SimpleFocDXLCore : SimpleFoc running Dynamixel Protocol

Purpose

The goal of this library is to use SimpleFoc as a Dynamixel device.  This is a Work In Progress and quickly coded, not a final version. However I believe, it can be a good start in case you need to explore this topic.

Here is a dirty video to show the devices:

Actual device

Today the device is a STM32G030C8T6 + DRV8313 but I tried to keep the code quite usable under other device. Just be carefull with the EEPROM parameter in library.

How to use it?

This was coded and use the platformio generics structure. So use the /lib folder and add to you main code:

• include library

In setup:

• your device linked to simpleFoc motor: simplefocDxlCore mydxl(&motor);
• link some extra hardware if used: mydxl.attachHarware(DRV_NRST, DRV_NSLP, DRV_FLT, STS_LED, TEMPERATURE_PIN, INVOLTAGE_PIN); I think you can add dummy pin for STS_LED and Temperature pin
• link the serial port : mydxl.attachSerial(Serial1);

In Loop:

• update : mydxl.update(); Note: do not hesitate to check the main.cpp file as an example.

Functionnal Dynamixel Features

COMMANDS

See [https://emanual.robotis.com/docs/en/dxl/protocol2/#instruction-packet\](Dynamixel Protocol 2.0)

• 0x01 Ping Instruction
• 0x02 Read Instruction to read data from the Device
• 0x03 Write Instruction to write data on the Device
• 0x04 Reg Write
• 0x05 Action
• 0x06 Factory Reset
• 0x08 Reboot Instruction to reboot the Device
• 0x10 Clear Instruction to reset certain information
• 0x20 Control Table Backup
• 0x55 Status
• 0x82 Sync Read
• 0x83 Sync Write
• 0x8A Fast Sync Read
• 0x92 Bulk Read
• 0x93 Bulk Write
• 0x9A Fast Bulk Read

ERRORS

Protocol Errors

• 0x01 Result Fail Failed to process the sent Instruction Packet
• 0x02 Instruction Error Undefined Instruction has been used
• 0x03 CRC Error CRC of the sent Packet does not match
• 0x04 Data Range Error Data
• 0x05 Data Length Error Attempt to write Data that is shorter than the data length
• 0x06 Data Limit Error Data
• 0x07 Access Error Attempt

Hardware errors

• Bit 7 - Unused, Always ‘0’
• Bit 6 - Unused, Always ‘0’
• Bit 5 Overload Error
• Bit 4 Electrical Shock Error
• Bit 3 Motor Encoder Error Detects malfunction of the motor encoder
• Bit 2 Overheating Error
• Bit 1 - Unused, Always ‘0’
• Bit 0 Input Voltage Error

MEMORY XM430

See [https://emanual.robotis.com/docs/en/dxl/x/xm430-w210/#hardware-error-status\](XM430 Specific instructions)

EEPROM

Name / Address

• MODEL_NUMBER 0
• MODEL_INFORMATION 2
• VERSION_OF_FIRMWARE 6
• ID 7
• BAUDRATE 8
• RETURN_DELAY_TIME 9
• DRIVE_MODE 10
• OPERATING_MODE 11
• SECONDARY_ID 12
• PROTOCOL_VERSION 13
• HOMING_OFFSET 20
• MOVING_THRESHOLD 24
• TEMPERATURE_LIMIT 31
• MAX_VOLTAGE_LIMIT 32
• MIN_VOLTAGE_LIMIT 34
• PWM_LIMIT 36
• CURRENT_LIMIT 38
• ACCELERATION_LIMIT 40
• VELOCITY_LIMIT 44
• MAX_POSITION_LIMIT 48
• MIN_POSITION_LIMIT 52
• STARTUP CONFIGURATION 60 [Only torque on startup)
• SHUTDOWN 63

RAM

• TORQUE_ENABLE 64
• #define ADD_LED 65 (PEUT ETRE AMELIORER
• STATUS_RETURN_LEVEL 68
• REGISTERED_INSTRUCTION 69
• HARDWARE_ERROR_STATUS 70
• VELOCITY_I_GAIN 76
• VELOCITY_P_GAIN 78
• POSITION_D_GAIN 80
• POSITION_I_GAIN 82
• POSITION_P_GAIN 84
• FEEDFORWARD_ACCELERATION_GAIN 88
• FEEDFORWARD_VELOCITY_GAIN 90
• BUS_WATCHDOG 98
• GOAL_PWM 100
• GOAL_CURRENT 102
• GOAL_VELOCITY 104
• PROFILE_ACCELERATION 108
• PROFILE_VELOCITY 112
• GOAL_POSITION 116
• REALTIME_TICK 120
• MOVING 122
• MOVING_STATUS 123
• PRESENT_PWM 124
• PRESENT_CURRENT 126
• PRESENT_VELOCITY 128
• PRESENT_POSITION 132
• VELOCITY_TRAJECTORY 136
• POSITION_TRAJECTORY 140
• PRESENT_INPUT_VOLTAGE 144
• PRESENT_TEMPERATURE 146

Licence

SimpleFocDXLCore library is released under the GNU GPL v3, which you can find at http://www.gnu.org/licenses/gpl-3.0.en.html