feat(proto): add EtherCAT CiA402 motor schema

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 alias = 2;
-  uint32 vendor_id = 3;
+  uint32 position = 3;
-  uint32 product_code = 4;
+}
+
+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;

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
+  uint32 index = 3;              // 对象字典索引
-  ObSubIndex sub_index = 4;          // 子索引
+  uint32 sub_index = 4;          // 子索引
   uint32 data = 5;                // 数据区
 }
 
@@ -110,81 +110,38 @@ enum NmtCommand {
 }
 
 
-// 索引
+// CANopen communication object dictionary indexes.
-enum ObIndex {
+// CiA402 drive-profile objects are defined in cia402.proto.
-  INDEX_ZERO = 0;
+enum CanopenObjectIndex {
-  USER_SAVE_PARA_2000 = 0x2000;         // 下发命令 1 保存参数
+  CANOPEN_OBJECT_INDEX_ZERO = 0;
-  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;
 
-  // Control and Status
+  CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 0x1017;
-  CONTROL_WORD_6040 = 0x6040;
-  STATUS_WORD_6041 = 0x6041;
 
-  // 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;
+  CANOPEN_RPDO1_COMM_1400 = 0x1400;
-  RPDO2_COMM_1401 = 0x1401;
+  CANOPEN_RPDO2_COMM_1401 = 0x1401;
-  RPDO3_COMM_1402 = 0x1402;
+  CANOPEN_RPDO3_COMM_1402 = 0x1402;
-  RPDO4_COMM_1403 = 0x1403;
+  CANOPEN_RPDO4_COMM_1403 = 0x1403;
 
-  TPDO1_COMM_1800 = 0x1800;
+  CANOPEN_TPDO1_COMM_1800 = 0x1800;
-  TPDO2_COMM_1801 = 0x1801;
+  CANOPEN_TPDO2_COMM_1801 = 0x1801;
-  TPDO3_COMM_1802 = 0x1802;
+  CANOPEN_TPDO3_COMM_1802 = 0x1802;
-  TPDO4_COMM_1803 = 0x1803;
+  CANOPEN_TPDO4_COMM_1803 = 0x1803;
 
   // PDO 映射对象（Mapping Object）
-  RPDO1_MAP_1600 = 0x1600;
+  CANOPEN_RPDO1_MAP_1600 = 0x1600;
-  RPDO2_MAP_1601 = 0x1601;
+  CANOPEN_RPDO2_MAP_1601 = 0x1601;
-  RPDO3_MAP_1602 = 0x1602;
+  CANOPEN_RPDO3_MAP_1602 = 0x1602;
-  RPDO4_MAP_1603 = 0x1603;
+  CANOPEN_RPDO4_MAP_1603 = 0x1603;
 
-  TPDO1_MAP_1A00 = 0x1A00;
+  CANOPEN_TPDO1_MAP_1A00 = 0x1A00;
-  TPDO2_MAP_1A01 = 0x1A01;
+  CANOPEN_TPDO2_MAP_1A01 = 0x1A01;
-  TPDO3_MAP_1A02 = 0x1A02;
+  CANOPEN_TPDO3_MAP_1A02 = 0x1A02;
-  TPDO4_MAP_1A03 = 0x1A03;
+  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;
 }
-
-

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;
+}

protos/cmvr/msgs/motor.proto

@@ -114,5 +114,3 @@ message MotorStatus {
   uint32  status_word = 44;
 
 }
-
-

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;