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Can dbc updates #741

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6d031e3
Update DBC creation script for can.signal Conversion
Feb 10, 2024
55384d0
New generated DBC file from DBC script update
Feb 10, 2024
2a80ad0
Update can_dbc_example to work with latest cantools
Feb 10, 2024
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61 changes: 43 additions & 18 deletions tools/can_dbc_example.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -9,12 +9,12 @@
# bus = can.Bus("vcan0", bustype="virtual")
bus = can.Bus("can0", bustype="socketcan")
axisID = 0x1

axis="Axis1"
print("\nRequesting AXIS_STATE_FULL_CALIBRATION_SEQUENCE (0x03) on axisID: " + str(axisID))
msg = db.get_message_by_name('Set_Axis_State')
msg = db.get_message_by_name(f'{axis}_Set_Axis_State')
data = msg.encode({'Axis_Requested_State': 0x03})
msg = can.Message(arbitration_id=msg.frame_id | axisID << 5, is_extended_id=False, data=data)
print(db.decode_message('Set_Axis_State', msg.data))
print(db.decode_message(f'{axis}_Set_Axis_State', msg.data))
print(msg)

try:
Expand All @@ -27,23 +27,24 @@
# Read messages infinitely and wait for the right ID to show up
while True:
msg = bus.recv()
if msg.arbitration_id == ((axisID << 5) | db.get_message_by_name('Heartbeat').frame_id):
current_state = db.decode_message('Heartbeat', msg.data)['Axis_State']
if current_state == 0x1:
if msg.arbitration_id == ((axisID << 5) | db.get_message_by_name(f'{axis}_Heartbeat').frame_id):
current_state = db.decode_message(f'{axis}_Heartbeat', msg.data)['Axis_State']
if current_state == 'IDLE':
print("\nAxis has returned to Idle state.")
break

for msg in bus:
if msg.arbitration_id == ((axisID << 5) | db.get_message_by_name('Heartbeat').frame_id):
errorCode = db.decode_message('Heartbeat', msg.data)['Axis_Error']
if errorCode == 0x00:
if msg.arbitration_id == ((axisID << 5) | db.get_message_by_name(f'{axis}_Heartbeat').frame_id):
errorCode = db.decode_message(f'{axis}_Heartbeat', msg.data)['Axis_Error']
print(errorCode)
if errorCode == 'NONE':
print("No errors")
else:
print("Axis error! Error code: "+str(hex(errorCode)))
break

print("\nPutting axis",axisID,"into AXIS_STATE_CLOSED_LOOP_CONTROL (0x08)...")
data = db.encode_message('Set_Axis_State', {'Axis_Requested_State': 0x08})
data = db.encode_message(f'{axis}_Set_Axis_State', {'Axis_Requested_State': 0x08})
msg = can.Message(arbitration_id=0x07 | axisID << 5, is_extended_id=False, data=data)
print(msg)

Expand All @@ -56,7 +57,7 @@
for msg in bus:
if msg.arbitration_id == 0x01 | axisID << 5:
print("\nReceived Axis heartbeat message:")
msg = db.decode_message('Heartbeat', msg.data)
msg = db.decode_message(f'{axis}_Heartbeat', msg.data)
print(msg)
if msg['Axis_State'] == 0x8:
print("Axis has entered closed loop")
Expand All @@ -66,15 +67,39 @@

target = 0

data = db.encode_message('Set_Limits', {'Velocity_Limit':10.0, 'Current_Limit':10.0})
data = db.encode_message(f'{axis}_Set_Limits', {'Velocity_Limit':10.0, 'Current_Limit':10.0})
msg = can.Message(arbitration_id=axisID << 5 | 0x00F, is_extended_id=False, data=data)
bus.send(msg)

