tinymovr_2_3_x.yaml

name: tm
remote_attributes:
  - name: protocol_hash
    dtype: uint32
    getter_name: _avlos_get_proto_hash
    summary: The Avlos protocol hash.
  - name: uid
    dtype: uint32
    getter_name: system_get_uid
    summary: The unique device ID, unique to each PAC55xx chip produced.
  - name: fw_version
    dtype: string
    getter_name: system_get_fw_version_string
    summary: The firmware version.
  - name: hw_revision
    dtype: uint32
    getter_name: system_get_hw_revision
    summary: The hardware revision.
  - name: Vbus
    dtype: float
    unit: volt
    meta: {dynamic: True}
    getter_name: system_get_Vbus
    summary: The measured bus voltage.
  - name: Ibus
    dtype: float
    unit: ampere
    meta: {dynamic: True}
    getter_name: controller_get_Ibus_est
    summary: The estimated bus current. Only estimates current drawn by motor.
  - name: power
    dtype: float
    unit: watt
    meta: {dynamic: True}
    getter_name: controller_get_power_est
    summary: The estimated power. Only estimates power drawn by motor.
  - name: temp
    dtype: float
    unit: degC
    meta: {dynamic: True}
    getter_name: ADC_get_mcu_temp
    summary: The internal temperature of the PAC55xx MCU.
  - name: calibrated
    dtype: bool
    meta: {dynamic: True}
    getter_name: system_get_calibrated
    summary: Whether the system has been calibrated.
  - name: errors
    flags: [UNDERVOLTAGE]
    meta: {dynamic: True}
    getter_name: system_get_errors
    summary: Any system errors, as a bitmask
  - name: warnings
    flags: [DRIVER_FAULT, CHARGE_PUMP_FAULT_STAT, CHARGE_PUMP_FAULT, DRV10_DISABLE, DRV32_DISABLE, DRV54_DISABLE]
    meta: {dynamic: True}
    getter_name: system_get_warnings
    summary: Any system warnings, as a bitmask
  - name: save_config
    summary: Save configuration to non-volatile memory.
    caller_name: nvm_save_config
    dtype: void
    arguments: []
  - name: erase_config
    summary: Erase the config stored in non-volatile memory and reset the device.
    caller_name: nvm_erase_and_reset
    dtype: void
    arguments: []
    meta: {reload_data: True}
  - name: reset
    summary: Reset the device.
    caller_name: system_reset
    dtype: void
    arguments: []
    meta: {reload_data: True}
  - name: enter_dfu
    summary: Enter DFU mode.
    caller_name: system_enter_dfu
    dtype: void
    arguments: []
    meta: {reload_data: True}
  - name: config_size
    summary: Size (in bytes) of the configuration object.
    getter_name: system_get_config_size
    dtype: uint32
  - name: scheduler
    remote_attributes:
      - name: load
        summary: Processor load in ticks per PWM cycle.
        getter_name: scheduler_get_load
        meta: {dynamic: True}
        dtype: uint32
      - name: warnings
        flags: [CONTROL_BLOCK_REENTERED]
        meta: {dynamic: True}
        getter_name: scheduler_get_warnings
        summary: Any scheduler warnings, as a bitmask
  - name: controller
    remote_attributes:
      - name: state
        options: [IDLE, CALIBRATE, CL_CONTROL]
        meta: {dynamic: True}
        getter_name: controller_get_state
        setter_name: controller_set_state
        summary: The state of the controller.
      - name: mode
        options: [CURRENT, VELOCITY, POSITION, TRAJECTORY, HOMING]
        meta: {dynamic: True}
        getter_name: controller_get_mode
        setter_name: controller_set_mode
        summary: The control mode of the controller.
      - name: warnings
        meta: {dynamic: True}
        flags: [VELOCITY_LIMITED, CURRENT_LIMITED, MODULATION_LIMITED]
        getter_name: controller_get_warnings
        summary: Any controller warnings, as a bitmask
      - name: errors
        meta: {dynamic: True}
        flags: [CURRENT_LIMIT_EXCEEDED, PRE_CL_I_SD_EXCEEDED]
        getter_name: controller_get_errors
        summary: Any controller errors, as a bitmask
      - name: position
        remote_attributes:
          - name: setpoint
            dtype: float
            unit: tick
            meta: {jog_step: 100}
            getter_name: controller_get_pos_setpoint_user_frame
            setter_name: controller_set_pos_setpoint_user_frame
            summary: The position setpoint in the user reference frame.
