Adjustments for position scaler and status, and added script to get a…

…ll axis parameter values

Updated for the following features:
- Added Position Scaler consideration in position calculation (higher prio than encoder steps)
- Added Status information in published /tmc_info
- Changed default /tmc_info publish rate to 10Hz (previously 1Hz)
- Added GAP_params.sh to query YAML's axis parameters' values
- Made TMCM-1636 FollowEepromConfig as False and then used calibrated values in YAML
- Updated Maintainer email

Co-Authored-By: Christian Joseph Acar <124771470+CAcarADI@users.noreply.github.com>

CMakeLists.txt

@@ -9,6 +9,7 @@ project(tmcl_ros)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  geometry_msgs
   message_generation
   std_msgs
 )

README.md

@@ -356,6 +356,28 @@ $ ./CAN_interface.sh
 
 > :memo: _Note: If bitrate is changed, it is advised to restart the board and initialize the CAN again using the new bitrate this time._
 
+## Querying the Axis Parameters' Values
+
+The  GAP_params.sh (or Get Access Parameters script) collects actual values of the axis parameters listed on the generated yaml. One  particular useful case is if the user decided to enable FollowEepromConfig and wanted to know all the parameter values stored in EEPROM. To use this script, it is expected that the tmcl_ros node is running on another terminal. To make the script executable:
+
+```bash
+$ cd ~/catkin_ws/src/tmcl_ros/scripts
+$ chmod +x GAP_params.sh
+```
+Then, to execute the script:
+```bash
+$ ./GAP_params.sh <YAML filename WITHOUT extension> <motor number> <enable description>
+```
+Where:
+- YAML filename is the name of the autogenerated yaml, without the extension, used by the node running from another terminal
+- motor number is the number of which motor should the user want to extract the parameters from
+- enable description is a boolean argument (represented by Y/N) which can display (or not display) the additional descriptions/range of each parameter in the output
+
+For example, to get the axis parameters' values of TMCM-1636's motor 0 with the description enabled:
+```bash
+$ ./GAP_params.sh TMCM-1636 0 Y
+```
+
 # Limitations
 1. No support for multiple/concurrent CAN or TMCL connections yet.
 2. No support for interfaces other than CAN yet.

config/TMCM-1617_Ext.yaml

@@ -63,35 +63,35 @@ comm_exec_cmd_retries: 1
 # Description: tmc_info topics that will contain chosen TMC info that will be published
 # Possible values:
 # - Any tmc_info topic name
-tmc_info_topic: [/tmc_info_0, /tmc_info_1, /tmc_info]
+tmc_info_topic: [/tmc_info_0, /tmc_info, /tmc_info]
 
 # cmd_vel topics to subscribe from
 # Description: Twist topics that will be the source of target velocity to be set on the TMC
 # Possible values: 
 # - Any Twist topic name
 # Note: Only its linear.x will be used (range: -200000 to 200000)
-tmc_cmd_vel_topic: [/cmd_vel_0, /cmd_vel_1, /cmd_vel]
+tmc_cmd_vel_topic: [/cmd_vel_0, /cmd_vel, /cmd_vel]
 
 # cmd_pos topics to subscribe from
 # Description: Int32 topics that will be the source of target position to be set on the TMC
 # Possible values: 
 # - Any Int32 topic name (range: -2147483648 to -2147483647)
-tmc_cmd_abspos_topic: [/cmd_abspos_0, /cmd_abspos_1, /cmd_abspos]
+tmc_cmd_abspos_topic: [/cmd_abspos_0, /cmd_abspos, /cmd_abspos]
 
 # cmd_pos topics to subscribe from
 # Description: Int32 topics that will be the source of target position to be set on the TMC
 # Possible values: 
 # - Any Int32 topic name (range: -2147483648 to -2147483647)
-tmc_cmd_relpos_topic: [/cmd_relpos_0, /cmd_relpos_1, /cmd_relpos]
+tmc_cmd_relpos_topic: [/cmd_relpos_0, /cmd_relpos, /cmd_relpos]
 
