search

marcoaccame / test

just a test repo
0 stars 0 forks source link

other #2

Open marcoaccame opened 3 years ago

marcoaccame commented 3 years ago

this is just renamed. remove .renamed.zip and use it for the mc4plus mc4plus.hex.renamed.zip

marcoaccame commented 3 years ago

xwcwe mc4plus.hex.zip

marcoaccame commented 3 years ago 
0                             1                             2                             3
0  1  2  3  4  5  6  7  8  9  0  1  2  3  4  5  6  7  8  9  0  1  2  3  4  5  6  7  8  9  0  1
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
| CLS    | SRC       | DST / TYP |

CAN ID

0                             1                            
0  1  2  3  4  5  6  7  8  9  0  1  2  3  4  5  6
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
| unused       | CLS    | SRC       | DST / TYP |

CAN ID (11 bits right aligned)

B1                      B0                            
7  6  5  4  3  2  1  0  7  6  5  4  3  2  1  0
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
| unused       | CLS    | SRC       | DST / TYP |
+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+--+
marcoaccame commented 3 years ago 
CAN ID (11 bits right aligned)

B0                      B1                            
7   6   5   4   3   2   1   0   7   6   5   4   3   2   1   0
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
| unused            | CLS       | DST           | DST / TYP     |
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
marcoaccame commented 3 years ago 
MOTOR_POLLING

B0                      B1                            
7   6   5   4   3   2   1   0   7   6   5   4   3   2   1   0
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
| M | CMD                       |  INFO0                        |
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+

B2                      B3                            
7   6   5   4   3   2   1   0   7   6   5   4   3   2   1   0
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
| INFO1                         |  INFO2                        |
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+

B4                      B5                            
7   6   5   4   3   2   1   0   7   6   5   4   3   2   1   0
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
| INFO3                         |  INFO4                        |
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+

B6                      B7                            
7   6   5   4   3   2   1   0   7   6   5   4   3   2   1   0
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
| INFO5                         |  INFO6                        |
+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+
marcoaccame commented 3 years ago 
CAN ID11                                               

+---+---+---+---+---+---+---+---+---+---+---+
|3b CLS     |4b DST         |4b DST / TYP   |
+---+---+---+---+---+---+---+---+---+---+---+
marcoaccame commented 3 years ago

w/ unicode

design
├───control 
├───messaging 
├───supervisor 
└───__system

├ ௰

_
⎢
¯____
⑧⑳⑻ ⒃
⎵xsx
⎣
└
⎿┬╍╰
⏐

⎣

 _

marcoaccame commented 3 years ago 

+----+----+
├    A    |
+----+----+
marcoaccame commented 3 years ago

The CAN protocol used for Motion Control

The CAN protocol used for Motion Control uses two classes of the iCub CAN protocol: the Motor Control Command class and the Motor Control Streaming class.

In here we describe the format of the messages used by the foc board which shall also be used for the used for the amcbldc board.

We start with explaining the generic structure of the iCub CAN frame and then we focus on the used messages.

[TOC]

Generic Structure of the iCub CAN frame

The structure of the generic iCub CAN frame is the following.

 CAN FRAME:

 +--------+     +-------------------------------------------+
 |  ID    |     | PAYLOAD                                   |
 +--------+     +-------------------------------------------+
   11 bits        L = [1, 8] bytes

Figure. The CAN frame is formed by an ID which is 11 bits plus a PAYLOAD which can be L bytes long, where L varies from 1 to 8.

The ID

The ID contains three fields used to extract the information transported by the PAYLOAD.

Here are details of the ID.

ID:

+---+---+---+---+---+---+---+---+---+---+---+        
| CLS       |  SRC          | DST / TYP     |
+---+---+---+---+---+---+---+---+---+---+---+     
  3 bits      4 bits          4 bits

Figure. The ID contains three fields: the CLS tells about which type of messages, the SRC is the address of the sender, the third field can one of two depending on values of CLS: either the destination address DST or the a further sub-type TYP of the message inside the payload.

Value of CLS Description Third field of ID
0b000 Motor Control Command DST
0b001 Motor Control Streaming TYP
0b010 Analog Sensors Command DST
0b100 Skin Sensor Streaming TYP
0b101 Inertial Sensor Streaming TYP
0b110 For Future Use TYP
0b111 Management / Bootloader DST

Table. The possible values for CLS.

The values of ID.TYP depend on the class CLS. We shall show these values later.

The PAYLOAD

The PAYLOAD can have two formats depending if the class CLS has a DST or a TYP.

PAYLOAD:

+---+---+---+---+---+---+---+---+---+---+---+ - - - - +---+        
| CMD                           | ARG                     |
+---+---+---+---+---+---+---+---+---+---+---+ - - - - +---+     
  1 byte                           0 / 7 bytes

Figure. Format of thePAYLOAD for the case of ID w/ a DST field. This is the case of a command message which has a command field CMD plus possible arguments inside ARG. There is a different CMD for each class CLS. 

PAYLOAD:

+---+---+---+---+---+---+---+---+---+---+---+ - - - - +---+        
| DATA                                                    |
+---+---+---+---+---+---+---+---+---+---+---+ - - - - +---+     
  1 / 8 bytes

Figure. Format of thePAYLOAD for the case of ID w/ a TYP field. This is the case of a streaming message which uses the full PAYLOAD to carry DATA of the type and formatting specified by the pair {ID.CLS, ID.TYP}.

Motor Control messages used for the amcbldc board

They are a subset of the complete set of messages. Here they are.

Messages in the Motor Control Command class MCC

In this class the PAYLOAD.CMD field reserves one bit to specify if the command is about motor 0 or motor 1. The other 7 bits specify up to 128 possible commands specified by an operational code.

 PAYLOAD.CMD for Motor Control Command Class:

 1 bit
 |
+---+---+---+---+---+---+---+---+      
| M | OPC                       | 
+---+---+---+---+---+---+---+---+    
      |
      7 bits

Figure. The PAYLOAD.CMD byte contains CMD.M which specifies to which motor to apply the operational code CMD.OPC.

The bytes inside PAYLOAD.ARG depend on the values of each operational code.

The Operational Code MCC::SET_CONTROL_MODE.

The length of the PAYLOAD.ARG = 1 (L = 2).

 PAYLOAD.ARG for MCC::SET_CONTROL_MODE:

+---+---+---+---+---+---+---+---+      
| MODE                          | 
+---+---+---+---+---+---+---+---+    
  1 byte

Figure. The PAYLOAD.ARG of MCC::SET_CONTROL_MODE contains only 1 byte with the desired control mode.

Value of MODE Tag Description
0x00 Idle
0x50 OpenLoop
0x0A SpeedVoltage
0x06 Current

Table. The possible values for MODE.