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.. _api-reference:
API REFERENCE
=============
protocol_hash
-------------------------------------------------------------------
ID: 0
Type: uint32
The Avlos protocol hash.
uid
-------------------------------------------------------------------
ID: 1
Type: uint32
The unique device ID, unique to each PAC55xx chip produced.
fw_version
-------------------------------------------------------------------
ID: 2
Type: str
The firmware version.
hw_revision
-------------------------------------------------------------------
ID: 3
Type: uint32
The hardware revision.
Vbus
-------------------------------------------------------------------
ID: 4
Type: float
Units: volt
The measured bus voltage.
Ibus
-------------------------------------------------------------------
ID: 5
Type: float
Units: ampere
The estimated bus current. Only estimates current drawn by motor.
power
-------------------------------------------------------------------
ID: 6
Type: float
Units: watt
The estimated power. Only estimates power drawn by motor.
temp
-------------------------------------------------------------------
ID: 7
Type: float
Units: degree_Celsius
The internal temperature of the PAC55xx MCU.
calibrated
-------------------------------------------------------------------
ID: 8
Type: bool
Whether the system has been calibrated.
errors
-------------------------------------------------------------------
ID: 9
Type: uint8
Any system errors, as a bitmask
Flags:
- UNDERVOLTAGE
warnings
-------------------------------------------------------------------
ID: 10
Type: uint8
Any system warnings, as a bitmask
Flags:
- DRIVER_FAULT
- CHARGE_PUMP_FAULT_STAT
- CHARGE_PUMP_FAULT
- DRV10_DISABLE
- DRV32_DISABLE
- DRV54_DISABLE
save_config() -> void
--------------------------------------------------------------------------------------------
ID: 11
Return Type: void
Save configuration to non-volatile memory.
erase_config() -> void
--------------------------------------------------------------------------------------------
ID: 12
Return Type: void
Erase the config stored in non-volatile memory and reset the device.
nvm.num_slots
-------------------------------------------------------------------
ID: 13
Type: uint8
Number of wear leveling slots (calculated from config size).
nvm.current_slot
-------------------------------------------------------------------
ID: 14
Type: uint8
Current active slot (0 to num_slots-1).
nvm.write_count
-------------------------------------------------------------------
ID: 15
Type: uint32
Total writes since first use (sequence number).
reset() -> void
--------------------------------------------------------------------------------------------
ID: 16
Return Type: void
Reset the device.
enter_dfu() -> void
--------------------------------------------------------------------------------------------
ID: 17
Return Type: void
Enter DFU mode.
config_size
-------------------------------------------------------------------
ID: 18
Type: uint32
Size (in bytes) of the configuration object.
scheduler.load
-------------------------------------------------------------------
ID: 19
Type: uint32
Processor load in ticks per PWM cycle.
scheduler.warnings
-------------------------------------------------------------------
ID: 20
Type: uint8
Any scheduler warnings, as a bitmask
Flags:
- CONTROL_BLOCK_REENTERED
controller.state
-------------------------------------------------------------------
ID: 21
Type: uint8
The state of the controller.
Options:
- IDLE
- CALIBRATE
- CL_CONTROL
controller.mode
-------------------------------------------------------------------
ID: 22
Type: uint8
The control mode of the controller.
Options:
- CURRENT
- VELOCITY
- POSITION
- TRAJECTORY
- HOMING
controller.warnings
-------------------------------------------------------------------
ID: 23
Type: uint8
Any controller warnings, as a bitmask
Flags:
- VELOCITY_LIMITED
- CURRENT_LIMITED
- MODULATION_LIMITED
controller.errors
-------------------------------------------------------------------
ID: 24
Type: uint8
Any controller errors, as a bitmask
Flags:
- CURRENT_LIMIT_EXCEEDED
- PRE_CL_I_SD_EXCEEDED
controller.position.setpoint
-------------------------------------------------------------------
ID: 25
Type: float
Units: tick
The position setpoint in the user reference frame.
controller.position.p_gain
-------------------------------------------------------------------
ID: 26
Type: float
The proportional gain of the position controller.
controller.velocity.setpoint
-------------------------------------------------------------------
ID: 27
Type: float
Units: tick / second
The velocity setpoint in the user reference frame.
controller.velocity.limit
-------------------------------------------------------------------
ID: 28
Type: float
Units: tick / second
The velocity limit.
controller.velocity.p_gain
-------------------------------------------------------------------
ID: 29
Type: float
The proportional gain of the velocity controller.
controller.velocity.i_gain
-------------------------------------------------------------------
ID: 30
Type: float
The integral gain of the velocity controller.
