other

[marcoaccame]

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

[marcoaccame]

xwcwe
mc4plus.hex.zip

[marcoaccame]

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]

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]

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]

CAN ID11                                               

+---+---+---+---+---+---+---+---+---+---+---+
|3b CLS     |4b DST         |4b DST / TYP   |
+---+---+---+---+---+---+---+---+---+---+---+

[marcoaccame]

w/ unicode

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

├
௰

_
⎢
¯____
⑧⑳⑻ ⒃
⎵xsx
⎣
└
⎿┬╍╰
⏐


⎣


_

[marcoaccame]

+----+----+
├    A    |
+----+----+

[marcoaccame]

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.