Sensor Library - Serial CAN Bus

Inverter/Inverter.ino

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+// Headers for each sensor type
+#include "src/InverterDebug.h" 
+//...
+#include "src/Inverter.h"
+
+#include "src/Serial_CAN_Module.h"
+
+#include "Base.h"
+#include "Sensor.h"
+#include "Actuator.h"
+#define NUMSENSORS 1 //Or however many
+#define NUMACTUATORS 1 //Or however many
+#define BAUDRATE 115200
+#define THISARDUINO ARDUINO_ONE
+
+#define CANBAUD 9600
+#define CANTX 10
+#define CANRX 11
+
+Serial_CAN canbus();
+
+// Objects for each sensor
+InverterDebug inverterDebug(&canbus, THISARDUINO); 
+//...
+Inverter inverter(&canbus, THISARDUINO); 
+//...
+
+Sensor* sensors[NUMSENSORS] = {
+    &inverterDebug
+};
+
+Actuator* actuators[NUMACTUATORS] = {
+    &inverter
+};
+
+// !#!#!#!--- EVERYTHING AFTER HERE DOES NOT NEED TO BE CHANGED FOR SENSOR IMPLEMENTATION ---!#!#!#!
+
+void setup(){
+    Serial.begin(BAUDRATE);
+    canbus.begin(CANTX, CANRX, CANBAUD);
+
+    bool success = true;
+    for(int i = 0; i < NUMSENSORS; i++){
+        SensorState* state = sensors[i]->begin();
+        // Print/send sensor post-setup state data here. For example:
+        bool _success = (state->error == ERR_NONE);
+        if(_success){
+            Serial.print("Sensor ");
+            Serial.print(sensors[i]->sensor);
+            Serial.println(" initialized.");
+        } else {
+            Serial.print("Sensor ");
+            Serial.print(sensors[i]->sensor);
+            Serial.println(" failed to initialize!");
+        }
+        success &= _success;
+    }
+    for(int i = 0; i < NUMACTUATORS; i++){
+        ActuatorState* state = actuators[i]->begin();
+        // Print/send sensor post-setup state data here. For example:
+        bool _success = (state->error == ERR_NONE);
+        if(_success){
+            Serial.print("Actuator ");
+            Serial.print(actuators[i]->actuator);
+            Serial.print(" initialized. ");
+
+            state = actuators[i]->update(); // Initial set to default target
+            _success = (state->error == ERR_NONE);
+            if(_success){
+                Serial.print("Set to ");
+                Serial.println(state->target);
+            } else {
+                Serial.print("\nActuator ");
+                Serial.print(sensors[i]->sensor);
+                Serial.println(" failed to set!");
+            }
+        } else {
+            Serial.print("Actuator ");
+            Serial.print(sensors[i]->sensor);
+            Serial.println(" failed to initialize!");
+        }
+        success &= _success;
+    }
+    if(!success){
+        Serial.println("POST failed on one or more devices, freezing...");
+        while(1){delay(1000);}
+    }
+}
+
+void loop(){
+    for(int i = 0; i < NUMSENSORS; i++){
+        SensorState* state = sensors[i]->update();
+        // Print/send sensor post-setup state data here. For example:
+        bool _success = (state->error == ERR_NONE);
+        bool _new = (state->debug == DS_SUCCESS);
+        if(_success && _new) {
+            Serial.print("Sensor ");
+            Serial.print(sensors[i]->sensor);
+            Serial.print(" read success: ");
+            for(int x = 0; x < state->numdata; x++) {
+                Serial.print(state->data[x].data);
+                Serial.print(' ');
+                Serial.print(state->data[x].units);
+                if(x < state->numdata-1){Serial.print(", ");}
+            }
+        } else if (!_success) {
+            Serial.print("Sensor ");
+            Serial.print(sensors[i]->sensor);
+            Serial.println(" failed to update!");
+            // TODO: Recover failed sensor?
+        }
+    }
+    for(int i = 0; i < NUMACTUATORS; i++){
+        ActuatorState* state = actuators[i]->update();
+
+        bool _success = (state->error == ERR_NONE) && (state->debug == DS_SUCCESS);
+        if(_success){
+            Serial.print("Actuator ");
+            Serial.print(actuators[i]->actuator);
+            Serial.print(" set success: ");
+            Serial.println(state->target);
+        } else {
+            Serial.print("Actuator ");
+            Serial.print(actuators[i]->actuator);
+            Serial.println(" failed to set!");
+            // TODO: Recover failed sensor?
+        }
+    }
+}

