the_quimdc_object_dictionary
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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
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) | |
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.1667482130.txt.gz · Last modified: 2022/11/03 14:28 by pdekeyzer