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 MDs assigned to instance with unique IDs
• Managing internal registers of MDs
• Provides helper functions for managing MDs, 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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Usage

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

Or CANFD only use readRegisters or writeRegisters for multiple data frame

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

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

Example:

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

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