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Add CSP support #32

Merged
merged 20 commits into from
Nov 5, 2020
Merged

Add CSP support #32

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e5c2a5f
CSP: WIP
anderssandstrom Oct 28, 2020
fc2bfe2
CSP: Add setPos to drv. disable controller in csp. WIP.
anderssandstrom Oct 28, 2020
11250e1
CSP: Correct typo in ecmcAxisReal
anderssandstrom Oct 28, 2020
f1a8f09
ecmcEntryLink: Add function to check if index is linked. DriveBase: I…
anderssandstrom Oct 28, 2020
5825d6a
Add possability to check slave number of linked entry.
anderssandstrom Oct 28, 2020
f678e9a
entryLink: Use checkEntryExist() instead of isEntryNull().
anderssandstrom Oct 29, 2020
1c3f274
CSP: WIP
anderssandstrom Oct 29, 2020
086d49a
CSP: Issue with start position. Works if start from 0 but not otherwi…
anderssandstrom Oct 29, 2020
6e23170
CSP: Add some debug printouts. WIP
anderssandstrom Oct 29, 2020
b1bb7e6
CSP: Add drv in seq. WIP
anderssandstrom Nov 3, 2020
bb6e738
CSP: refine printouts
anderssandstrom Nov 3, 2020
7db40f6
CSP: Remove printouts
anderssandstrom Nov 4, 2020
99204dc
Diag. Str: updated calc for position error and disatance to target (w…
anderssandstrom Nov 4, 2020
7d482b6
CSP: Add warning if CSP-mode and any ecmc position control params are…
anderssandstrom Nov 4, 2020
aca5408
DS402: Change timout to seconds instead of cycles. Default 15s.
anderssandstrom Nov 4, 2020
257d138
CSP: Sequencer set current pos.
anderssandstrom Nov 4, 2020
be677b5
Update RELEASE.md
anderssandstrom Nov 5, 2020
d38c4cb
CSP: Avoid jump at homing by setting the data_ struct actpos and traj…
anderssandstrom Nov 5, 2020
24092ae
Merge pull request #38 from anderssandstrom/csp
anderssandstrom Nov 5, 2020
9d75391
Merge pull request #39 from icshwi/csp
anderssandstrom Nov 5, 2020
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CSP: WIP
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@anderssandstrom
anderssandstrom committed Oct 28, 2020
commit e5c2a5f948669308acd803a5c5ad0fa36763f635
8 changes: 8 additions & 0 deletions devEcmcSup/com/ecmcAsynPortDriverUtils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -342,6 +342,14 @@ int getAxDriveFuncType(char *objPath,
*objectFunction = ECMC_DRIVEBASE_ENTRY_INDEX_REDUCE_TORQUE_OUTPUT;
return 0;
}

// Position
nvals = strcmp(objectFunctionStr,ECMC_DRV_POSITION_STR);

if (nvals == 0) {
*objectFunction = ECMC_DRIVEBASE_ENTRY_INDEX_POSITION_SETPOINT;
return 0;
}
}
}
return ERROR_MAIN_ECMC_COMMAND_FORMAT_ERROR;
Expand Down
7 changes: 7 additions & 0 deletions devEcmcSup/main/ecmcDefinitions.h
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Expand Up @@ -76,6 +76,7 @@
#define ECMC_DRIVEBASE_ENTRY_INDEX_STATUS_WORD 2
#define ECMC_DRIVEBASE_ENTRY_INDEX_BRAKE_OUTPUT 3
#define ECMC_DRIVEBASE_ENTRY_INDEX_REDUCE_TORQUE_OUTPUT 4
#define ECMC_DRIVEBASE_ENTRY_INDEX_POSITION_SETPOINT 5