.. _integrator-deadband:
controller.velocity.deadband
-------------------------------------------------------------------
ID: 31
Type: float
Units: tick
The deadband of the velocity integrator. A region around the position setpoint where the velocity integrator is not updated.
controller.velocity.increment
-------------------------------------------------------------------
ID: 32
Type: float
Max velocity setpoint increment (ramping) rate. Set to 0 to disable.
controller.current.Iq_setpoint
-------------------------------------------------------------------
ID: 33
Type: float
Units: ampere
The Iq setpoint in the user reference frame.
controller.current.Id_setpoint
-------------------------------------------------------------------
ID: 34
Type: float
Units: ampere
The Id setpoint in the user reference frame.
controller.current.Iq_limit
-------------------------------------------------------------------
ID: 35
Type: float
Units: ampere
The Iq limit.
controller.current.Iq_estimate
-------------------------------------------------------------------
ID: 36
Type: float
Units: ampere
The Iq estimate in the user reference frame.
controller.current.bandwidth
-------------------------------------------------------------------
ID: 37
Type: float
Units: hertz
The current controller bandwidth.
controller.current.Iq_p_gain
-------------------------------------------------------------------
ID: 38
Type: float
The current controller proportional gain.
controller.current.max_Ibus_regen
-------------------------------------------------------------------
ID: 39
Type: float
Units: ampere
The max current allowed to be fed back to the power source before flux braking activates.
controller.current.max_Ibrake
-------------------------------------------------------------------
ID: 40
Type: float
Units: ampere
The max current allowed to be dumped to the motor windings during flux braking. Set to zero to deactivate flux braking.
controller.voltage.Vq_setpoint
-------------------------------------------------------------------
ID: 41
Type: float
Units: volt
The Vq setpoint.
calibrate() -> void
--------------------------------------------------------------------------------------------
ID: 42
Return Type: void
Calibrate the device.
idle() -> void
--------------------------------------------------------------------------------------------
ID: 43
Return Type: void
Set idle mode, disabling the driver.
position_mode() -> void
--------------------------------------------------------------------------------------------
ID: 44
Return Type: void
Set position control mode.
velocity_mode() -> void
--------------------------------------------------------------------------------------------
ID: 45
Return Type: void
Set velocity control mode.
current_mode() -> void
--------------------------------------------------------------------------------------------
ID: 46
Return Type: void
Set current control mode.
set_pos_vel_setpoints(float pos_setpoint, float vel_setpoint) -> float
--------------------------------------------------------------------------------------------
ID: 47
Return Type: float
Set the position and velocity setpoints in the user reference frame in one go, and retrieve the position estimate
.. _api-can-rate:
comms.can.rate
-------------------------------------------------------------------
ID: 48
Type: uint32
The baud rate of the CAN interface.
comms.can.id
-------------------------------------------------------------------
ID: 49
Type: uint32
The ID of the CAN interface.
comms.can.heartbeat
-------------------------------------------------------------------
ID: 50
Type: bool
Toggle sending of heartbeat messages.
motor.R
-------------------------------------------------------------------
ID: 51
Type: float
Units: ohm
The motor Resistance value.
motor.L
-------------------------------------------------------------------
ID: 52
Type: float
Units: henry
The motor Inductance value.
motor.pole_pairs
-------------------------------------------------------------------
ID: 53
Type: uint8
The motor pole pair count.
motor.type
-------------------------------------------------------------------
ID: 54
Type: uint8
The type of the motor. Either high current or gimbal.
