Des70-10 Communication library header. More...

#include <termios.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <termio.h>
#include <fcntl.h>
#include <string.h>
#include <stdio.h>
#include <atlasmv_base/crc.h>
#include <atlasmv_base/timer.h>

Include dependency graph for des70_10.h:

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Go to the source code of this file.

Classes
struct	TYPE_DES_status_var
	DES data structure with all status variables, all variables are 16bits except Nb136 that is 32bits (double word) More...

struct	TYPE_des_sysparam
	data struct with all DES System Parameters definition, all fields have a length of 16bits but the variable range can change normally [0, 32767] More...

struct	TYPE_msg_frame
	struct with message frame More...

Enumerations
enum	ENUM_DES_STATUS_VAR { SYS_OP_STATUS = 128, ACTUAL_MEAN_CUR_D = 129, ACTUAL_MEAN_CUR_Q = 130, CUR_SETTING_VAL = 131, REL_ROT_POS_REV = 132, SPEED_SETTING_VAL = 133, ACTUAL_MEAN_SPEED_VAL = 134, ABS_ROTOR_POS = 135, STANDARD_ERROR = 136, CAN_ERROR = 137, ACTUAL_CUR_Q = 138, ACTUAL_SPEED_VAL = 139, ERROR_HIST1 = 140, ERROR_HIST2 = 141, ENC_COUNTER = 142, ENC_COUNTER_LAST_IND = 143, HALL_SENS_PAT = 144 }
	enumerator connected with DES status var typedefinition, and is used when communicating with DES servo amplifier More...

enum	ENUM_DES_SYS_PARAMS { BAUDRATE = 0, SYS_CONFIG = 1, CUR_REG_GAIN_P = 2, CUR_REG_GAIN_I = 3, MAX_CUR_OUTPUT = 4, SPEED_REG_GAIN_P = 5, SPEED_REG_GAIN_I = 6, INTERNAL_PARAM1 = 7, INTERNAL_PARAM2 = 8, INTERNAL_PARAM3 = 9, MAX_SPEED_ERROR = 10, SETTING_UNIT_GAIN = 11, SETTING_UNIT_OFFSET = 12, SETTING_UNIT_DELAY = 13, PEAK_CURRENT = 14, MAX_CONT_CURRENT = 15, THERM_CONST = 16, MAX_SPEED = 17, ACCELERATION = 18, SPEED_CONSTANT = 19, ENC_RESOLUTION = 20, POLE_PAIR_NUMBER = 21, INTERNAL_PARAM4 = 22, RPM_2QC_FACTOR = 23, INDEX_OFFSET = 24, PWM_PERIOD = 25, MAX_DUTY_CYCLE = 26, CUR_DET_PH_U_OFFSET = 27, CUR_DET_PH_V_OFFSET = 28, AD_CONV_OFFSET = 29, CAN_MODULE_ID = 30, CAN_SERVICE_ID = 31, CAN_RX_PDO_ID = 32, CAN_TX_PDO_ID = 33, CAN_BCR1 = 34, CAN_BCR2 = 35, CAN_OP_MODE = 36, CAN_RX_SDO_ID = 37, CAN_TX_SDO_ID = 38, CAN_RTR0_ID = 39, CAN_RTR1_ID = 40, CAN_CONFIG = 41, INTERNAL_PARAM5 = 42, ERROR_PROC = 43, MAX_SPEED_CURR = 44, HALL_ANGLE_OFFS = 45 }
	enumerator connected with TYPE_des_sysparam and is used when comunication is required with DES servoamplifier More...

