motor can

WS22 motor can library. More...

Classes
struct	Ws22MotorControlData
	Motor control command data structure. More...
struct	Ws22MotorTelemetryData
	Motor status and telemetry data structure. More...
struct	Ws22MotorCanConfig
struct	Ws22MotorCanStorage
	WS22 motor CAN interface storage structure. More...

Macros
#define	WS22_CAN_BASE_CONTROL   0x500U
#define	WS22_CAN_BASE_STATUS   0x80U
#define	VEHICLE_RPM_TO_KPH   0.10367f
#define	WS22_CAN_ID_DRIVE_CMD   (WS22_CAN_BASE_CONTROL + 0x01U)
#define	WS22_CAN_ID_STATUS_INFO   (WS22_CAN_BASE_STATUS + 0x01U)
#define	WS22_CAN_ID_BUS_MEASUREMENT   (WS22_CAN_BASE_STATUS + 0x02U)
#define	WS22_CAN_ID_VELOCITY_MEASUREMENT   (WS22_CAN_BASE_STATUS + 0x03U)
#define	WS22_CAN_ID_PHASE_CURRENT   (WS22_CAN_BASE_STATUS + 0x04U)
#define	WS22_CAN_ID_MOTOR_VOLTAGE   (WS22_CAN_BASE_STATUS + 0x05U)
#define	WS22_CAN_ID_MOTOR_CURRENT   (WS22_CAN_BASE_STATUS + 0x06U)
#define	WS22_CAN_ID_MOTOR_BACK_EMF   (WS22_CAN_BASE_STATUS + 0x07U)
#define	WS22_CAN_ID_RAIL_15V   (WS22_CAN_BASE_STATUS + 0x08U)
#define	WS22_CAN_ID_TEMPERATURE   (WS22_CAN_BASE_STATUS + 0x0BU)

Typedefs
typedef struct Ws22MotorCanStorage	Ws22MotorCanStorage
	WS22 motor CAN interface storage structure.

Functions
StatusCode	ws22_motor_can_init (Ws22MotorCanStorage *storage, Ws22MotorCanConfig *config)
	Initialize the WS22 motor CAN interface. More...
StatusCode	ws22_motor_can_set_current (float current)
	Set motor control current command. More...
StatusCode	ws22_motor_can_set_velocity (float velocity)
	Set motor control velocity command. More...
StatusCode	ws22_motor_can_process_rx (uint8_t *msg_data_u8, uint32_t msg_id_raw, uint8_t msg_dlc)
	Process received CAN message for motor controller. More...
Ws22MotorControlData *	ws22_motor_can_get_control_data (void)
	Get current motor control data. More...
Ws22MotorTelemetryData *	ws22_motor_can_get_telemetry_data (void)
	Get current motor telemetry data. More...

Detailed Description

WS22 motor can library.

Macro Definition Documentation

WS22_CAN_BASE_CONTROL

#define WS22_CAN_BASE_CONTROL   0x500U

Base address for control messages

WS22_CAN_BASE_STATUS

#define WS22_CAN_BASE_STATUS   0x80U

Base address for status messages

Function Documentation

ws22_motor_can_get_control_data()

Ws22MotorControlData * ws22_motor_can_get_control_data

(

void

)

Get current motor control data.

Returns

Pointer to motor control data (read-only)

ws22_motor_can_get_telemetry_data()

Ws22MotorTelemetryData * ws22_motor_can_get_telemetry_data

(

void

)

Get current motor telemetry data.

Returns

Pointer to motor telemetry data (read-only)

ws22_motor_can_init()

StatusCode ws22_motor_can_init	(	Ws22MotorCanStorage *	storage,
		Ws22MotorCanConfig *	config
	)

Initialize the WS22 motor CAN interface.

Parameters

storage

Pointer to Front controller storage structure

Returns

STATUS_CODE_OK on success, error code otherwise

ws22_motor_can_process_rx()

StatusCode ws22_motor_can_process_rx	(	uint8_t *	msg_data_u8,
		uint32_t	msg_id_raw,
		uint8_t	msg_dlc
	)

Process received CAN message for motor controller.

Parameters

msg	Pointer to received CAN message

Returns

STATUS_CODE_OK on success, STATUS_CODE_UNIMPLEMENTED for unknown message IDs

ws22_motor_can_set_current()

StatusCode ws22_motor_can_set_current

(

float

current

)

Set motor control current command.

Parameters

current

Motor current command (0.0 to 1.0)

Returns

STATUS_CODE_OK on success, STATUS_CODE_INVALID_ARGS if out of range

ws22_motor_can_set_velocity()

StatusCode ws22_motor_can_set_velocity

(

float

velocity

)

Set motor control velocity command.

Parameters

velocity

Motor velocity command (rpm)

Returns

STATUS_CODE_OK on success, STATUS_CODE_INVALID_ARGS if out of range