Des70_10

Data Structures
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_DES_status_var
	DES data structure with all status variables, all variables are 16bits except Nb136 that is 32bits (double word). More...
struct	TYPE_msg_frame
	struct with message frame More...
Files
file	des70_10.h
	des70_10.h file for this module. Includes, global vars, funtion prototypes, etc.
file	des70_10_functions.cpp
	Auxiliary functions for this module. This is where private module functions are defined.
file	des70_10_init.cpp
	file containing functions related with variables initialization like des data structures.
Defines
#define	_DO_NOT_USE_OPENCV_   0
#define	_DO_NOT_USE_CARMEN_   0
Enumerations
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...
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...
Functions
int	InitDES_communication (char *com_device, int *port, int baud, TYPE_executionflags *flg)
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
int	write_msg_inbuf (const int port, unsigned char *data, int size)
	send to serial port a stream of bytes
int	check_msg_aceptance (const int port, float wait_time, unsigned char *msg)
int	send_OpCode (const int port, unsigned char tries, unsigned char OpCode, char flg)
int	send_data (const int port, TYPE_msg_frame *msg, char flg)
int	read_buffer (const int port, TYPE_msg_frame *msg, char flg)
int	send_msg_frame (const int port, TYPE_msg_frame *msg, char flg)
int	DES_ST_read_sys_status (const int port, int *sys_status, char flg)
int	DES_ST_read_error (const int port, int *errors, char flg)
int	DES_ST_clear_errors (const int port, char flg)
int	DES_ST_reset (const int port, char flg)
int	DES_ST_enable (const int port, int *newState, char flg)
int	DES_SPF_read_temp_param (const int port, int paramNb, int dataFormat, int *response, char flg)
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.
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.
int	DES_SF_set_velocity (const int port, int newVelocity, char flg)
int	DES_SF_set_current (const int port, int newCurrent, char flg)
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.
int	DES_MF_read_velocity_is_must (const int port, int vel_type, int *velocity, int *requested_vel, char flg)
int	InitDES (const int port, TYPE_des_sysparam *newSysParam, 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.
int	stopDES (const int port, char flg)
int	DES_set_new_baud (int *port, int baud, char flg)

---

Define Documentation

#define _DO_NOT_USE_CARMEN_   0

#define _DO_NOT_USE_OPENCV_   0

---

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

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

---

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

References TYPE_msg_frame::crc, TYPE_msg_frame::data, i, TYPE_msg_frame::OpCode, TYPE_msg_frame::size, and update_crc_ccitt().

Referenced by read_buffer(), and send_msg_frame().

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

References c_timer::get_toc(), n, result, c_timer::tic(), and c_timer::toc().

Referenced by send_data(), and send_OpCode().

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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, read_buffer(), result, and send_msg_frame().

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

References BAUDRATE, bzero, DES_SPF_set_temp_param(), result, and ret.

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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, result, and send_msg_frame().

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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, result, and send_msg_frame().

Referenced by stopDES().

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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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, result, and send_msg_frame().

Referenced by InitDES(), and stopDES().

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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

References TYPE_des_sysparam::acceleration, TYPE_des_sysparam::ad_conv_offset, TYPE_des_sysparam::baudrate, TYPE_des_sysparam::can_bcr1, TYPE_des_sysparam::can_bcr2, TYPE_des_sysparam::can_config, TYPE_des_sysparam::can_module_id, TYPE_des_sysparam::can_op_mode, TYPE_des_sysparam::can_rtr0_id, TYPE_des_sysparam::can_rtr1_id, TYPE_des_sysparam::can_rx_pdo_id, TYPE_des_sysparam::can_rx_sdo_id, TYPE_des_sysparam::can_service_id, TYPE_des_sysparam::can_tx_pdo_id, TYPE_des_sysparam::can_tx_sdo_id, TYPE_des_sysparam::cur_det_ph_u_offset, TYPE_des_sysparam::cur_det_ph_v_offset, TYPE_des_sysparam::cur_reg_gain_p, TYPE_msg_frame::data, TYPE_des_sysparam::enc_resolution, TYPE_des_sysparam::error_proc, TYPE_des_sysparam::hall_angle_offs, TYPE_des_sysparam::index_offset, TYPE_des_sysparam::internal_param1, TYPE_des_sysparam::internal_param2, TYPE_des_sysparam::internal_param3, TYPE_des_sysparam::internal_param4, TYPE_des_sysparam::internal_param5, TYPE_des_sysparam::max_cont_current, TYPE_des_sysparam::max_cur_output, TYPE_des_sysparam::max_duty_cycle, TYPE_des_sysparam::max_speed, TYPE_des_sysparam::max_speed_curr, TYPE_des_sysparam::max_speed_error, TYPE_msg_frame::OpCode, TYPE_des_sysparam::peak_current, TYPE_des_sysparam::pole_pair_number, TYPE_des_sysparam::pwm_period, read_buffer(), result, TYPE_des_sysparam::rpm2qc_factor, send_msg_frame(), TYPE_des_sysparam::setting_unit_delay, TYPE_des_sysparam::setting_unit_gain, TYPE_des_sysparam::setting_unit_offset, TYPE_des_sysparam::speed_constant, TYPE_des_sysparam::speed_reg_gain_i, TYPE_des_sysparam::speed_reg_gain_p, and TYPE_des_sysparam::sys_config.