t0 = time.monotonic()
print("\nSweeping velocity between -4 and 4.\nCTRL+C to stop\n")
time.sleep(2)
i = 0
while True:
setpoint = 4.0 * math.sin((time.monotonic() - t0)*2)
print("goto " + str(setpoint))
data = db.encode_message('Set_Input_Pos', {'Input_Pos':setpoint, 'Vel_FF':0.0, 'Torque_FF':0.0})
msg = can.Message(arbitration_id=axisID << 5 | 0x00C, data=data, is_extended_id=False)
bus.send(msg)
time.sleep(0.01)
try:
setpoint = 4.0 * math.sin((time.monotonic() - t0)*2)
# Don't spam the terminal
if (i % 25 == 0):
print(f"Velocity: {round(setpoint,2)}")
i = 0
data = db.encode_message(f'{axis}_Set_Input_Pos', {'Input_Pos':setpoint, 'Vel_FF':setpoint, 'Torque_FF':0.0})
msg = can.Message(arbitration_id=axisID << 5 | 0x00C, data=data, is_extended_id=False)
bus.send(msg)
i+=1
time.sleep(0.01)
except KeyboardInterrupt:
break
print("\nDone! Setting to AXIS_STATE_IDLE")
data = db.encode_message(f'{axis}_Set_Axis_State', {'Axis_Requested_State': 0x01})
msg = can.Message(arbitration_id=axisID << 5 | 0x07, is_extended_id=False, data=data)
time.sleep(0.5)
bus.send(msg)
while True:
for msg in bus:
if msg.arbitration_id == 0x01 | axisID << 5:
current_state = db.decode_message(f'{axis}_Heartbeat', msg.data)['Axis_State']
print(current_state)
if current_state == 'IDLE':
print("\nAxis has returned to Idle state.")
break
break
68 changes: 35 additions & 33 deletions tools/create_can_dbc.py
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Original file line number Diff line number Diff line change
@@ -1,19 +1,21 @@
from cantools.database import *
from odrive.enums import *
from cantools.database.conversion import NamedSignalConversion

msgList = []
nodes = [can.Node('Master')]
buses = [can.Bus('ODrive', None, 100000)]


for axisID in range(0, 8):
newNode = can.Node(f"ODrive_Axis{axisID}")
nodes.append(newNode)

# 0x00 - NMT Message (Reserved)

# 0x001 - Heartbeat
axisError = can.Signal("Axis_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in AxisError})
axisState = can.Signal("Axis_State", 32, 8, receivers=['Master'], choices={state.value: state.name for state in AxisState})
axisError = can.Signal("Axis_Error", 0, 32, receivers=['Master'], conversion=NamedSignalConversion(scale=1,offset=0, is_float=False, choices={error.value: error.name for error in AxisError}))
axisState = can.Signal("Axis_State", 32, 8, receivers=['Master'], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={state.value: state.name for state in AxisState}))
motorErrorFlag = can.Signal("Motor_Error_Flag", 40, 1, receivers=['Master'])
encoderErrorFlag = can.Signal("Encoder_Error_Flag", 48, 1, receivers=['Master'])
controllerErrorFlag = can.Signal("Controller_Error_Flag", 56, 1, receivers=['Master'])
Expand All @@ -35,17 +37,17 @@
estopMsg = can.Message(0x002, "Estop", 0, [], senders=['Master'])

# 0x003 - Motor Error
motorError = can.Signal("Motor_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in MotorError})
motorError = can.Signal("Motor_Error", 0, 32, receivers=['Master'], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={error.value: error.name for error in MotorError}))
motorErrorMsg = can.Message(0x003, "Get_Motor_Error", 8, [motorError], senders=[newNode.name])

# 0x004 - Encoder Error
encoderError = can.Signal("Encoder_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in EncoderError})
encoderError = can.Signal("Encoder_Error", 0, 32, receivers=['Master'], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={error.value: error.name for error in EncoderError}))
encoderErrorMsg = can.Message(
0x004, "Get_Encoder_Error", 8, [encoderError], senders=[newNode.name]
)

# 0x005 - Sensorless Error
sensorlessError = can.Signal("Sensorless_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in SensorlessEstimatorError})
sensorlessError = can.Signal("Sensorless_Error", 0, 32, receivers=['Master'], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={error.value: error.name for error in SensorlessEstimatorError}))
sensorlessErrorMsg = can.Message(
0x005, "Get_Sensorless_Error", 8, [sensorlessError], senders=[newNode.name]
)
Expand All @@ -55,16 +57,16 @@
axisNodeMsg = can.Message(0x006, "Set_Axis_Node_ID", 8, [axisNodeID], senders=['Master'])

# 0x007 - Requested State
axisRequestedState = can.Signal("Axis_Requested_State", 0, 32, receivers=[newNode.name], choices={state.value: state.name for state in AxisState})
axisRequestedState = can.Signal("Axis_Requested_State", 0, 32, receivers=[newNode.name], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={state.value: state.name for state in AxisState}))
setAxisState = can.Message(
0x007, "Set_Axis_State", 8, [axisRequestedState], senders=['Master']
)

# 0x008 - Startup Config (Reserved)

# 0x009 - Encoder Estimates
encoderPosEstimate = can.Signal("Pos_Estimate", 0, 32, is_float=True, receivers=['Master'], unit='rev')
encoderVelEstimate = can.Signal("Vel_Estimate", 32, 32, is_float=True, receivers=['Master'], unit='rev/s')
encoderPosEstimate = can.Signal("Pos_Estimate", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='rev')
encoderVelEstimate = can.Signal("Vel_Estimate", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='rev/s')
encoderEstimates = can.Message(
0x009, "Get_Encoder_Estimates", 8, [encoderPosEstimate, encoderVelEstimate], senders=[newNode.name], send_type='cyclic', cycle_time=10
)
Expand All @@ -77,36 +79,36 @@
)

