CANdleduino

CANdleduino#

Candleduino is a library for communication with drives for Arduino (AVR and Renesas) and Teensy >4.0.

Note

AVR based Arduino boards don’t support native CAN, therefore Candleduino supports MCP2515 via SPI.

Functionalities#

Main features of MD module include:

  • Creating MD and PDS assigned to instance with unique IDs

  • Managing internal registers of MD and properties of PDS

  • Provides helper functions for managing MD and PDS, for example: getPosition(), zero(), getVoltage(PDSmodule module, &voltage), enable(PDSmodule module)

MD library#

#include "MD_arduino.hpp"
uint16_t ID = 100; //ID of the MD drive

MD md(ID); 
// MD md(ID, CS_PIN); for custom CS_PIN (Arduino AVR and MCP2515), default is 9

// FlexCAN_T4FD<CAN3, RX_SIZE_256, TX_SIZE_16> CANbus; //CANFD
//or
// FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> CANbus; //CAN2.0
// MD md(ID, &CANbus); for Teensy

md.init(); //initialize MD object

For basic communication there are predefined commands like:

md.blink();

md.getMosfetTemperature(float &temperature);

md.setPositionPIDparam(float kp, float ki, float kd, float integralMax);

...

For other registers it is recommended to use:

Error_t readRegister<T>(Message<T> &registerData)
Error_t writeRegister<T>(Message<T> registerData)

Error_t readRegister<T>(uint16_t registerId, T &registerData)
Error_t writeRegister<T>(uint16_t registerId, T registerData)

Or CANFD only use readRegisters or writeRegisters for multiple data frame

MD::Error_t MD::readRegisters<T>(MD::Message<T> registerData, ...)
MD::Error_t MD::writeRegisters<T>(MD::Message<T> registerData, ...)

For multiple MD drives user can create multiple MD object with unique ID’s.

Example:

MD md1(100);
MD md2(120);

md1.init();
md2.init();

md1.blink();
md2.blink();

Examples#

Read and write This example shows basic usage of all possible communication functionalities.

Impedance control This example demonstrates how to control MD drive using Arduino or Teensy.

PDS library#

Note

PDS library works only with Teensy boards with native CANFD compatibility.

#include "PDS_arduino.hpp"
uint16_t ID = 100; //ID of the PDS

FlexCAN_T4FD<CAN3, RX_SIZE_256, TX_SIZE_16> CANbus; //CANFD

PDS pds(ID, &CANbus);

pds.init(); //initialize PDS object

For simplicity, there is a structure called PDSmodule:

Example:

PDSmodule IC = {ISOLATED_CONVERTER, 2}; // {NAME, SOCKET_INDEX}

For basic communication there are predefined commands like:

pds.enable(PDSmodule module);
pds.getTemperature(PDSmodule module, float &temperature);
...

Some functions are dedicated to only Power Stage or Isolated like setOCDlevel(<PS> or <IC>, <OCDlevel>) or bindBrakeResistor(<PS>, <BR index>)

Similarly to MD, PDS uses the same Message structure to send data as properties.

Error_t readProperty(PDSmodule module, Message<T> &propertyData)
Error_t readProperty(PDSmodule module, uint8_t propertyId, T &propertyData)
Error_t readProperties(PDSmodule module, T &...message)

Error_t writeProperty(PDSmodule module, Message<T> propertyData)
Error_t writeProperty(PDSmodule module, uint8_t propertyId, T propertyData)
Error_t writeProperties(PDSmodule module, T... message)

For multiple PDS stacks simply use multiple instances:

Example:

PDS pds1(100, &canBus);
PDS pds2(120, &canBus);

Examples#

Read and write This example shows basic usage of all possible communication functionalities.

PDS modules This example configures Isolated Converter, Power Stage and Brake Resistor, enables them and reads the data.

Please look at register table and properties table to find more details about registers/properites and their types.

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