diff --git a/protos/cmvr/config/motor_config/motor_config.proto b/protos/cmvr/config/motor_config/motor_config.proto index e6d88215..920e6325 100644 --- a/protos/cmvr/config/motor_config/motor_config.proto +++ b/protos/cmvr/config/motor_config/motor_config.proto @@ -10,6 +10,8 @@ message MotorConfigItem { double limit_q_ub = 4; double limit_qd = 5; double limit_qdd = 6; + double encoder_counts_per_rev = 7; + double gear_ratio = 8; } message MotorList { @@ -18,9 +20,16 @@ message MotorList { message EthercatSlaveConfig { int32 motor_id = 1; - int32 slave_index = 2; - uint32 vendor_id = 3; - uint32 product_code = 4; + uint32 alias = 2; + uint32 position = 3; +} + +message Cia402ProtocolConfig { + uint32 profile_position_trigger_delay_ms = 1; + uint32 state_transition_timeout_ms = 2; + uint32 velocity_stop_timeout_ms = 3; + uint32 status_poll_period_ms = 4; + double stopped_velocity_tolerance_rad_s = 5; } message SocketCanConfig { @@ -29,8 +38,9 @@ message SocketCanConfig { } message EtherCATConfig { - string master_id = 1; + uint32 master_index = 1; int32 cycle_us = 2; + Cia402ProtocolConfig cia402 = 3; repeated EthercatSlaveConfig slaves = 10; } @@ -49,6 +59,7 @@ enum MotorVendor { MOTOR_VENDOR_UNKNOWN = 0; MOTOR_VENDOR_TI5 = 1; MOTOR_VENDOR_MUJOCO = 2; + MOTOR_VENDOR_EYOU = 3; } enum MotorProtocol { @@ -63,7 +74,6 @@ message MotorGroupConfig { MotorBusType bus_type = 2; MotorVendor vendor = 3; MotorProtocol protocol = 4; - string tool_frame = 5; oneof bus_config { SocketCanConfig can = 10; diff --git a/protos/cmvr/msgs/canopen.proto b/protos/cmvr/msgs/canopen.proto index 23914e79..14ab3279 100644 --- a/protos/cmvr/msgs/canopen.proto +++ b/protos/cmvr/msgs/canopen.proto @@ -5,8 +5,8 @@ package cmvr.msgs; message SdoFrame { uint32 node_id = 1; // 节点ID CommandSpecifier cs = 2; // SDO命令字 - ObIndex index = 3; // 对象字典索引 - ObSubIndex sub_index = 4; // 子索引 + uint32 index = 3; // 对象字典索引 + uint32 sub_index = 4; // 子索引 uint32 data = 5; // 数据区 } @@ -110,81 +110,38 @@ enum NmtCommand { } -// 索引 -enum ObIndex { - INDEX_ZERO = 0; - USER_SAVE_PARA_2000 = 0x2000; // 下发命令 1 保存参数 - POSITION_OFFSET_2008 = 0x2008; // 位置偏移，子索引 0x00，用于设置零点、起始位置 - // Error Codes - ERROR_CODE_6007 = 0x6007; - ERROR_CODE_603F = 0x603F; +// CANopen communication object dictionary indexes. +// CiA402 drive-profile objects are defined in cia402.proto. +enum CanopenObjectIndex { + CANOPEN_OBJECT_INDEX_ZERO = 0; - // Control and Status - CONTROL_WORD_6040 = 0x6040; - STATUS_WORD_6041 = 0x6041; + CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 0x1017; - // Operation Modes - OPERATION_MODE_6060 = 0x6060; - MODE_DISPLAY_6061 = 0x6061; - - // Actual Values - ACTUAL_POSITION_6064 = 0x6064; - ACTUAL_SPEED_606C = 0x606C; - ACTUAL_CURRENT_6078 = 0x6078; - - // Torque-related - TARGET_TORQUE_6071 = 0x6071; - MAX_TORQUE_6072 = 0x6072; - DEMAND_TORQUE_6074 = 0x6074; - - // Position-related - TARGET_POSITION_607A = 0x607A; - SOFTWARE_POSITION_LIMIT_607D = 0x607D; // Sub-indexes: 1, 2 - - // Speed-related - MAX_SPEED_607F = 0x607F; - PROFILE_SPEED_6081 = 0x6081; - PROFILE_ACCELERATION_6083 = 0x6083; - PROFILE_DECELERATION_6084 = 0x6084; - - // Same as DEMAND_TORQUE? Verify correctness. - // TORQUE_SLOPE_6074 = 0x6074; - - // PID Control - CURRENT_LOOP_PID_60F6 = 0x60F6; // Sub-indexes: 1, 2 - SPEED_LOOP_PID_60F9 = 0x60F9; // Sub-indexes: 1, 2 - POSITION_LOOP_PID_60FB = 0x60FB; // Sub-indexes: 1, 2, 3 - - // Target Speed - TARGET_SPEED_60FF = 0x60FF; - - QUICK_STOP_OPTION_605A = 0x605A; - QUICK_STOP_DECEL_6085 = 0x6085; - - // ------------------------- // PDO 通信参数对象（Communication Object） - RPDO1_COMM_1400 = 0x1400; - RPDO2_COMM_1401 = 0x1401; - RPDO3_COMM_1402 = 0x1402; - RPDO4_COMM_1403 = 0x1403; + CANOPEN_RPDO1_COMM_1400 = 0x1400; + CANOPEN_RPDO2_COMM_1401 = 0x1401; + CANOPEN_RPDO3_COMM_1402 = 0x1402; + CANOPEN_RPDO4_COMM_1403 = 0x1403; - TPDO1_COMM_1800 = 0x1800; - TPDO2_COMM_1801 = 0x1801; - TPDO3_COMM_1802 = 0x1802; - TPDO4_COMM_1803 = 0x1803; + CANOPEN_TPDO1_COMM_1800 = 0x1800; + CANOPEN_TPDO2_COMM_1801 = 0x1801; + CANOPEN_TPDO3_COMM_1802 = 0x1802; + CANOPEN_TPDO4_COMM_1803 = 0x1803; // PDO 映射对象（Mapping Object） - RPDO1_MAP_1600 = 0x1600; - RPDO2_MAP_1601 = 0x1601; - RPDO3_MAP_1602 = 0x1602; - RPDO4_MAP_1603 = 0x1603; + CANOPEN_RPDO1_MAP_1600 = 0x1600; + CANOPEN_RPDO2_MAP_1601 = 0x1601; + CANOPEN_RPDO3_MAP_1602 = 0x1602; + CANOPEN_RPDO4_MAP_1603 = 0x1603; - TPDO1_MAP_1A00 = 0x1A00; - TPDO2_MAP_1A01 = 0x1A01; - TPDO3_MAP_1A02 = 0x1A02; - TPDO4_MAP_1A03 = 0x1A03; + CANOPEN_TPDO1_MAP_1A00 = 0x1A00; + CANOPEN_TPDO2_MAP_1A01 = 0x1A01; + CANOPEN_TPDO3_MAP_1A02 = 0x1A02; + CANOPEN_TPDO4_MAP_1A03 = 0x1A03; - PRODUCER_HEARTBEAT_TIME = 0x1017; + // Ti5 vendor-specific objects used through CANopen SDO. + CANOPEN_USER_SAVE_PARA_2000 = 0x2000; + CANOPEN_POSITION_OFFSET_2008 = 0x2008; } // 子索引 @@ -198,5 +155,3 @@ enum ObSubIndex { SUB_INDEX_6 = 6; SUB_INDEX_7 = 7; } - - diff --git a/protos/cmvr/msgs/cia402.proto b/protos/cmvr/msgs/cia402.proto new file mode 100644 index 00000000..96e46c74 --- /dev/null +++ b/protos/cmvr/msgs/cia402.proto @@ -0,0 +1,64 @@ +syntax = "proto3"; + +package cmvr.msgs; + +// CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives. +enum