Functions
int	calc_crc_16 (TYPE_msg_frame *msg)
	function used to get the message crc for 16bits data, the crc is obtained using first the higher byte of the WORD More...

int	check_msg_aceptance (const int port, float wait_time, unsigned char *msg)
	verify if there is some by in RX serial buffer More...

int	DES_MF_read_velocity_is_must (const int port, int vel_type, int velocity, int requested_vel, char flg)
	Read the effective and requested velocity of the motor. This is a Monitor Function (MF) More...

int	DES_set_new_baud (int *port, int baud, char flg)

int	DES_SF_set_current (const int port, int newCurrent, char flg)
	Set a new current of the motor. This function is only available in current mode regulation mode. please garantee that SysConfig field inside DES_SysParam struct. SF is a setting function. More...

int	DES_SF_set_velocity (const int port, int newVelocity, char flg)
	Set a new velocity of the motor. This function is only available in speed mode regulation mode. please garantee that SysConfig field inside DES_SysParam struct. SF is a setting function. More...

int	DES_SF_stop_motion (const int port, char flg)
	This command changes the stopping state. if the motor is already stopped it will be released. Only available in speed regulation mode. SF is a setting function. More...

int	DES_SPF_read_all_temp_param (const int port, TYPE_des_sysparam *sysparam, char flg)
	Read all temporary system parameters. DES answer the structure described by TYPE_des_sysparam. SPF is a System Parameter Functions. More...

int	DES_SPF_read_temp_param (const int port, int paramNb, int dataFormat, int *response, char flg)
	Read the requested temporary system parameter from DES-RAM. SPF is a System Parameter Functions. More...

int	DES_SPF_set_temp_param (const int port, int paramNb, int dataFormat, int *newValue, char flg)
	Write a new value to a temporary system parameter. Refer to the section about system parameters to find the desired system parameter numbers. SPF is a System Parameter Functions. More...

int	DES_ST_clear_errors (const int port, char flg)
	Clear all DES system errors. More...

int	DES_ST_enable (const int port, int *newState, char flg)
	Set the system to enabled or disabled state. The DES has to be configured for a software setting of enable. If the hardware enabled is activated this command has no effect. More...

int	DES_ST_read_error (const int port, int *errors, char flg)
	execute the rs232 command ReadError (OpCode 0x02) More...

int	DES_ST_read_sys_status (const int port, int *sys_status, char flg)
	execute the DES RS232 command 'ReadSysStatus' (OpCode=0x01). The system status is a 16bits value containing different flags. More...

int	DES_ST_reset (const int port, char flg)
	RS232 command that reset the des system by restarting the software. More...

int	InitDES (const int port, TYPE_des_sysparam *newSysParam, char, char, char flg)
	Function that initializes DES servoamplifier with a start configuration. also enables the servoamplifier to be used by software and garantees that the electric brake is not active. More...

int	InitDES_communication (std::string com_device, int *port)
	function to open serial port and set some params for servoamplifier More...

int	read_buffer (const int port, TYPE_msg_frame *msg, char flg)
	function to read the buffer into a msg frame More...

int	send_data (const int port, TYPE_msg_frame *msg, char flg)

int	send_msg_frame (const int port, TYPE_msg_frame *msg, char flg)
	send by rs232 all the data frame inclusively crc value. CRC value is obtained were before send message More...

int	send_OpCode (const int port, unsigned char tries, unsigned char OpCode, char flg)
	function just to send OpCode and verify if command was understood More...

int	stopDES (const int port, char flg)

int	write_msg_inbuf (const int port, unsigned char *data, int size)
	send to serial port a stream of bytes More...

Detailed Description

Des70-10 Communication library header.

Definition in file des70_10.h.

Enumeration Type Documentation

enum ENUM_DES_STATUS_VAR

enumerator connected with DES status var typedefinition, and is used when communicating with DES servo amplifier

Enumerator
SYS_OP_STATUS
ACTUAL_MEAN_CUR_D
ACTUAL_MEAN_CUR_Q
CUR_SETTING_VAL
REL_ROT_POS_REV
SPEED_SETTING_VAL
ACTUAL_MEAN_SPEED_VAL
ABS_ROTOR_POS
STANDARD_ERROR
CAN_ERROR
ACTUAL_CUR_Q
ACTUAL_SPEED_VAL
ERROR_HIST1
ERROR_HIST2
ENC_COUNTER
ENC_COUNTER_LAST_IND
HALL_SENS_PAT