 # cmd_trq topics to subscribe from
 # Description: Int32 topics that will be the source of target torque to be set on the TMC
 # Possible values: 
 # - Any Int32 topic name (range: -60000 to 60000 mA)
-tmc_cmd_trq_topic: [/cmd_trq_0, /cmd_trq_1, /cmd_trq]
+tmc_cmd_trq_topic: [/cmd_trq_0, /cmd_trq, /cmd_trq]
 
 # Wheel diameter attached to the motor (in  meters)
-# Description: Wheel diameter that is attached on the motor shaft directly. This is to convert linear values to rpm
+# Description: Wheel diameter that is attached on the motor. This is to convert linear values to rpm
 # Note: If wheel diameter is 0, cmd_vel is equal to rpm
 wheel_diameter: 0.25
 
@@ -100,27 +100,27 @@ wheel_diameter: 0.25
 # Possible values:
 # - 0: Not used
 # - 1: Active
-en_motors: [1, 1, 0]
+en_motors: [1, 0, 0]
 
 # Publish TMC information
 # Decription: Enables/disables publishing of TMC information
 # Possible values:
 # - true: Enabled
 # - false: Disabled
-en_pub_tmc_info: [true, true, false] 
+en_pub_tmc_info: [true, false, false] 
 
 # Publish rate of TMC information
 # Decription: Publish rate (hertz) of TMC information
-# Possible values: 0 - 50
-pub_rate_tmc_info: 1
+# Possible values: 10 - 100
+pub_rate_tmc_info: 10
 
 ########## TMC Information
 
 # Enable/Disable axis parameters that the user can optionally publish every publish rate as long as en_pub_tmc_info is true
 
-pub_actual_vel: [true, true, false] 
-pub_actual_trq: [true, true, false]
-pub_actual_pos: [true, true, false]
+pub_actual_vel: [true, false, false] 
+pub_actual_trq: [true, false, false]
+pub_actual_pos: [true, false, false]
 
 ##########################################################
 ##########################################################

config/TMCM-1636_Ext.yaml

@@ -63,35 +63,35 @@ comm_exec_cmd_retries: 1
 # Description: tmc_info topics that will contain chosen TMC info that will be published
 # Possible values:
 # - Any tmc_info topic name
-tmc_info_topic: [/tmc_info_0, /tmc_info_1, /tmc_info]
+tmc_info_topic: [/tmc_info_0, /tmc_info, /tmc_info]
 
 # cmd_vel topics to subscribe from
 # Description: Twist topics that will be the source of target velocity to be set on the TMC
 # Possible values: 
 # - Any Twist topic name
 # Note: Only its linear.x will be used (range: -200000 to 200000)
-tmc_cmd_vel_topic: [/cmd_vel_0, /cmd_vel_1, /cmd_vel]
+tmc_cmd_vel_topic: [/cmd_vel_0, /cmd_vel, /cmd_vel]
 
 # cmd_pos topics to subscribe from
 # Description: Int32 topics that will be the source of target position to be set on the TMC
 # Possible values: 
 # - Any Int32 topic name (range: -2147483648 to -2147483647)
-tmc_cmd_abspos_topic: [/cmd_abspos_0, /cmd_abspos_1, /cmd_abspos]
+tmc_cmd_abspos_topic: [/cmd_abspos_0, /cmd_abspos, /cmd_abspos]
 
 # cmd_pos topics to subscribe from
 # Description: Int32 topics that will be the source of target position to be set on the TMC
 # Possible values: 
 # - Any Int32 topic name (range: -2147483648 to -2147483647)
-tmc_cmd_relpos_topic: [/cmd_relpos_0, /cmd_relpos_1, /cmd_relpos]
+tmc_cmd_relpos_topic: [/cmd_relpos_0, /cmd_relpos, /cmd_relpos]
 
