (Ticks)
0x4110 1 RW INT32 PWM Offset Motor 1 [-128, 128]
2 RW INT32 PWM Offset Motor 2 [-128, 128]
0x4111 1 RW INT32 Acceleration Period Motor 1 (Seconds)
2 RW INT32 Acceleration Period Motor 2 (Seconds)
0x4112 1 RW INT32 Deceleration limit Motor 1 (Ticks/second²)
2 RW INT32 Deceleration limit Motor 2 (Ticks/second²)
0x4113 1 RW INT32 Acceleration limit Motor 1 (Ticks/second²)
2 RW INT32 Acceleration limit Motor 2 (Ticks/second²)
0x4114 1 RW INT32 Max Current Motor 1 (mA)
2 RW INT32 Max Current Motor 2 (mA)
0x4115 1 RW INT32 Max Speed Motor 1 (Ticks/second)
2 RW INT32 Max Speed Motor 2 (Ticks/second)
0x4116 1 RO INT32 Get actual PWM of Motor 1
2 RO INT32 Get actual PWM of Motor 2
0x4117 1 RO INT32 Is Homing Done on Motor 1 (0=homing not done/1=homing done)
2 RO INT32 Is Homing Done on Motor 2 (0=homing not done/1=homing done)
0x4118 1 WO INT32 Do Homing on Motor 1 with indicated speed (Ticks/second)
2 WO INT32 Do Homing on Motor 2 with indicated speed (Ticks/second)
0x4119 1 RW INT32 Set Ref PWM Motor 1[-128,128]
2 RW INT32 Set Ref PWM Motor 2[-128,128]
0x4200 1 RO INT32 Read position reached Motor 1 (See note below)
2 RO INT32 Read position reached Motor 2 (See note below)
0x4202 1 RO INT32 Read GPIO values (See note below)
0x6010 1 RO INT32 Digital Input External Encoder 1
2 RO INT32 Digital Input External Encoder 2
0x6011 0 RO INT32 Read Level of GPIO CA_R
1 RO INT32 Read Level of GPIO CA_L
2 RO INT32 Read Level of GPIO CB_R
3 RO INT32 Read Level of GPIO CB_L
4 RO INT32 Read Level of GPIO CQR
5 RO INT32 Read Level of GPIO CQL
0x6012 0 RO INT32 Read motor driver fault status [0]
0x6013 0 WO INT32 Put board to sleep [1]
0x6014 0 WO INT32 Reset board [1]
0x6015 0 WO INT32 Reset motor driver [1]
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)
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]
0x60F0 1 RW INT32 PWM Motor 1 ([-128, 128])
2 RW INT32 PWM Motor 2 ([-128, 128])
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)
0x6200 1 RW INT32 GPIO PDO publish freq (Hz)

Notes

As the entry 0x4200 (Read position reached) is essentially designed to be used for PDOs, it has a specific structure

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
position reached (0/1) 0x00 0x00 Position in ticks

The entry 0x4202 PDO structure is the following:

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Motor 1 positive limit switch level (0/1) Motor 1 negative limit switch level (0/1) Motor 1 homing limit switch level (0/1) Motor 2 positive limit switch level (0/1) Motor 2 negative limit switch level (0/1) Motor 2 homing limit switch level (0/1) Motor 1 free wheel GPIO level (0/1) Motor 2 free wheel GPIO level (0/1)
the_quimdc_object_dictionary.txt · Last modified: 2023/02/09 12:09 by pdekeyzer