          - name: p_gain
            dtype: float
            meta: {export: True}
            getter_name: controller_get_pos_gain
            setter_name: controller_set_pos_gain
            summary: The proportional gain of the position controller.
      - name: velocity
        remote_attributes:
          - name: setpoint
            dtype: float
            unit: tick/sec
            meta: {jog_step: 200}
            getter_name: controller_get_vel_setpoint_user_frame
            setter_name: controller_set_vel_setpoint_user_frame
            summary: The velocity setpoint in the user reference frame.
          - name: limit
            dtype: float
            unit: tick/sec
            meta: {export: True}
            getter_name: controller_get_vel_limit
            setter_name: controller_set_vel_limit
            summary: The velocity limit.
          - name: p_gain
            dtype: float
            meta: {export: True}
            getter_name: controller_get_vel_gain
            setter_name: controller_set_vel_gain
            summary: The proportional gain of the velocity controller.
          - name: i_gain
            dtype: float
            meta: {export: True}
            getter_name: controller_get_vel_integral_gain
            setter_name: controller_set_vel_integral_gain
            summary: The integral gain of the velocity controller.
          - name: deadband
            dtype: float
            unit: tick
            meta: {export: True}
            getter_name: controller_get_vel_integral_deadband
            setter_name: controller_set_vel_integral_deadband
            rst_target: integrator-deadband
            summary: The deadband of the velocity integrator. A region around the position setpoint where the velocity integrator is not updated.
          - name: increment
            dtype: float
            meta: {export: True}
            getter_name: controller_get_vel_increment
            setter_name: controller_set_vel_increment
            summary: Max velocity setpoint increment (ramping) rate. Set to 0 to disable.
      - name: current
        remote_attributes:
          - name: Iq_setpoint
            dtype: float
            unit: ampere
            meta: {jog_step: 0.005}
            getter_name: controller_get_Iq_setpoint_user_frame
            setter_name: controller_set_Iq_setpoint_user_frame
            summary: The Iq setpoint in the user reference frame.
          - name: Id_setpoint
            dtype: float
            unit: ampere
            meta: {dynamic: True}
            getter_name: controller_get_Id_setpoint_user_frame
            summary: The Id setpoint in the user reference frame.
          - name: Iq_limit
            dtype: float
            unit: ampere
            getter_name: controller_get_Iq_limit
            setter_name: controller_set_Iq_limit
            summary: The Iq limit.
          - name: Iq_estimate
            dtype: float
            unit: ampere
            meta: {dynamic: True}
            getter_name: controller_get_Iq_estimate_user_frame
            summary: The Iq estimate in the user reference frame.
          - name: bandwidth
            dtype: float
            unit: Hz
            meta: {export: True}
            getter_name: controller_get_I_bw
            setter_name: controller_set_I_bw
            summary: The current controller bandwidth.
          - name: Iq_p_gain
            dtype: float
            getter_name: controller_get_Iq_gain
            summary: The current controller proportional gain.
          - name: max_Ibus_regen
            dtype: float
            unit: ampere
            getter_name: controller_get_max_Ibus_regen
            setter_name: controller_set_max_Ibus_regen
            summary: The max current allowed to be fed back to the power source before flux braking activates.
          - name: max_Ibrake
            dtype: float
            unit: ampere
            meta: {export: True}
            getter_name: controller_get_max_Ibrake
            setter_name: controller_set_max_Ibrake
            summary: The max current allowed to be dumped to the motor windings during flux braking. Set to zero to deactivate flux braking.
      - name: voltage
        remote_attributes:
          - name: Vq_setpoint
            dtype: float
            unit: volt
            meta: {dynamic: True}
            getter_name: controller_get_Vq_setpoint_user_frame
            summary: The Vq setpoint.
      - name: calibrate
        summary: Calibrate the device.
        caller_name: controller_calibrate
        dtype: void
        arguments: []
      - name: idle
        summary: Set idle mode, disabling the driver.
        caller_name: controller_idle
        dtype: void
        arguments: []
      - name: position_mode
        summary: Set position control mode.
        caller_name: controller_position_mode
        dtype: void
        arguments: []
      - name: velocity_mode
        summary: Set velocity control mode.
        caller_name: controller_velocity_mode
        dtype: void
        arguments: []
      - name: current_mode
        summary: Set current control mode.
        caller_name: controller_current_mode
        dtype: void
        arguments: []
      - name: set_pos_vel_setpoints
        summary: Set the position and velocity setpoints in the user reference frame in one go, and retrieve the position estimate
        caller_name: controller_set_pos_vel_setpoints_user_frame
        dtype: float
        arguments:
          - name: pos_setpoint
            dtype: float
            unit: tick
          - name: vel_setpoint
            dtype: float
            unit: tick
  - name: comms
    remote_attributes:
    - name: can
      remote_attributes:
      - name: rate
        dtype: uint32
        meta: {export: True}
        getter_name: CAN_get_kbit_rate
        setter_name: CAN_set_kbit_rate
        rst_target: api-can-rate
        summary: The baud rate of the CAN interface.
