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Add Stop Decel and Quick Stop Decel parameters to Elmo Platinum Drive #83

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Add Stop Decel and Quick Stop Decel parameters to Elmo Platinum Drive #83

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af8969e
added stop_decel and quick_stop_decel params to epd config
richardw347 Jun 6, 2023
af54400
updated two letter command lookup table
richardw347 Jun 6, 2023
7bcda4c
updated and tested all test cases except epd_network_test
richardw347 Jun 6, 2023
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15 changes: 15 additions & 0 deletions src/jsd_epd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@ static const jsd_epd_lc_pair_t jsd_epd_lc_lookup_table[] = {
{"MC", 0x31BC},
{"PL", 0x3231},
{"PX", 0x323D},
{"QS", 0x325C},
{"SD", 0x3295},
{"SF", 0x3297},
{"UM", 0x32E6},
};
Expand Down Expand Up @@ -626,6 +628,19 @@ int jsd_epd_config_LC_params(ecx_contextt* ecx_context, uint16_t slave_id,
return 0;
}

if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, jsd_epd_lc_to_do("QS"),
1, JSD_SDO_DATA_DOUBLE,
&config->epd.quick_stop_decel)) {
return 0;
}

if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, jsd_epd_lc_to_do("SD"),
1, JSD_SDO_DATA_DOUBLE,
&config->epd.stop_decel)) {
return 0;
}


if (!jsd_sdo_set_param_blocking(ecx_context, slave_id, jsd_epd_lc_to_do("ER"),
2, JSD_SDO_DATA_DOUBLE,
&config->epd.velocity_tracking_error)) {
Expand Down
5 changes: 4 additions & 1 deletion src/jsd_epd_types.h
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Expand Up @@ -122,6 +122,8 @@ typedef struct {
// RxPDO.
double max_profile_accel; ///< P_AC[1]. Ignored by CS mode.
double max_profile_decel; ///< P_DC[1]. Ignored by CS mode.
double quick_stop_decel; /// used when quick stop command sent
double stop_decel; /// used for emergency stops and limit switches
double velocity_tracking_error; ///< P_ER[2] cnts/s
double position_tracking_error; ///< P_ER[3] cnts
float peak_current_limit; ///< P_PL[1] A
Expand All @@ -139,6 +141,7 @@ typedef struct {
int16_t brake_engage_msec; ///< BP[1] ms, [0, 1000]
int16_t brake_disengage_msec; ///< BP[2] ms, [0, 1000]


// Verification parameters
uint32_t crc; ///< CZ[1], changes whenever drive parameters change
// TODO(dloret): Consider whether it is worth to have a parameter that
Expand Down Expand Up @@ -312,4 +315,4 @@ typedef struct {
}
#endif

#endif
#endif
4 changes: 3 additions & 1 deletion test/device/jsd_epd_csp_sine_test.c
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Expand Up @@ -211,6 +211,8 @@ int main(int argc, char* argv[]) {
config.epd.torque_slope = 1e7;
config.epd.max_profile_accel = 1e6;
config.epd.max_profile_decel = 1e7;
config.epd.quick_stop_decel = 1e7;
config.epd.stop_decel = 1e7;
config.epd.velocity_tracking_error = 1e8;
config.epd.position_tracking_error = 1e9;
config.epd.peak_current_limit = peak_current;
Expand Down Expand Up @@ -239,4 +241,4 @@ int main(int argc, char* argv[]) {
sds_run(&sds, ifname, "/tmp/jsd_epd_csp_sine_test.csv");

return 0;
}
}
4 changes: 3 additions & 1 deletion test/device/jsd_epd_cst_test.c
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Expand Up @@ -200,6 +200,8 @@ int main(int argc, char* argv[]) {
config.epd.torque_slope = 1e7;
config.epd.max_profile_accel = 1e6;
config.epd.max_profile_decel = 1e7;
config.epd.quick_stop_decel = 1e7;
config.epd.stop_decel = 1e7;
config.epd.velocity_tracking_error = 1e8;
config.epd.position_tracking_error = 1e9;
config.epd.peak_current_limit = peak_current;
Expand Down Expand Up @@ -228,4 +230,4 @@ int main(int argc, char* argv[]) {
sds_run(&sds, ifname, "/tmp/jsd_epd_cst_test.csv");

