CANdleduino

CANdleduino#

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.

It can be included into a project via header-file:

#include "Candleduino.hpp"

Functionalities#

Main features of MD module include:

  • Creating MDs assigned to instance with unique IDs

  • Managing internal registers of MDs

  • Provides helper functions for managing MDs, for example: getPosition(), zero(), setTargetPosition()

Usage#

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:

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

MD::Error_t MD::readRegister<T>(uint16_t registerId, T &registerData)
MD::Error_t MD::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();

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

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