# 0x00B - Set Controller Modes
controlMode = can.Signal("Control_Mode", 0, 32, receivers=[newNode.name], choices={state.value: state.name for state in ControlMode})
inputMode = can.Signal("Input_Mode", 32, 32, receivers=[newNode.name], choices={state.value: state.name for state in InputMode})
controlMode = can.Signal("Control_Mode", 0, 32, receivers=[newNode.name], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={state.value: state.name for state in ControlMode}))
inputMode = can.Signal("Input_Mode", 32, 32, receivers=[newNode.name], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={state.value: state.name for state in InputMode}))
setControllerModeMsg = can.Message(
0x00B, "Set_Controller_Mode", 8, [controlMode, inputMode], senders=['Master']
)

# 0x00C - Set Input Pos
inputPos = can.Signal("Input_Pos", 0, 32, is_float=True, receivers=[newNode.name], unit='rev')
velFF = can.Signal("Vel_FF", 32, 16, is_signed=True, scale=0.001, receivers=[newNode.name], unit='rev/s')
torqueFF = can.Signal("Torque_FF", 48, 16, is_signed=True, scale=0.001, receivers=[newNode.name], unit='Nm')
inputPos = can.Signal("Input_Pos", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='rev')
velFF = can.Signal("Vel_FF", 32, 16, is_signed=True, conversion=NamedSignalConversion(scale=0.001,offset=0,is_float=False,choices={}), receivers=[newNode.name], unit='rev/s')
torqueFF = can.Signal("Torque_FF", 48, 16, is_signed=True, conversion=NamedSignalConversion(scale=.001,offset=0,is_float=False,choices={}), receivers=[newNode.name], unit='Nm')
setInputPosMsg = can.Message(
0x00C, "Set_Input_Pos", 8, [inputPos, velFF, torqueFF], senders=['Master']
)

# 0x00D - Set Input Vel
inputVel = can.Signal("Input_Vel", 0, 32, is_float=True, receivers=[newNode.name], unit='rev')
inputTorqueFF = can.Signal("Input_Torque_FF", 32, 32, is_float=True, receivers=[newNode.name], unit='rev/s')
inputVel = can.Signal("Input_Vel", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='rev')
inputTorqueFF = can.Signal("Input_Torque_FF", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='rev/s')
setInputVelMsg = can.Message(
0x00D, "Set_Input_Vel", 8, [inputVel, inputTorqueFF], senders=['Master']
)

# 0x00E - Set Input Torque
inputTorque = can.Signal("Input_Torque", 0, 32, is_float=True, receivers=[newNode.name], unit='Nm')
inputTorque = can.Signal("Input_Torque", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='Nm')
setInputTqMsg = can.Message(
0x00E, "Set_Input_Torque", 8, [inputTorque], senders=['Master']
)

# 0x00F - Set Velocity Limit
velLimit = can.Signal("Velocity_Limit", 0, 32, is_float=True, receivers=[newNode.name], unit='rev/s')
currentLimit = can.Signal("Current_Limit", 32, 32, is_float=True, receivers=[newNode.name], unit='A')
velLimit = can.Signal("Velocity_Limit", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='rev/s')
currentLimit = can.Signal("Current_Limit", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='A')
setVelLimMsg = can.Message(
0x00F, "Set_Limits", 8, [velLimit, currentLimit], senders=['Master']
)
Expand All @@ -115,40 +117,40 @@
startAnticoggingMsg = can.Message(0x010, "Start_Anticogging", 0, [], senders=['Master'])

# 0x011 - Set Traj Vel Limit
trajVelLim = can.Signal("Traj_Vel_Limit", 0, 32, is_float=True, receivers=[newNode.name], unit='rev/s')
trajVelLim = can.Signal("Traj_Vel_Limit", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='rev/s')
setTrajVelMsg = can.Message(
0x011, "Set_Traj_Vel_Limit", 8, [trajVelLim], senders=['Master']
)

# 0x012 - Set Traj Accel Limits
trajAccelLim = can.Signal("Traj_Accel_Limit", 0, 32, is_float=True, receivers=[newNode.name], unit='rev/s^2')
trajDecelLim = can.Signal("Traj_Decel_Limit", 32, 32, is_float=True, receivers=[newNode.name], unit='rev/s^2')
trajAccelLim = can.Signal("Traj_Accel_Limit", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='rev/s^2')
trajDecelLim = can.Signal("Traj_Decel_Limit", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='rev/s^2')
setTrajAccelMsg = can.Message(
0x012, "Set_Traj_Accel_Limits", 8, [trajAccelLim, trajDecelLim], senders=['Master']
)

