Candleduino

Arduino library for controlling MD drives across multiple platforms: AVR(MCP2515), Renesas, and Teensy >4.0.

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Features

• Cross-platform support: AVR(MCP2515), Renesas, Teensy >4.0
• Creating MD assigned to instance with unique ID
• Managing internal registers of MD and properties of PDS
• Provides helper functions for managing MD and PDS, for example: blink(), zero(), setTargetPosition()

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Installation

Using Arduino Library Manager

1. Open Arduino IDE
2. Go to Sketch → Include Library → Manage Libraries…
3. Search for Candleduino and click Install

Manual Installation

1. Download the library from GitHub
2. Extract the folder into your Arduino libraries folder
3. Restart the Arduino IDE

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MD

#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:

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

//Message example:
Message<float> temperature;
temperature.messageID = static_cast<uint16_t>(MDRegister::TEMPERATURE); //Or val(M::Temperature)
temperature.value = 70.f;

Or CANFD only use readRegisters or writeRegisters for multiple data frame

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

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

Example:

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

PDS

PDS arduino library works only on Teensy CANFD compatible boards.

#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);
...

And 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) //or (PDSmodule module, val(PDSRegister::'propertyId_name'), 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);

Other registers can be found in CANdleduino documentation or in MD/Communication documentation section.