Cia402ObjectIndex { + CIA402_OBJECT_INDEX_ZERO = 0; + + CIA402_ERROR_CODE_603F = 0x603F; + + CIA402_CONTROL_WORD_6040 = 0x6040; + CIA402_STATUS_WORD_6041 = 0x6041; + + CIA402_QUICK_STOP_OPTION_605A = 0x605A; + CIA402_SHUTDOWN_OPTION_605B = 0x605B; + CIA402_DISABLE_OPERATION_OPTION_605C = 0x605C; + CIA402_HALT_OPTION_605D = 0x605D; + CIA402_FAULT_REACTION_OPTION_605E = 0x605E; + + CIA402_OPERATION_MODE_6060 = 0x6060; + CIA402_MODE_DISPLAY_6061 = 0x6061; + + CIA402_POSITION_DEMAND_VALUE_6062 = 0x6062; + CIA402_ACTUAL_POSITION_6064 = 0x6064; + CIA402_MAX_FOLLOWING_ERROR_6065 = 0x6065; + CIA402_POSITION_WINDOW_6067 = 0x6067; + CIA402_POSITION_WINDOW_TIME_6068 = 0x6068; + + CIA402_VELOCITY_DEMAND_VALUE_606B = 0x606B; + CIA402_ACTUAL_VELOCITY_606C = 0x606C; + CIA402_VELOCITY_WINDOW_606D = 0x606D; + CIA402_VELOCITY_WINDOW_TIME_606E = 0x606E; + CIA402_VELOCITY_THRESHOLD_606F = 0x606F; + CIA402_VELOCITY_THRESHOLD_TIME_6070 = 0x6070; + + CIA402_TARGET_TORQUE_6071 = 0x6071; + CIA402_MAX_TORQUE_6072 = 0x6072; + CIA402_TORQUE_DEMAND_VALUE_6074 = 0x6074; + CIA402_MOTOR_RATED_TORQUE_6076 = 0x6076; + CIA402_ACTUAL_TORQUE_6077 = 0x6077; + CIA402_ACTUAL_CURRENT_6078 = 0x6078; + CIA402_DC_LINK_VOLTAGE_6079 = 0x6079; + + CIA402_TARGET_POSITION_607A = 0x607A; + CIA402_HOME_OFFSET_607C = 0x607C; + CIA402_SOFTWARE_POSITION_LIMIT_607D = 0x607D; + CIA402_MAX_PROFILE_VELOCITY_607F = 0x607F; + + CIA402_PROFILE_VELOCITY_6081 = 0x6081; + CIA402_PROFILE_ACCELERATION_6083 = 0x6083; + CIA402_PROFILE_DECELERATION_6084 = 0x6084; + CIA402_QUICK_STOP_DECELERATION_6085 = 0x6085; + CIA402_TORQUE_SLOPE_6087 = 0x6087; + + CIA402_GEAR_RATIO_6091 = 0x6091; + CIA402_VELOCITY_OFFSET_60B1 = 0x60B1; + CIA402_TORQUE_OFFSET_60B2 = 0x60B2; + CIA402_INTERPOLATION_DATA_RECORD_60C1 = 0x60C1; + CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 0x60C2; + CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 0x60F4; + CIA402_TARGET_VELOCITY_60FF = 0x60FF; + + CIA402_SUPPORTED_DRIVE_MODES_6502 = 0x6502; +} diff --git a/protos/cmvr/msgs/motor.proto b/protos/cmvr/msgs/motor.proto index a0336dea..55cda865 100644 --- a/protos/cmvr/msgs/motor.proto +++ b/protos/cmvr/msgs/motor.proto @@ -114,5 +114,3 @@ message MotorStatus { uint32 status_word = 44; } - - diff --git a/protos/cmvr/msgs/robot_detail.proto b/protos/cmvr/msgs/robot_detail.proto index 19a6595b..375fdfee 100644 --- a/protos/cmvr/msgs/robot_detail.proto +++ b/protos/cmvr/msgs/robot_detail.proto @@ -1,6 +1,5 @@ syntax = "proto3"; -import "cmvr/msgs/canopen.proto"; import "cmvr/msgs/motor.proto"; package cmvr.msgs;