return 0;
}
}
4 changes: 3 additions & 1 deletion test/device/jsd_epd_csv_sine_test.c
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Expand Up @@ -202,6 +202,8 @@ int main(int argc, char* argv[]) {
config.epd.torque_slope = 1e7;
config.epd.max_profile_accel = 1e6;
config.epd.max_profile_decel = 1e7;
config.epd.quick_stop_decel = 1e7;
config.epd.stop_decel = 1e7;
config.epd.velocity_tracking_error = 1e8;
config.epd.position_tracking_error = 1e9;
config.epd.peak_current_limit = peak_current;
Expand Down Expand Up @@ -230,4 +232,4 @@ int main(int argc, char* argv[]) {
sds_run(&sds, ifname, "/tmp/jsd_epd_csv_sine_test.csv");

return 0;
}
}
4 changes: 3 additions & 1 deletion test/device/jsd_epd_network_test.c
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Original file line number Diff line number Diff line change
Expand Up @@ -281,6 +281,8 @@ int main(int argc, char* argv[]) {
epd_config.epd.torque_slope = 1e7;
epd_config.epd.max_profile_accel = 1e6;
epd_config.epd.max_profile_decel = 1e7;
epd_config.epd.quick_stop_decel = 1e7;
epd_config.epd.stop_decel = 1e7;
epd_config.epd.velocity_tracking_error = 1e8;
epd_config.epd.position_tracking_error = 1e9;
epd_config.epd.peak_current_limit = peak_current;
Expand Down Expand Up @@ -329,4 +331,4 @@ int main(int argc, char* argv[]) {
sds_run(&sds, ifname, "/tmp/jsd_epd_network_test.csv");

return 0;
}
}
4 changes: 3 additions & 1 deletion test/device/jsd_epd_prof_pos_test.c
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Expand Up @@ -264,6 +264,8 @@ int main(int argc, char* argv[]) {
config.epd.torque_slope = 1e7;
config.epd.max_profile_accel = 1e6;
config.epd.max_profile_decel = 1e7;
config.epd.quick_stop_decel = 1e7;
config.epd.stop_decel = 1e7;
config.epd.velocity_tracking_error = 1e8;
config.epd.position_tracking_error = 1e9;
config.epd.peak_current_limit = peak_current;
Expand Down Expand Up @@ -292,4 +294,4 @@ int main(int argc, char* argv[]) {
sds_run(&sds, ifname, "/tmp/jsd_epd_prof_pos_test.csv");

return 0;
}
}
4 changes: 3 additions & 1 deletion test/device/jsd_epd_prof_torque_test.c
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Original file line number Diff line number Diff line change
Expand Up @@ -197,6 +197,8 @@ int main(int argc, char* argv[]) {
config.epd.torque_slope = 1e7;
config.epd.max_profile_accel = 1e6;
config.epd.max_profile_decel = 1e7;
config.epd.quick_stop_decel = 1e7;
config.epd.stop_decel = 1e7;
config.epd.velocity_tracking_error = 1e8;
config.epd.position_tracking_error = 1e9;
config.epd.peak_current_limit = peak_current;
Expand Down Expand Up @@ -225,4 +227,4 @@ int main(int argc, char* argv[]) {
sds_run(&sds, ifname, "/tmp/jsd_epd_prof_torque_test.csv");

return 0;
}
}
4 changes: 3 additions & 1 deletion test/device/jsd_epd_prof_vel_test.c
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Expand Up @@ -213,6 +213,8 @@ int main(int argc, char* argv[]) {
config.epd.torque_slope = 1e7;
config.epd.max_profile_accel = 1e6;
config.epd.max_profile_decel = 1e7;
config.epd.quick_stop_decel = 1e7;
config.epd.stop_decel = 1e7;
config.epd.velocity_tracking_error = 1e8;
config.epd.position_tracking_error = 1e9;
config.epd.peak_current_limit = peak_current;
Expand Down Expand Up @@ -241,4 +243,4 @@ int main(int argc, char* argv[]) {
sds_run(&sds, ifname, "/tmp/jsd_epd_prof_vel_test.csv");

return 0;
}
}