Options:
- HIGH_CURRENT
- GIMBAL
motor.calibrated
-------------------------------------------------------------------
ID: 55
Type: bool
Whether the motor has been calibrated.
motor.I_cal
-------------------------------------------------------------------
ID: 56
Type: float
Units: ampere
The calibration current.
motor.errors
-------------------------------------------------------------------
ID: 57
Type: uint8
Any motor/calibration errors, as a bitmask
Flags:
- PHASE_RESISTANCE_OUT_OF_RANGE
- PHASE_INDUCTANCE_OUT_OF_RANGE
- POLE_PAIRS_CALCULATION_DID_NOT_CONVERGE
- POLE_PAIRS_OUT_OF_RANGE
- ABNORMAL_CALIBRATION_VOLTAGE
sensors.user_frame.position_estimate
-------------------------------------------------------------------
ID: 58
Type: float
Units: tick
The filtered position estimate in the user reference frame.
sensors.user_frame.velocity_estimate
-------------------------------------------------------------------
ID: 59
Type: float
Units: tick / second
The filtered velocity estimate in the user reference frame.
sensors.user_frame.offset
-------------------------------------------------------------------
ID: 60
Type: float
Units: tick
The user defined offset.
sensors.user_frame.multiplier
-------------------------------------------------------------------
ID: 61
Type: float
The user defined multipler.
sensors.setup.onboard.calibrated
-------------------------------------------------------------------
ID: 62
Type: bool
Whether the sensor has been calibrated.
sensors.setup.onboard.errors
-------------------------------------------------------------------
ID: 63
Type: uint8
Any sensor errors, as a bitmask
Flags:
- CALIBRATION_FAILED
- READING_UNSTABLE
sensors.setup.external_spi.type
-------------------------------------------------------------------
ID: 64
Type: uint8
The type of the external sensor.
Options:
- MA7XX
- AS5047
- AMT22
sensors.setup.external_spi.rate
-------------------------------------------------------------------
ID: 65
Type: uint8
The rate of the external sensor.
Options:
- 1_5Mbps
- 3Mbps
- 6Mbps
- 8Mbps
- 12Mbps
sensors.setup.external_spi.calibrated
-------------------------------------------------------------------
ID: 66
Type: bool
Whether the sensor has been calibrated.
sensors.setup.external_spi.errors
-------------------------------------------------------------------
ID: 67
Type: uint8
Any sensor errors, as a bitmask
Flags:
- CALIBRATION_FAILED
- READING_UNSTABLE
sensors.setup.hall.calibrated
-------------------------------------------------------------------
ID: 68
Type: bool
Whether the sensor has been calibrated.
sensors.setup.hall.errors
-------------------------------------------------------------------
ID: 69
Type: uint8
Any sensor errors, as a bitmask
Flags:
- CALIBRATION_FAILED
- READING_UNSTABLE
sensors.select.position_sensor.connection
-------------------------------------------------------------------
ID: 70
Type: uint8
The position sensor connection. Either ONBOARD, EXTERNAL_SPI or HALL.
Options:
- ONBOARD
- EXTERNAL_SPI
- HALL
sensors.select.position_sensor.bandwidth
-------------------------------------------------------------------
ID: 71
Type: float
Units: hertz
The position sensor observer bandwidth.
sensors.select.position_sensor.raw_angle
-------------------------------------------------------------------
ID: 72
Type: int32
The raw position sensor angle.
sensors.select.position_sensor.position_estimate
-------------------------------------------------------------------
ID: 73
Type: float
Units: tick
The filtered position estimate in the position sensor reference frame.
sensors.select.position_sensor.velocity_estimate
-------------------------------------------------------------------
ID: 74
Type: float
Units: tick / second
The filtered velocity estimate in the position sensor reference frame.
sensors.select.commutation_sensor.connection
-------------------------------------------------------------------
ID: 75
Type: uint8
The commutation sensor connection. Either ONBOARD, EXTERNAL_SPI or HALL.