 # cmd_trq topics to subscribe from
 # Description: Int32 topics that will be the source of target torque to be set on the TMC
 # Possible values: 
 # - Any Int32 topic name (range: -60000 to 60000 mA)
-tmc_cmd_trq_topic: [/cmd_trq_0, /cmd_trq_1, /cmd_trq]
+tmc_cmd_trq_topic: [/cmd_trq_0, /cmd_trq, /cmd_trq]
 
 # Wheel diameter attached to the motor (in  meters)
-# Description: Wheel diameter that is attached on the motor shaft directly. This is to convert linear values to rpm
+# Description: Wheel diameter that is attached on the motor. This is to convert linear values to rpm
 # Note: If wheel diameter is 0, cmd_vel is equal to rpm
 wheel_diameter: 0.25
 
@@ -100,27 +100,27 @@ wheel_diameter: 0.25
 # Possible values:
 # - 0: Not used
 # - 1: Active
-en_motors: [1, 1, 0]
+en_motors: [1, 0, 0]
 
 # Publish TMC information
 # Decription: Enables/disables publishing of TMC information
 # Possible values:
 # - true: Enabled
 # - false: Disabled
-en_pub_tmc_info: [true, true, false] 
+en_pub_tmc_info: [true, false, false] 
 
 # Publish rate of TMC information
 # Decription: Publish rate (hertz) of TMC information
-# Possible values: 0 - 50
-pub_rate_tmc_info: 1
+# Possible values: 10 - 100
+pub_rate_tmc_info: 10
 
 ########## TMC Information
 
 # Enable/Disable axis parameters that the user can optionally publish every publish rate as long as en_pub_tmc_info is true
 
-pub_actual_vel: [true, true, false] 
-pub_actual_trq: [true, true, false]
-pub_actual_pos: [true, true, false]
+pub_actual_vel: [true, false, false] 
+pub_actual_trq: [true, false, false]
+pub_actual_pos: [true, false, false]
 
 ##########################################################
 ##########################################################
@@ -137,7 +137,7 @@ pub_actual_pos: [true, true, false]
 # Possible values:
 # - true:  Follow all the motor configuration as-is (EEPROM values set as part of TMC firmware or as set in TMCL-IDE)
 # - false:  Have user set all motor configurations in this YAML (below)
-FollowEepromConfig: true
+FollowEepromConfig: false
 
 ########## Sensor Selection Settings
 
@@ -197,11 +197,11 @@ HallSensorOffset_Ext: [0, 0, 0]
 
 # Encoder direction
 # Description: Encoder direction in a way that ROR increases position counter
-EncoderDirection_Ext: [1, 0, 0]
+EncoderDirection_Ext: [0, 0, 0]
 
 # Encoder steps
 # Description: Encoder steps per full motor rotation
-EncoderSteps_Ext: [4096, 0, 0]
+EncoderSteps_Ext: [16384, 0, 0]
 
 # Encoder init mode
 # Description: Encoder init mode
@@ -211,23 +211,23 @@ EncoderInitMode_Ext: [0, 0, 0]
 
 # Torque P
 # Description: P parameter for current PID regulator
-TorqueP_Ext: [300, 0, 0]
+TorqueP_Ext: [1500, 0, 0]
 
 # Torque I
 # Description: I parameter for current PID regulator
 TorqueI_Ext: [500, 0, 0]
 
 # Velocity P
 # Description: P parameter for velocity PID regulator
-VelocityP_Ext: [400, 0, 0]
+VelocityP_Ext: [131, 0, 0]
 
 # Velocity I
 # Description: I parameter for velocity PID regulator
-VelocityI_Ext: [100, 0, 0]
+VelocityI_Ext: [49, 0, 0]
 
 # Position P
 # Description: P parameter for position PID regulator
-PositionP_Ext: [10, 0, 0]
+PositionP_Ext: [11, 0, 0]
 