      - name: id
        dtype: uint32
        meta: {export: True, reload_data: True}
        getter_name: CAN_get_ID
        setter_name: CAN_set_ID
        summary: The ID of the CAN interface.
      - name: heartbeat
        dtype: bool
        getter_name: CAN_get_send_heartbeat
        setter_name: CAN_set_send_heartbeat
        summary: Toggle sending of heartbeat messages.
  - name: motor
    remote_attributes:
      - name: R
        dtype: float
        unit: ohm
        meta: {dynamic: True, export: True}
        getter_name: motor_get_phase_resistance
        setter_name: motor_set_phase_resistance
        summary: The motor Resistance value.
      - name: L
        dtype: float
        unit: henry
        meta: {dynamic: True, export: True}
        getter_name: motor_get_phase_inductance
        setter_name: motor_set_phase_inductance
        summary: The motor Inductance value.
      - name: pole_pairs
        dtype: uint8
        meta: {dynamic: True, export: True}
        getter_name: motor_get_pole_pairs
        setter_name: motor_set_pole_pairs
        summary: The motor pole pair count.
      - name: type
        options: [HIGH_CURRENT, GIMBAL]
        meta: {export: True}
        getter_name: motor_get_is_gimbal
        setter_name: motor_set_is_gimbal
        summary: The type of the motor. Either high current or gimbal.
      - name: calibrated
        dtype: bool
        meta: {dynamic: True}
        getter_name: motor_get_calibrated
        summary: Whether the motor has been calibrated.
      - name: I_cal
        dtype: float
        unit: ampere
        meta: {export: True}
        getter_name: motor_get_I_cal
        setter_name: motor_set_I_cal
        summary: The calibration current.
      - name: errors
        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]
        meta: {dynamic: True}
        getter_name: motor_get_errors
        summary: Any motor/calibration errors, as a bitmask
  - name: sensors
    remote_attributes:
      - name: user_frame
        remote_attributes:
          - name: position_estimate
            dtype: float
            unit: ticks
            meta: {dynamic: True}
            getter_name: user_frame_get_pos_estimate
            summary: The filtered position estimate in the user reference frame.
          - name: velocity_estimate
            dtype: float
            unit: ticks/second
            meta: {dynamic: True}
            getter_name: user_frame_get_vel_estimate
            summary: The filtered velocity estimate in the user reference frame.
          - name: offset
            dtype: float
            unit: ticks
            getter_name: frame_user_to_position_sensor_get_offset
            setter_name: frame_user_to_position_sensor_set_offset
            summary: The user defined offset.
          - name: multiplier
            dtype: float
            getter_name: frame_user_to_position_sensor_get_multiplier
            setter_name: frame_user_to_position_sensor_set_multiplier
            summary: The user defined multipler.
      - name: setup
        remote_attributes:
          - name: onboard
            remote_attributes:
              - name: calibrated
                dtype: bool
                meta: {dynamic: True}
                getter_name: sensor_onboard_get_is_calibrated
                summary: Whether the sensor has been calibrated.
              - name: errors
                flags: [CALIBRATION_FAILED, READING_UNSTABLE]
                meta: {dynamic: True}
                getter_name: sensor_onboard_get_errors
                summary: Any sensor errors, as a bitmask
          - name: external_spi
            remote_attributes:
              - name: type
                options: [MA7XX, AS5047, AMT22]
                meta: {export: True}
                getter_name: sensor_external_spi_get_type_avlos
                setter_name: sensor_external_spi_set_type_avlos
                summary: The type of the external sensor.
              - name: rate
                options: [1_5Mbps, 3Mbps, 6Mbps, 8Mbps, 12Mbps]
                meta: {export: True, dynamic: True}
                getter_name: sensor_external_spi_get_rate_avlos
                setter_name: sensor_external_spi_set_rate_avlos
                summary: The rate of the external sensor.
              - name: calibrated
                dtype: bool
                meta: {dynamic: True}
                getter_name: sensor_external_spi_get_is_calibrated
                summary: Whether the sensor has been calibrated.
