Add pos_gain and vel_gain messages to .dbc file

pluggee · Sep 23, 2021 · e0aaa04 · e0aaa04
1 parent 965c0a1
commit e0aaa04
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Showing 2 changed files with 21 additions and 0 deletions.
diff --git a/tools/create_can_dbc.py b/tools/create_can_dbc.py
@@ -144,6 +144,15 @@
 position = cantools.database.can.Signal("Position", 0, 32, is_signed=True)
 setLinearCountMsg = cantools.database.can.Message(0x019, "Set_Linear_Count", 8, [position])
 
+# 0x01A - Set Pos gain
+posGain = cantools.database.can.Signal("Pos_Gain", 0, 32, is_float=True)
+setPosGainMsg = cantools.database.can.Message(0x01A, "Set_Pos_Gain", 8, [posGain])
+
+# 0x01B - Set Vel Gains
+velGain = cantools.database.can.Signal("Vel_Gain", 0, 32, is_float=True)
+velIntGain = cantools.database.can.Signal("Vel_Integrator_Gain", 32, 32, is_float=True)
+setVelGainsMsg = cantools.database.can.Message(0x01B, "Set_Vel_gains", 8, [velGain, velIntGain])
+
 db = cantools.database.can.Database(
     [
         heartbeatMsg,
@@ -170,6 +179,8 @@
         getVbusVMsg,
         clearErrorsMsg,
         setLinearCountMsg,
+        setPosGainMsg,
+        setVelGainsMsg
     ]
 )
 

diff --git a/tools/odrive-cansimple.dbc b/tools/odrive-cansimple.dbc
@@ -115,6 +115,13 @@ BO_ 24 Clear_Errors: 0 Vector__XXX
 BO_ 25 Set_Linear_Count: 8 Vector__XXX
  SG_ Position : 0|32@1- (1,0) [0|0] "" Vector__XXX
 
+BO_ 26 Set_Pos_Gain: 8 Vector__XXX
+ SG_ Pos_Gain : 0|32@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 27 Set_Vel_gains: 8 Vector__XXX
+ SG_ Vel_Integrator_Gain : 32|32@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Vel_Gain : 0|32@1+ (1,0) [0|0] "" Vector__XXX
+
 
 
 
@@ -140,5 +147,8 @@ SIG_VALTYPE_ 20 Iq_Measured : 1;
 SIG_VALTYPE_ 21 Sensorless_Pos_Estimate : 1;
 SIG_VALTYPE_ 21 Sensorless_Vel_Estimate : 1;
 SIG_VALTYPE_ 23 Vbus_Voltage : 1;
+SIG_VALTYPE_ 26 Pos_Gain : 1;
+SIG_VALTYPE_ 27 Vel_Gain : 1;
+SIG_VALTYPE_ 27 Vel_Integrator_Gain : 1;