 ########## Brake Chopper Settings
 

config/autogenerated/TMCM-1617.yaml

@@ -15,6 +15,12 @@
 
 TotalMotors: 1
 
+# Descriptions for possible values of StatusFlags:
+# Size:: 32 [bit]
+StatusFlags: [1, 156, 0, 0, 0]
+StatusFlagsRegName: [OVERCURRENT, UNDERVOLTAGE, OVERVOLTAGE, OVERTEMPERATURE, MOTORHALTED, HALLERROR, DRIVER_ERROR, INIT_ERROR, STOP_MODE, VELOCITY_MODE, POSITION_MODE, TORQUE_MODE, POSITION_END, MODULE_INITIALIZED]
+StatusFlagsRegShift: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 14, 15]
+
 # Descriptions for possible values of SupplyVoltage:
 # Range:: 0 to 1000 [0.1V]
 SupplyVoltage: [1, 220, 240, 0, 1000]

config/autogenerated/TMCM-1636.yaml

@@ -15,6 +15,12 @@
 
 TotalMotors: 1
 
+# Descriptions for possible values of StatusFlags:
+# Size:: 32 [bit]
+StatusFlags: [1, 156, 0, 0, 0]
+StatusFlagsRegName: [OVERCURRENT, UNDERVOLTAGE, OVERVOLTAGE, OVERTEMPERATURE, MOTORHALTED, HALLERROR, DRIVER_ERROR, INIT_ERROR, STOP_MODE, VELOCITY_MODE, POSITION_MODE, TORQUE_MODE, POSITION_END, MODULE_INITIALIZED, IIT_EXCEEDED_1, IIT_EXCEEDED_2]
+StatusFlagsRegShift: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 14, 15, 16, 17]
+
 # Descriptions for possible values of SupplyVoltage:
 # Range:: 0 to 1000 [100mV]
 SupplyVoltage: [1, 220, 480, 0, 1000]

include/tmcl_ros/tmcl_interpreter.h

@@ -139,7 +139,8 @@ typedef enum
 /* LUT row indeces of get-able/set-able Axis Parameters */
 typedef enum
 {
-    ROW_IDX_SupplyVoltage = 0,
+    ROW_IDX_StatusFlags = 0,
+    ROW_IDX_SupplyVoltage,
     ROW_IDX_TargetVelocity,
     ROW_IDX_ActualVelocity,
     ROW_IDX_TargetPosition,
@@ -175,6 +176,7 @@ typedef enum
 
 /* LUT row strings of get-able/set-able Axis Parameters */
 std::vector<std::string> tmcl_lut_row_str = {
+    "StatusFlags",
     "SupplyVoltage",
     "TargetVelocity",
     "ActualVelocity",

include/tmcl_ros/tmcl_ros.h

@@ -17,7 +17,7 @@
 #define TIMEOUT_MS_DEFAULT 10
 #define EXEC_CMD_RETRIES_MAX 3
 #define EXEC_CMD_RETRIES_DEFAULT 1
-#define PUB_RATE_MAX 50
+#define PUB_RATE_MAX 100
 #define RATE_20KBPS 20000
 #define RATE_50KBPS 50000
 #define RATE_100KBPS 100000
@@ -97,6 +97,10 @@ class TmclROS
         std::vector<std::vector<int>> ap_cfg;
         std::vector<std::vector<int>> ap_cfg_ext;
 
+        /* Separate vectors for registers of Statusflags */
+        std::vector<std::string> param_status_flags_reg_name;
+        std::vector<int> param_status_flags_reg_shift;
+
 	/* Handle for TmclInterpreter */
         TmclInterpreter *tmcl;
 

msg/TmcInfo.msg

@@ -1,6 +1,8 @@
 std_msgs/Header header
 string          interface_name
 float32         board_voltage
+int32           status_flag
+string          status
 uint8           motor_num
 float32         velocity
 int32           position

package.xml

@@ -4,15 +4,17 @@
   <version>1.0.0</version>
   <description>The tmcl_ros package</description>
 
-  <maintainer email="guest@todo.todo">guest</maintainer>
+  <maintainer email="ROS@analog.com">ROS@analog.com</maintainer>
 
   <license>MIT</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_export_depend>roscpp</build_export_depend>
   <exec_depend>roscpp</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>message_runtime</exec_depend>
   <depend>std_msgs</depend>