// Encoder drive entries
#define ECMC_ENCODER_ENTRY_INDEX_ACTUAL_POSITION 0
Expand Down Expand Up @@ -243,6 +244,11 @@ enum stopMode {
ECMC_STOP_MODE_RUN = 2,
};

enum driveMode {
ECMC_DRV_MODE_CSV = 0,
ECMC_DRV_MODE_CSP = 1,
};

enum interlockTypes {
ECMC_INTERLOCK_NONE = 0,
ECMC_INTERLOCK_SOFT_BWD = 1,
Expand Down Expand Up @@ -356,6 +362,7 @@ enum axisSubObjectType {
#define ECMC_DRV_STR "drv"
#define ECMC_DRV_ENABLE_STR "control"
#define ECMC_DRV_VELOCITY_STR "velocity"
#define ECMC_DRV_POSITION_STR "position"
#define ECMC_DRV_ENABLED_STR "status"
#define ECMC_DRV_BREAK_STR "brake"
#define ECMC_DRV_REDUCETORQUE_STR "reducetorque"
Expand Down
6 changes: 4 additions & 2 deletions devEcmcSup/motion/ecmcAxisData.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,8 @@ typedef struct {
bool enableSoftLimitFwd : 1;
dataSource trajSource;
dataSource encSource;
operationMode operationModeCmd;
operationMode operationModeCmd;
driveMode drvMode;
} ecmcAxisDataCommand;

typedef struct {
Expand All @@ -49,7 +50,8 @@ typedef struct {
double currentPositionSetpointOld;
double currentVelocityActual;
double currentVelocitySetpoint;
int currentVelocitySetpointRaw;
int64_t currentVelocitySetpointRaw;
int64_t currentPositionSetpointRaw;
double currentvelocityFFRaw;
double cntrlError;
double cntrlOutput;
Expand Down
38 changes: 31 additions & 7 deletions devEcmcSup/motion/ecmcDriveBase.cpp
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Expand Up @@ -185,12 +185,24 @@ void ecmcDriveBase::writeEntries() {
setErrorID(__FILE__, __FUNCTION__, __LINE__, errorCode);
}

errorCode =
writeEcEntryValue(ECMC_DRIVEBASE_ENTRY_INDEX_VELOCITY_SETPOINT,
if(data_->command_.drvMode == ECMC_DRV_MODE_CSV) {
errorCode =
writeEcEntryValue(ECMC_DRIVEBASE_ENTRY_INDEX_VELOCITY_SETPOINT,
(uint64_t)data_->status_.currentVelocitySetpointRaw);

if (errorCode) {
setErrorID(__FILE__, __FUNCTION__, __LINE__, errorCode);
if (errorCode) {
setErrorID(__FILE__, __FUNCTION__, __LINE__, errorCode);
}
}
else {
// CSP
errorCode =
writeEcEntryValue(ECMC_DRIVEBASE_ENTRY_INDEX_POSITION_SETPOINT,
(uint64_t)data_->status_.currentPositionSetpointRaw);

if (errorCode) {
setErrorID(__FILE__, __FUNCTION__, __LINE__, errorCode);
}
}

if (enableBrake_) {
Expand Down Expand Up @@ -260,10 +272,21 @@ int ecmcDriveBase::validate() {

// Velocity Setpoint entry output
errorCode = validateEntry(ECMC_DRIVEBASE_ENTRY_INDEX_VELOCITY_SETPOINT);
if (errorCode) {
return setErrorID(__FILE__, __FUNCTION__, __LINE__, errorCode);
if (errorCode) {
// Position Setpoint entry output
errorCode = validateEntry(ECMC_DRIVEBASE_ENTRY_INDEX_POSITION_SETPOINT);
if (errorCode) {
return setErrorID(__FILE__, __FUNCTION__, __LINE__, errorCode);
}
else {
return setErrorID(__FILE__, __FUNCTION__, __LINE__, errorCode);
}
data_->command_.drvMode = ECMC_DRV_MODE_CSP;
}
else {
data_->command_.drvMode = ECMC_DRV_MODE_CSV;
}

// Enabled entry input OR statusword
errorCode = validateEntry(ECMC_DRIVEBASE_ENTRY_INDEX_STATUS_WORD);

Expand All @@ -289,6 +312,7 @@ int ecmcDriveBase::validate() {
}
}


if (scaleDenom_ == 0) {
return setErrorID(__FILE__,
__FUNCTION__,
Expand Down