Definition at line 237 of file des70_10.h.

enum ENUM_DES_SYS_PARAMS

enumerator connected with TYPE_des_sysparam and is used when comunication is required with DES servoamplifier

Enumerator
BAUDRATE
SYS_CONFIG
CUR_REG_GAIN_P
CUR_REG_GAIN_I
MAX_CUR_OUTPUT
SPEED_REG_GAIN_P
SPEED_REG_GAIN_I
INTERNAL_PARAM1
INTERNAL_PARAM2
INTERNAL_PARAM3
MAX_SPEED_ERROR
SETTING_UNIT_GAIN
SETTING_UNIT_OFFSET
SETTING_UNIT_DELAY
PEAK_CURRENT
MAX_CONT_CURRENT
THERM_CONST
MAX_SPEED
ACCELERATION
SPEED_CONSTANT
ENC_RESOLUTION
POLE_PAIR_NUMBER
INTERNAL_PARAM4
RPM_2QC_FACTOR
INDEX_OFFSET
PWM_PERIOD
MAX_DUTY_CYCLE
CUR_DET_PH_U_OFFSET
CUR_DET_PH_V_OFFSET
AD_CONV_OFFSET
CAN_MODULE_ID
CAN_SERVICE_ID
CAN_RX_PDO_ID
CAN_TX_PDO_ID
CAN_BCR1
CAN_BCR2
CAN_OP_MODE
CAN_RX_SDO_ID
CAN_TX_SDO_ID
CAN_RTR0_ID
CAN_RTR1_ID
CAN_CONFIG
INTERNAL_PARAM5
ERROR_PROC
MAX_SPEED_CURR
HALL_ANGLE_OFFS

Definition at line 144 of file des70_10.h.

Function Documentation

int calc_crc_16 ( TYPE_msg_frame * msg )

function used to get the message crc for 16bits data, the crc is obtained using first the higher byte of the WORD

Parameters

msg	- TYPE_msg_frame must be specified previously, were is updated the crc field

Returns: - this function returns always 1 and crc field at msg structure

Definition at line 79 of file des70_10.cpp.

int check_msg_aceptance	(	const int	port,
		float	wait_time,
		unsigned char *	msg
	)

verify if there is some by in RX serial buffer

Parameters

port	- device port
wait_time	- maximum delay to receive the acknowledge from DES servoamplifier in seconds
msg	- the return byte if the result is 1

Returns: the function returns: (0)-if error occurs, (-1)- waiting time exceeds limits, (1)-no error

Definition at line 146 of file des70_10.cpp.

int DES_MF_read_velocity_is_must	(	const int	port,
		int	vel_type,
		int *	velocity,
		int *	requested_vel,
		char	flg
	)

Read the effective and requested velocity of the motor. This is a Monitor Function (MF)

Parameters

port	- serial port connection
vel_type	- (0)required mean value (1)realtime values
velocity	- velocity is the actual velocity depending on vel_type value.
requested_vel	- requested velocity to the servoamplifier
flg	- (1) to print debug info

Returns: - (0) if error occurs when requesting message

Definition at line 1100 of file des70_10.cpp.

int DES_set_new_baud	(	int *	port,
		int	baud,
		char	flg
	)

Definition at line 1314 of file des70_10.cpp.

int DES_SF_set_current	(	const int	port,
		int	newCurrent,
		char	flg
	)

Set a new current of the motor. This function is only available in current mode regulation mode. please garantee that SysConfig field inside DES_SysParam struct. SF is a setting function.

Parameters

port	- serial port device
newCurrent	- new current in mA {positive value rotor turns counter clockwise, negative value rotor turns in clockwise}
flg	- (1) to print debug info

Returns: (0) error occurs during sending

Definition at line 1034 of file des70_10.cpp.

int DES_SF_set_velocity	(	const int	port,
		int	newVelocity,
		char	flg
	)

Set a new velocity of the motor. This function is only available in speed mode regulation mode. please garantee that SysConfig field inside DES_SysParam struct. SF is a setting function.

