Merge branch 'develop' into feature/BufferedMotionAPIfeature/BufferedMotionAPI

# Conflicts:
#	SimpleMotionV2.pri

1 files changed, 43 insertions, 4 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index d5f6630..f85b40f 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -20,7 +20,7 @@
 /* SMV2 protocol change log:

  * Version 20:

  *   -V20 was introduced with Argon FW 1.0.0 and present at least until 1.4.0

- * Version 21 (is backwards compatible in syntax but not in setpoint behavior, see details below):

+ * Version 25 (is backwards compatible in syntax but not in setpoint behavior, see details below):

  *   -V25 was introduced with IONI

  *   -setpoint calculation is different:

  *     now there is only one common setpoint and all ABS and INC commands (buffered & instant)

@@ -31,6 +31,10 @@
  *    this makes it possible to insert any parameter read/write commands in middle of buffered motion.

  *   -implemented watchdog functionality in new param SMP_FAULT_BEHAVIOR

  *   -added param SMP_ADDRESS_OFFSET

+ * Version 26:

+ *    - fast SM command added (actually is also present in late V25 too, but as unofficial feature)

+ *    - watchdog timout now resets bitrate to default and aborts buffered motion

+ *

  */

 

 /* Important when using SMV2 protocol:

@@ -344,6 +348,13 @@
 	#define SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL 256

 	//resets position mode FB and setpoint values to 0, and also resets homing status. useful after using in vel or torq mode.

 	#define SMP_SYSTEM_CONTROL_RESET_FB_AND_SETPOINT 512

+	//writes various FW version specific values into debug parameters

+	#define SMP_SYSTEM_CONTROL_GET_SPECIAL_DATA 1024

+	//stores encoder index position in SMP_DEBUGPARAM_1. while busy (index not found) SMP_DEBUGPARAM_2 will be 100, after found it is 200.

+	#define SMP_SYSTEM_CONTROL_CAPTURE_INDEX_POSITION 2048

+	//write SM bus SM_CRCINIT constant modifier. special purposes only, don't use if unsure because

+	//it is one time programmable variable (permanently irreversible operation, can't be ever reset to default by provided methods)

+	#define SMP_SYSTEM_CONTROL_MODIFY_CRCINIT 262144

 

 	//follow error tolerance for position control:

 #define SMP_POS_FERROR_TRIP 555

@@ -421,7 +432,7 @@
     #define FLAG_INVERTED_HALLS BV(13)

     #define FLAG_USE_HALLS BV(14)

     #define FLAG_MECH_BRAKE_DURING_PHASING BV(15)

-	#define FLAG_LIMIT_SWITCHES_NORMALLY_CLOSED_TYPE BV(16)

+	#define FLAG_LIMIT_SWITCHES_NORMALLY_OPEN_TYPE BV(16)

 #define SMP_MOTION_FAULT_THRESHOLD 568

 #define SMP_HV_VOLTAGE_HI_LIMIT 569

 #define SMP_HV_VOLTAGE_LOW_LIMIT 570

@@ -432,13 +443,23 @@
 #define SMP_ELECTRICAL_MODE 573

     #define EL_MODE_STANDARD 0

     #define EL_MODE_IONICUBE 1

-    #define EL_MODE_IONIZER 2

-

+	#define EL_MODE_SIMUCUBE 2

+    #define EL_MODE_IONIZER 3

+

+/*for BiSS/SSI encoder

+ * bits defined as (from LSB):

+ * bits 0-7: single turn bits, accepted value range 4-24

+ * bits 8-15: multi turn bits, accepted value range 0-16

+ * bits 16-18: serial encoder mode: 000=BiSS, 001=SSI, 010=AMS SSI (SSI+CS+error monitoring), 011=SPI (SSI+CS) 100=GRAY SSI (i.e. SICK TTK70)

+ * rest: reserved for future use (always 0)

+ */

+#define SMP_SERIAL_ENC_BITS 574

 

 //primary feedback loop 200-299

 #define SMP_VEL_I 200

 #define SMP_POS_P 201

 #define SMP_VEL_P 202

+#define SMP_VEL_D 203

 #define SMP_VEL_FF 220

 #define SMP_ACC_FF 221

 #define SMP_POS_FF 222

@@ -446,6 +467,24 @@
 //anti dither limits

 #define SMP_ANTIDITHER_MODE 230

 

+//torque modifiers & effects

+/*SMP_TORQUE_NOTCH_FILTER contains 3 values in different bit positions:

+ * 0-7 (lowest byte), attenuation in 0.1dB steps and value V=1-255 means attenuation of (-V-255)/10 dB gain.  if V set 0, use notch filter instead of peaking with "infinite" attenuation. value 255 disables notch filter.

+ * 8-15, Q factor in 0.1 steps. Minimum is 0.1, below that filter is disabled.

+ * 16-29, center frequency in 0.1Hz steps, and 1.1Hz is minimum, so range is 1.1-409.5 Hz. value below or equal 1Hz disables the filter.

+ *

+ *Example, peaking filter with gain -11.5dB, center freq 20Hz and Q=3.5 value is: 0x00648c23 = dec 6589475

+ *

+ *Notch filter works in all control modes and is applied to torque controller setpoint

+ */

+#define SMP_TORQUE_NOTCH_FILTER 240

+//define damping effect gain in torque control mode, torque added to setpoint equals -speed*gain with

+#define SMP_TORQUE_EFFECT_DAMPING 241

+//define friction effect gain in torque control mode

+#define SMP_TORQUE_EFFECT_FRICTION 242

+//define inertia effect gain in torque control mode, torque added to setpoint equals -acceleration*gain

+#define SMP_TORQUE_EFFECT_INERTIA 243

+

 //secondary feedback loop 300-399

 //NOT IMPLEMENTED YET