Options:
- ONBOARD
- EXTERNAL_SPI
- HALL
sensors.select.commutation_sensor.bandwidth
-------------------------------------------------------------------
ID: 76
Type: float
Units: hertz
The commutation sensor observer bandwidth.
sensors.select.commutation_sensor.raw_angle
-------------------------------------------------------------------
ID: 77
Type: int32
The raw commutation sensor angle.
sensors.select.commutation_sensor.position_estimate
-------------------------------------------------------------------
ID: 78
Type: float
Units: tick
The filtered position estimate in the commutation sensor reference frame.
sensors.select.commutation_sensor.velocity_estimate
-------------------------------------------------------------------
ID: 79
Type: float
Units: tick / second
The filtered velocity estimate in the commutation sensor reference frame.
traj_planner.max_accel
-------------------------------------------------------------------
ID: 80
Type: float
Units: tick / second
The max allowed acceleration of the generated trajectory.
traj_planner.max_decel
-------------------------------------------------------------------
ID: 81
Type: float
Units: tick / second ** 2
The max allowed deceleration of the generated trajectory.
traj_planner.max_vel
-------------------------------------------------------------------
ID: 82
Type: float
Units: tick / second
The max allowed cruise velocity of the generated trajectory.
traj_planner.t_accel
-------------------------------------------------------------------
ID: 83
Type: float
Units: second
In time mode, the acceleration time of the generated trajectory.
traj_planner.t_decel
-------------------------------------------------------------------
ID: 84
Type: float
Units: second
In time mode, the deceleration time of the generated trajectory.
traj_planner.t_total
-------------------------------------------------------------------
ID: 85
Type: float
Units: second
In time mode, the total time of the generated trajectory.
move_to(float pos_setpoint) -> void
--------------------------------------------------------------------------------------------
ID: 86
Return Type: void
Move to target position in the user reference frame respecting velocity and acceleration limits.
move_to_tlimit(float pos_setpoint) -> void
--------------------------------------------------------------------------------------------
ID: 87
Return Type: void
Move to target position in the user reference frame respecting time limits for each sector.
traj_planner.errors
-------------------------------------------------------------------
ID: 88
Type: uint8
Any errors in the trajectory planner, as a bitmask
Flags:
- INVALID_INPUT
- VCRUISE_OVER_LIMIT
homing.velocity
-------------------------------------------------------------------
ID: 89
Type: float
Units: tick / second
The velocity at which the motor performs homing.
homing.max_homing_t
-------------------------------------------------------------------
ID: 90
Type: float
Units: second
The maximum time the motor is allowed to travel before homing times out and aborts.
homing.retract_dist
-------------------------------------------------------------------
ID: 91
Type: float
Units: tick
The retraction distance the motor travels after the endstop has been found.
homing.warnings
-------------------------------------------------------------------
ID: 92
Type: uint8
Any homing warnings, as a bitmask
Flags:
- HOMING_TIMEOUT
homing.stall_detect.velocity
-------------------------------------------------------------------
ID: 93
Type: float
Units: tick / second
The velocity below which (and together with `stall_detect.delta_pos`) stall detection mode is triggered.
homing.stall_detect.delta_pos
-------------------------------------------------------------------
ID: 94
Type: float
Units: tick
The velocity below which (and together with `stall_detect.delta_pos`) stall detection mode is triggered.
homing.stall_detect.t
-------------------------------------------------------------------
ID: 95
Type: float
Units: second
The time to remain in stall detection mode before the motor is considered stalled.
home() -> void
--------------------------------------------------------------------------------------------
ID: 96
Return Type: void
Perform the homing operation.
watchdog.enabled
-------------------------------------------------------------------
ID: 97
Type: bool
Whether the watchdog is enabled or not.
watchdog.triggered
-------------------------------------------------------------------
ID: 98
Type: bool
Whether the watchdog has been triggered or not.
watchdog.timeout
-------------------------------------------------------------------
ID: 99
Type: float
Units: second
The watchdog timeout period.