Parameters

port	- serial port device
newVelocity	- new velocity in rpm {positive value rotor turns in counter clockwise, negative value rotor turns in clockwise}
flg	- (1) to print debug info

Returns: (0) error occurs during sending

Definition at line 1001 of file des70_10.cpp.

int DES_SF_stop_motion	(	const int	port,
		char	flg
	)

This command changes the stopping state. if the motor is already stopped it will be released. Only available in speed regulation mode. SF is a setting function.

Note: WARNING: This is a toggle function, so is required to verify if the brake is disable or not. check TYPE_DES_status_var::sys_op_status.bits.bb13

Parameters

port	- serial port connection
flg	- (1) to print debug info

Returns: (0) error occurs during sending

Definition at line 1066 of file des70_10.cpp.

int DES_SPF_read_all_temp_param	(	const int	port,
		TYPE_des_sysparam *	sysparam,
		char	flg
	)

Read all temporary system parameters. DES answer the structure described by TYPE_des_sysparam. SPF is a System Parameter Functions.

Parameters

port	- serial port device
sysparam	- struct with all des system parameters
flg	- if is required to print data

Returns: (0) if error occurs when requesting data

Definition at line 769 of file des70_10.cpp.

int DES_SPF_read_temp_param	(	const int	port,
		int	paramNb,
		int	dataFormat,
		int *	response,
		char	flg
	)

Read the requested temporary system parameter from DES-RAM. SPF is a System Parameter Functions.

Parameters

port	- device port
paramNb	- Parameter Number according table DES System Parameters and DES Status Variables. check TYPE_DES_sysparam and TYPE_DES_status_var
dataFormat	- (0)answer will be a WORD (1) answer will be a LWORD
response	- pointer to a WORD
flg	- (1) to print debug info

Returns: (0) error occurs during sending (-1) when receiving msg

Definition at line 675 of file des70_10.cpp.

int DES_SPF_set_temp_param	(	const int	port,
		int	paramNb,
		int	dataFormat,
		int *	newValue,
		char	flg
	)

Write a new value to a temporary system parameter. Refer to the section about system parameters to find the desired system parameter numbers. SPF is a System Parameter Functions.

Parameters

port	- serial device number
paramNb	- Parameter Number according table DES System Parameters and DES Status Variables. check TYPE_DES_sysparam and TYPE_DES_status_var
dataFormat	- (0)answer will be a WORD (1) answer will be a LWORD
newValue	- pointer to a WORD
flg	- (1) to print debug info

Returns: (0) error occurs during sending

Definition at line 718 of file des70_10.cpp.

int DES_ST_clear_errors	(	const int	port,
		char	flg
	)

Clear all DES system errors.

Parameters

port	- device for serial port connection
flg	- (1) to print debug info

Returns: - this function returns 0 if error occurs

Definition at line 579 of file des70_10.cpp.

int DES_ST_enable	(	const int	port,
		int *	newState,
		char	flg
	)

Set the system to enabled or disabled state. The DES has to be configured for a software setting of enable. If the hardware enabled is activated this command has no effect.

Parameters

port	- serial conection device port
newState	- (0) disable servoamplifier (1) enable servoamplifier
flg	- (1) to print debug info

Returns: - this function returns 0 if error occurs sending msg

Definition at line 641 of file des70_10.cpp.

int DES_ST_read_error	(	const int	port,
		int *	errors,
		char	flg
	)

execute the rs232 command ReadError (OpCode 0x02)

Parameters

port	- Device Port for serial connection
errors	- 16bits WORD containing all errors list
flg	- (1) to print debug info

Returns: this function will returns 0 if error occurs

Definition at line 541 of file des70_10.cpp.

int DES_ST_read_sys_status	(	const int	port,
		int *	sys_status,
		char	flg
	)

execute the DES RS232 command 'ReadSysStatus' (OpCode=0x01). The system status is a 16bits value containing different flags.