# 0x013 - Set Traj Inertia
trajInertia = can.Signal("Traj_Inertia", 0, 32, is_float=True, receivers=[newNode.name], unit='Nm / (rev/s^2)')
trajInertia = can.Signal("Traj_Inertia", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='Nm / (rev/s^2)')
trajInertiaMsg = can.Message(
0x013, "Set_Traj_Inertia", 8, [trajInertia], senders=['Master']
)

# 0x014 - Get Iq
iqSetpoint = can.Signal("Iq_Setpoint", 0, 32, is_float=True, receivers=['Master'], unit='A')
iqMeasured = can.Signal("Iq_Measured", 32, 32, is_float=True, receivers=['Master'], unit='A')
iqSetpoint = can.Signal("Iq_Setpoint", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='A')
iqMeasured = can.Signal("Iq_Measured", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='A')
getIqMsg = can.Message(0x014, "Get_Iq", 8, [iqSetpoint, iqMeasured], senders=[newNode.name])

# 0x015 - Get Sensorless Estimates
sensorlessPosEstimate = can.Signal("Sensorless_Pos_Estimate", 0, 32, is_float=True, receivers=['Master'], unit='rev')
sensorlessVelEstimate = can.Signal("Sensorless_Vel_Estimate", 32, 32, is_float=True, receivers=['Master'], unit='rev/s')
sensorlessPosEstimate = can.Signal("Sensorless_Pos_Estimate", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='rev')
sensorlessVelEstimate = can.Signal("Sensorless_Vel_Estimate", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='rev/s')
getSensorlessEstMsg = can.Message(0x015, "Get_Sensorless_Estimates", 8, [sensorlessPosEstimate, sensorlessVelEstimate], senders=[newNode.name])

# 0x016 - Reboot ODrive
rebootMsg = can.Message(0x016, "Reboot", 0, [], senders=['Master'])

# 0x017 - Get vbus Voltage and Current
busVoltage = can.Signal("Bus_Voltage", 0, 32, is_float=True, receivers=['Master'], unit='V')
busCurrent = can.Signal("Bus_Current", 32, 32, is_float=True, receivers=['Master'], unit='A')
busVoltage = can.Signal("Bus_Voltage", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='V')
busCurrent = can.Signal("Bus_Current", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='A')
getVbusVCMsg = can.Message(0x017, "Get_Bus_Voltage_Current", 8, [busVoltage, busCurrent], senders=[newNode.name])

# 0x018 - Clear Errors
Expand All @@ -159,20 +161,20 @@
setLinearCountMsg = can.Message(0x019, "Set_Linear_Count", 8, [position], senders=['Master'])

# 0x01A - Set Pos gain
posGain = can.Signal("Pos_Gain", 0, 32, is_float=True, receivers=[newNode.name], unit='(rev/s) / rev')
posGain = can.Signal("Pos_Gain", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='(rev/s) / rev')
setPosGainMsg = can.Message(0x01A, "Set_Pos_Gain", 8, [posGain], senders=['Master'])

# 0x01B - Set Vel Gains
velGain = can.Signal("Vel_Gain", 0, 32, is_float=True, receivers=[newNode.name], unit='Nm / (rev/s)')
velIntGain = can.Signal("Vel_Integrator_Gain", 32, 32, is_float=True, receivers=[newNode.name], unit='(Nm / (rev/s)) / s')
velGain = can.Signal("Vel_Gain", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='Nm / (rev/s)')
velIntGain = can.Signal("Vel_Integrator_Gain", 32, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=[newNode.name], unit='(Nm / (rev/s)) / s')
setVelGainsMsg = can.Message(0x01B, "Set_Vel_Gains", 8, [velGain, velIntGain], senders=['Master'])

# 0x01C - Get ADC Voltage
adcVoltage = can.Signal("ADC_Voltage", 0, 32, is_float=True, receivers=['Master'], unit='V')
adcVoltage = can.Signal("ADC_Voltage", 0, 32, conversion=NamedSignalConversion(scale=1,offset=0,is_float=True,choices={}), receivers=['Master'], unit='V')
getADCVoltageMsg = can.Message(0x01C, "Get_ADC_Voltage", 8, [adcVoltage], senders=[newNode.name])

# 0x01D - Controller Error
controllerError = can.Signal("Controller_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in ControllerError})
controllerError = can.Signal("Controller_Error", 0, 32, receivers=['Master'], conversion=NamedSignalConversion(scale=1,offset=0,is_float=False,choices={error.value: error.name for error in ControllerError}))
controllerErrorMsg = can.Message(
0x01D, "Get_Controller_Error", 8, [controllerError], senders=[newNode.name]
)
Expand Down
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