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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, read_buffer(), result, and send_msg_frame().

Referenced by InitDES().

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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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, result, and send_msg_frame().

Referenced by DES_set_new_baud(), handler_speed_gain(), and InitDES().

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int DES_ST_clear_errors	(	const int	port,
		char	flg
	)

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, result, and send_msg_frame().

Referenced by InitDES().

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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, result, and send_msg_frame().

Referenced by InitDES(), and stopDES().

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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, read_buffer(), result, send_msg_frame(), and TYPE_msg_frame::size.

Referenced by InitDES().

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

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, read_buffer(), result, and send_msg_frame().

Referenced by InitDES(), and stopDES().

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int DES_ST_reset	(	const int	port,
		char	flg
	)

References TYPE_msg_frame::data, TYPE_msg_frame::OpCode, result, and send_msg_frame().

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int InitDES	(	const int	port,
		TYPE_des_sysparam *	newSysParam,
		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
	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

References DES_SF_stop_motion(), DES_SPF_read_temp_param(), DES_SPF_set_temp_param(), DES_ST_clear_errors(), DES_ST_enable(), DES_ST_read_error(), DES_ST_read_sys_status(), TYPE_des_sysparam::enc_resolution, ENC_RESOLUTION, c_timer::get_toc(), TYPE_des_sysparam::max_cont_current, MAX_CONT_CURRENT, TYPE_des_sysparam::max_speed, MAX_SPEED, TYPE_des_sysparam::peak_current, PEAK_CURRENT, result, TYPE_des_sysparam::speed_reg_gain_i, SPEED_REG_GAIN_I, TYPE_des_sysparam::speed_reg_gain_p, SPEED_REG_GAIN_P, TYPE_des_sysparam::sys_config, SYS_CONFIG, TYPE_DES_status_var::sys_op_status, c_timer::tic(), and c_timer::toc().

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int InitDES_communication	(	char *	com_device,
		int *	port,
		int	baud,
		TYPE_executionflags *	flg
	)

References bzero, TYPE_executionflags::dummy, result, and ret.

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

References calc_crc_16(), TYPE_msg_frame::crc, TYPE_msg_frame::data, i, n, TYPE_msg_frame::OpCode, result, TYPE_msg_frame::size, tmp, and write_msg_inbuf().

Referenced by DES_MF_read_velocity_is_must(), DES_SPF_read_all_temp_param(), DES_SPF_read_temp_param(), DES_ST_read_error(), and DES_ST_read_sys_status().

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

References check_msg_aceptance(), TYPE_msg_frame::crc, TYPE_msg_frame::data, err, result, TYPE_msg_frame::size, tmp, WAIT, and write_msg_inbuf().

Referenced by send_msg_frame().

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

References calc_crc_16(), TYPE_msg_frame::OpCode, result, send_data(), and send_OpCode().

Referenced by DES_MF_read_velocity_is_must(), DES_SF_set_current(), DES_SF_set_velocity(), DES_SF_stop_motion(), DES_SPF_read_all_temp_param(), DES_SPF_read_temp_param(), DES_SPF_set_temp_param(), DES_ST_clear_errors(), DES_ST_enable(), DES_ST_read_error(), DES_ST_read_sys_status(), and DES_ST_reset().

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

References check_msg_aceptance(), err, result, tmp, WAIT, and write_msg_inbuf().

Referenced by send_msg_frame().

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int stopDES	(	const int	port,
		char	flg
	)

References DES_SF_set_velocity(), DES_SF_stop_motion(), DES_ST_enable(), DES_ST_read_sys_status(), result, TYPE_DES_status_var::sys_op_status, and c_timer::tic().

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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

References n, and result.

Referenced by read_buffer(), send_data(), and send_OpCode().

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