Parameters

port	- Device Port for serial connection
sys_status	- sys_status is a variable inside data structure DES_Status_Variables
flg	- (1) to print debug info

Returns: this function will returns 0 if error occurs

Definition at line 498 of file des70_10.cpp.

int DES_ST_reset	(	const int	port,
		char	flg
	)

RS232 command that reset the des system by restarting the software.

Parameters

port	- serial device port
flg	- (1) to print debug info

Returns: - this function returns 0 if error occurs

Definition at line 609 of file des70_10.cpp.

int InitDES	(	const int	port,
		TYPE_des_sysparam *	newSysParam,
		char	enable_des,
		char	brake_des,
		char	flg
	)

Function that initializes DES servoamplifier with a start configuration. also enables the servoamplifier to be used by software and garantees that the electric brake is not active.

Parameters

port	- serial port conection
newSysParam	- DES start configuration, although there is 45 start configuration variable is just defined SYS_CONFIG, ENC_RESOLUTION, MAX_SPEED, MAX_CONT_CURRENT, PEAK_CURRENT, SPEED_REG_GAIN_P and SPEED_REG_GAIN_I
enable_des	-
brake_des	-
flg	- if is required to print out some infomration

Returns: (-1) no errors, (0) brake not disabled or servoamplifier didn't not enabled, (1...) error according Standard Error Messages

Definition at line 1142 of file des70_10.cpp.

int InitDES_communication	(	std::string	com_device,
		int *	port
	)

function to open serial port and set some params for servoamplifier

Parameters

com_device	- path to device
port	- device port identification (exit)

Returns: this function will returns 0 if error occurs

Definition at line 41 of file des70_10.cpp.

int read_buffer	(	const int	port,
		TYPE_msg_frame *	msg,
		char	flg
	)

function to read the buffer into a msg frame

Parameters

port	- device port
msg	- message frame type
flg	- (1) to print out debug info

Returns: ()

this define the time that at maximum time is necessary to wait for a msg with a lenght of 110bytes with a baud of 38400 near 23ms

Definition at line 330 of file des70_10.cpp.

int send_data	(	const int	port,
		TYPE_msg_frame *	msg,
		char	flg
	)

Parameters

port	- serial port conection
msg	- message frame to be sent according DES frame struct (TYPE_msg_frame)
flg	- (1) to print out debug info

Returns: (-1)-'F' is received from DES,(0)-max num of tries is reached, (1)-'O' is received from DES

Definition at line 264 of file des70_10.cpp.

int send_msg_frame	(	const int	port,
		TYPE_msg_frame *	msg,
		char	flg
	)

send by rs232 all the data frame inclusively crc value. CRC value is obtained were before send message

Parameters

port	- device port
msg	- TYPE_msg_frame frame
flg	- (1) if required print debug data

Returns: (0) if any error occurs during data transfer

Definition at line 457 of file des70_10.cpp.

int send_OpCode	(	const int	port,
		unsigned char	tries,
		unsigned char	OpCode,
		char	flg
	)

function just to send OpCode and verify if command was understood

Parameters

port	- device port
tries	- max number of tries to receive msg
OpCode	- unsigned char with DES command, according to DES command reference
flg	- (1) will printf special info

Returns: (-1)-'F' is received from DES,(0)-max num of tries is reached, (1)-'O' is received from DES

Definition at line 192 of file des70_10.cpp.

int stopDES	(	const int	port,
		char	flg
	)

Definition at line 1271 of file des70_10.cpp.

int write_msg_inbuf	(	const int	port,
		unsigned char *	data,
		int	size
	)

send to serial port a stream of bytes

Parameters

port	- device port
data	- vector with streaming of data
size	- number of bytes to be sent

Returns: this function will returns 0 if error occurs

Definition at line 119 of file des70_10.cpp.

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation