/****************************************************************************/ /* Copyright 1991 to 1993 MBARI */ /****************************************************************************/ /* Summary : Moog Motor Micro - Serial Interface Commands */ /* Filename : moogcmd.h */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV */ /* Version : Version 1.0 */ /* Created : 05/16/91 */ /* Modified : 06/18/93 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/h/moogcmd.h,v 1.1.1.1 1997/05/02 17:15:39 pean Exp $ * $Log: moogcmd.h,v $ * Revision 1.1.1.1 1997/05/02 17:15:39 pean * Initial release of the microcontroller software after Tiburon * Moolpool Dive to test IView, Lapboxes, modified Power can * GF/5V using bus capacitance mode. * * Revision 2.3 94/08/26 16:30:09 16:30:09 pean (Andrew Pearce) * Master/Slave version of serial protocol. * Added warning and alarm levels for temperature alarm * Water alarm threshold now externally settable in K Ohms * Alarm added for NV RAM Initialization * * Revision 2.2 94/02/01 10:41:30 10:41:30 pean (Andrew Pearce) * Added commands to set Frame Acknowledge Timeout, get Retransmission * statistics, and to enable automatic motor disable on serial link failure. * Added MOTOR_DISABLE_SRQ alarm reporting if motor auto disables * * Revision 2.1 93/11/12 11:02:48 11:02:48 pean (Andrew Pearce) * Clean up in preparation for archiving * * Revision 2.0 93/06/18 16:43:51 16:43:51 pean (Andrew Pearce) * Added Keep Alive Serial Packets * Updated default Controller Gains & Constants after Thruster Characterization * * Revision 1.4 93/05/20 13:39:56 13:39:56 pean (Andrew Pearce) * Controller algorithms tested with vxWorks software on dyno. * Data acquisition mode added for motor characterization * IIR Filter added to velocity filter * * Revision 1.3 92/11/11 15:18:25 15:18:25 pean (Andrew Pearce) * Final version for prototype after testing regeneration limit mode * * Revision 1.3 92/09/01 12:05:39 12:05:39 pean (Andrew Pearce) * *** empty log message *** * * Revision 1.1 92/06/29 10:08:08 10:08:08 pean (Andrew Pearce 408-647-3746) * Initial revision * * Revision 1.2 92/06/12 17:11:37 17:11:37 pean (Andrew Pearce 408-647-3746) * Fixed checkTemperature, inverted sense of motor status & foldback signals * Added getMotorTorqueCmd serial command to return commanded torque * Modified microResetCmd to send CMD_OK and wait 50 msec before hard reset * Added board & motor serial number, Software revision read functions * * Revision 1.1 92/05/13 17:40:09 17:40:09 pean (Andrew Pearce 408-647-3746) * Initial revision * Added getMotorTorqueCmd serial command to return commanded torque * */ /****************************************************************************/ /* Motor Fault Status Codes */ #define STATUS_UNKNOWN 0x00 /* Motor status unknown */ #define MOTOR_NO_FAULT 0x01 /* No fault detected */ #define MOTOR_CONTROLLER_VOLTS 0x02 /* Motor controller under-voltage */ #define MOTOR_CONTROLLER_TEMP 0x03 /* Motor controller temperature */ #define MOTOR_STALL 0x04 /* Motor has stalled */ #define MOTOR_RESOLVER 0x05 /* Motor Resolver Failure */ #define MOTOR_OVERCURRENT 0x06 /* Motor overcurrent */ #define MOTOR_FAULT 0x07 /* Other motor fault condition */ /* Motor Application Serial Commands*/ #define SET_MOTOR_CMD_TORQUE 0x01 /* Set Motor Commanded Torque */ #define GET_MOTOR_VELOCITY 0x02 /* Get Motor Velocity Command */ #define SET_TORQUE_OFFSET 0x03 /* Set Motor Torque Offset Command */ #define GET_TORQUE_OFFSET 0x04 /* Get Motor Torque Offset Command */ #define SET_MOTOR_CTRL_MODE 0x05 /* Set Motor Control Mode */ #define GET_MOTOR_CTRL_MODE 0x06 /* Get Motor Control Mode */ #define GET_MOTOR_STATUS 0x07 /* Get Motor Status Command */ #define GET_MOTOR_FOLDBACK 0x08 /* Get Motor Foldback Status Cmd */ #define MOTOR_ENABLE 0x09 /* Enable Motor Command */ #define MOTOR_DISABLE 0x0a /* Disable Motor Command */ #define WRITE_NV_RAM 0x0b /* Write Motor Non-volatile RAM Cmd */ #define GET_NV_CYCLES 0x0c /* Get number of NV RAM Cycles Cmd */ #define GET_NV_DATE_TIME 0x0d /* Get NV RAM Date and Time Command */ #define GET_TEMPERATURE 0x0e /* Get Temperature Sensor Value */ #define GET_TEMP_ALARM_STATUS 0x0f /* Get Temperature Alarm Status */ #define GET_MOTOR_CMD_TORQUE 0x10 /* Get Motor Commanded Torque */ #define GET_MOTOR_SER_NO 0x11 /* Get Motor Serial Number String */ #define SET_MOTOR_SER_NO 0x12 /* Set Motor Serial Number String */ #define GET_TEMP_ALARM_THRESH 0x13 /* Get temperature alarm threshold */ #define SET_TEMP_ALARM_THRESH 0x14 /* Set temperature alarm threshold */ #define SET_MOTOR_CMD_THRUST 0x15 /* Set Motor Commanded Thrust */ #define SET_MOTOR_CMD_VELOCITY 0x16 /* Set Motor Commanded Velocity */ #define SET_MOTOR_CMD_POWER 0x17 /* Set Motor Commanded Power */ #define SET_CURRENT_MODE_GAIN 0x18 /* Set current control mode gain */ #define GET_CURRENT_MODE_GAIN 0x19 /* Get current control mode gain */ #define SET_TORQUE_MODE_GAIN 0x1a /* Set torque control mode gain */ #define GET_TORQUE_MODE_GAIN 0x1b /* Get torque control mode gain */ #define SET_VEL_MODE_GAINS 0x1c /* Set velocity control mode gains */ #define GET_VEL_MODE_GAINS 0x1d /* Get velocity control mode gains */ #define SET_LINEAR_MODE_GAINS 0x1e /* Set linearized control mode gains*/ #define GET_LINEAR_MODE_GAINS 0x1f /* Get linearized control mode gains*/ #define SET_DYNAMIC_MODEL_K4 0x20 /* Set thruster dynamic model param */ #define GET_DYNAMIC_MODEL_K4 0x21 /* Get thruster dymanic model param */ #define CALC_VELOCITY_OFFSET 0x22 /* Measure analog velocity offset */ #define GET_MOTOR_TACH 0x23 /* Get motor tachometer velocity */ #define MOTOR_REGEN_LIMIT_ON 0x24 /* Enable motor regen limit mode */ #define MOTOR_REGEN_LIMIT_OFF 0x25 /* Disable motor regen limit mode */ #define SET_REGEN_TORQUE_LIMIT 0x26 /* Set motor regen torque limit */ #define GET_REGEN_TORQUE_LIMIT 0x27 /* Get motor regen torque limit */ #define GET_WATER_ALARM_THRESH 0x28 /* Get water alarm threshold */ #define SET_WATER_ALARM_THRESH 0x29 /* Set water alarm threshold */ #define GET_WATER_ALARM 0x2A /* Get water alarm status word */ #define ENABLE_DAS_MODE 0x2B /* Enable DAS measurement mode */ #define GET_DAS_MODE_DATA 0x2C /* Read DAS mode measurements */ #define ENABLE_AUTO_DISABLE 0x2D /* Motor Stop on serial link failure*/ #define MOTOR_STOP 0x2E /* Immediate Motor Stop */ /* Motor Application SRQ's */ #define MOTOR_FB_ON_SRQ APPLIC_SRQ_BASE | 0x01 /* Foldback Detected */ #define MOTOR_FB_OFF_SRQ APPLIC_SRQ_BASE | 0x02 /* Foldback Undetect */ #define MOTOR_CTRL_VOLTS_SRQ APPLIC_SRQ_BASE | 0x03 /* Controller Voltage */ #define MOTOR_CTRL_TEMP_SRQ APPLIC_SRQ_BASE | 0x04 /* Controller Temperatur*/ #define MOTOR_STALL_SRQ APPLIC_SRQ_BASE | 0x05 /* Motor Stall */ #define MOTOR_RESOLVER_SRQ APPLIC_SRQ_BASE | 0x06 /* Motor Resolver Fault */ #define MOTOR_CURRENT_SRQ APPLIC_SRQ_BASE | 0x07 /* Over Current Fault */ #define MOTOR_STATUS_SRQ APPLIC_SRQ_BASE | 0x08 /* Motor Status Unknown */ #define MOTOR_FAULT_SRQ APPLIC_SRQ_BASE | 0x09 /* Other Motor Fault */ #define MOTOR_NO_FAULT_SRQ APPLIC_SRQ_BASE | 0x0A /* No Motor Fault */ #define MOTOR_DISABLE_SRQ APPLIC_SRQ_BASE | 0x0B /* Motor Disable */ #define MOTOR_NVRAM_INIT_SRQ APPLIC_SRQ_BASE | 0x0C /* NV RAM Initialized */