====== 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 [[http://www.elmomc.com/support/manuals/MAN-CAN402IG.pdf|specification]] and this {{canopenod.pdf|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) |