Inverter/README.md

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+# Serial CAN Bus
+
+> Documentation for the **Serial CAN Bus** can be found [here](https://drive.google.com/drive/folders/1rzmLET68QOWb4At4mAyN4rDsj-VGBLyh?usp=sharing).
+
+
+## Todo
+
+- [ ] Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.);
+- [ ] A list of dependencies (and links to those);
+- [ ] Everything else that is listed under [the master `README`](../README.md).
+<br>
+<br>
+
+# PM100 Inverter/Controller CAN Bus Message Reference
+
+> Prepared by Adam Pietrewicz, adapted to Markdown by Jayden Lefebvre (@JLefebvre55)
+> 
+> Last Updated - July 14th 2021
+
+***
+
+## Broadcast Messages
+
+> CAN ID: `0x0A0-0x0AF`. See doc for example implementation (pgs. 4-5) and per-byte breakdown (pgs. 5-11).
+
+| Address   | Frequency     | Content                                                 | CAN Active Messages (Low Word)   |
+|-----------|---------------|---------------------------------------------------------|----------------------------------|
+| `0x0A0`   | Slow/10Hz     | Temperatures #1                                         | `0x0001`                         |
+| `0x0A1`   | Slow/10Hz     | Temperatures #2                                         | `0x0002`                         |
+| `0x0A2`   | Slow/10Hz     | Temperatures #3                                         | `0x0004`                         |
+| `0x0A3`   | Fast/100Hz    | Analog Inputs Voltages                                  | `0x0008`                         |
+| `0x0A4`   | Fast/100Hz    | Digital Input Status                                    | `0x0010`                         |
+| `0x0A5`   | Fast/100Hz    | Motor Position Information                              | `0x0020`                         |
+| `0x0A6`   | Fast/100Hz    | Current Information                                     | `0x0040`                         |
+| `0x0A7`   | Fast/100Hz    | Voltage Information                                     | `0x0080`                         |
+| `0x0A8`   | Fast/100Hz    | Flux Information                                        | `0x0100`                         |
+| `0x0A9`   | Slow/10Hz     | Internal Voltages                                       | `0x0200`                         |
+| `0x0AA`   | Fast/100Hz    | Internal States                                         | `0x0400`                         |
+| `0x0AB`   | Fast/100Hz    | Fault Codes                                             | `0x0800`                         |
+| `0x0AC`   | Fast/100Hz    | Torque & Timer Information                              | `0x1000`                         |
+| `0x0AD`   | Fast/100Hz    | Modulation Index & Flux Weakening<br>Output Information | `0x2000`                         |
+| `0x0AE`   | Slow/10Hz     | Firmware Information                                    | `0x4000`                         |
+| `0x0AF`   | 100Hz (fixed) | Diagnostic Data                                         | `0x8000`                         |
+
+***
+## Command Messages
+
+> CAN ID: `0x0C0`. See doc for example implementation (pgs. 2-3).
+
+| Byte(s)  | Name                   | Format           | Description                                                                                                            |
+|----------|------------------------|------------------|------------------------------------------------------------------------------------------------------------------------|
+| 0, 1     | Torque Command         | Torque           | Torque command used when in torque mode.                                                                               |
+| 2, 3     | Speed Command          | Angular Velocity | Speed command used when in speed mode.                                                                                 |
+| 4        | Direction Command      | Boolean          | `0` - "Reverse", `1` - "Forward" (See Section 2.3.2.2)                                                                 |
+| 5: Bit 0 | Inverter Enable        | Boolean          | `0` - Inverter Off, `1` - Inverter On                                                                                  |
+| 5: Bit 1 | Inverter Discharge     | Boolean          | `0` - Disable Discharge, `1` - Enable Discharge                                                                        |
+| 5, 2     | Speed Mode Enable      | Boolean          | `0` - Do not override mode, `1` - Overrides from torque <br>mode to speed mode ONLY (See "Using Speed Mode" in manual) |
+| 6, 7     | Commanded Torque Limit | Torque           | Motor and Regen Torque limits. If set to `0`, default <br>torque limit from EEPROM is used.                            |
+
+***
+## Parameter Messages
+
+> Sets EEPROM parameters.
+
+**CAN ID `0x0C1`** - Used to send message *to* controller.
+
+**CAN ID `0x0C2`** - Response *from* controller.
+***