              - name: errors
                flags: [CALIBRATION_FAILED, READING_UNSTABLE]
                meta: {dynamic: True}
                getter_name: sensor_external_spi_get_errors
                summary: Any sensor errors, as a bitmask
          - name: hall
            remote_attributes:
              - name: calibrated
                dtype: bool
                meta: {dynamic: True}
                getter_name: sensor_hall_get_is_calibrated
                summary: Whether the sensor has been calibrated.
              - name: errors
                flags: [CALIBRATION_FAILED, READING_UNSTABLE]
                meta: {dynamic: True}
                getter_name: sensor_hall_get_errors
                summary: Any sensor errors, as a bitmask
      - name: select
        remote_attributes:
          - name: position_sensor
            remote_attributes:
              - name: connection
                options: [ONBOARD, EXTERNAL_SPI, HALL]
                meta: {export: True}
                getter_name: position_sensor_get_connection
                setter_name: position_sensor_set_connection
                summary: The position sensor connection. Either ONBOARD, EXTERNAL_SPI or HALL.
              - name: bandwidth
                dtype: float
                unit: Hz
                meta: {export: True}
                getter_name: position_observer_get_bandwidth
                setter_name: position_observer_set_bandwidth
                summary: The position sensor observer bandwidth.
              - name: raw_angle
                dtype: int32
                meta: {dynamic: True}
                getter_name: sensor_position_get_raw_angle
                summary: The raw position sensor angle.
              - name: position_estimate
                dtype: float
                unit: ticks
                meta: {dynamic: True}
                getter_name: position_observer_get_pos_estimate
                summary: The filtered position estimate in the position sensor reference frame.
              - name: velocity_estimate
                dtype: float
                unit: ticks/second
                meta: {dynamic: True}
                getter_name: position_observer_get_vel_estimate
                summary: The filtered velocity estimate in the position sensor reference frame.
          - name: commutation_sensor
            remote_attributes:
              - name: connection
                options: [ONBOARD, EXTERNAL_SPI, HALL]
                meta: {export: True}
                getter_name: commutation_sensor_get_connection
                setter_name: commutation_sensor_set_connection
                summary: The commutation sensor connection. Either ONBOARD, EXTERNAL_SPI or HALL.
              - name: bandwidth
                dtype: float
                unit: Hz
                meta: {export: True}
                getter_name: commutation_observer_get_bandwidth
                setter_name: commutation_observer_set_bandwidth
                summary: The commutation sensor observer bandwidth.
              - name: raw_angle
                dtype: int32
                meta: {dynamic: True}
                getter_name: sensor_commutation_get_raw_angle
                summary: The raw commutation sensor angle.
              - name: position_estimate
                dtype: float
                unit: ticks
                meta: {dynamic: True}
                getter_name: commutation_observer_get_pos_estimate
                summary: The filtered position estimate in the commutation sensor reference frame.
              - name: velocity_estimate
                dtype: float
                unit: ticks/second
                meta: {dynamic: True}
                getter_name: commutation_observer_get_vel_estimate
                summary: The filtered velocity estimate in the commutation sensor reference frame.
  - name: traj_planner
    remote_attributes:
      - name: max_accel
        dtype: float
        unit: ticks/s
        meta: {export: True}
        getter_name: planner_get_max_accel
        setter_name: planner_set_max_accel
        summary: The max allowed acceleration of the generated trajectory.
      - name: max_decel
        dtype: float
        unit: ticks/second/second
        meta: {export: True}
        getter_name: planner_get_max_decel
        setter_name: planner_set_max_decel
        summary: The max allowed deceleration of the generated trajectory.
      - name: max_vel
        dtype: float
        unit: ticks/second
        meta: {export: True}
        getter_name: planner_get_max_vel
        setter_name: planner_set_max_vel
        summary: The max allowed cruise velocity of the generated trajectory.
      - name: t_accel
        dtype: float
        unit: second
        meta: {export: True}
        getter_name: planner_get_deltat_accel
        setter_name: planner_set_deltat_accel
        summary: In time mode, the acceleration time of the generated trajectory.
      - name: t_decel
        dtype: float
        unit: second
        meta: {export: True}
        getter_name: planner_get_deltat_decel
        setter_name: planner_set_deltat_decel
        summary: In time mode, the deceleration time of the generated trajectory.
      - name: t_total
        dtype: float
        unit: second
        meta: {export: True}
        getter_name: planner_get_deltat_total
        setter_name: planner_set_deltat_total
        summary: In time mode, the total time of the generated trajectory.
      - name: move_to
        summary: Move to target position in the user reference frame respecting velocity and acceleration limits.
        caller_name: planner_move_to_vlimit
        dtype: void
        arguments:
          - name: pos_setpoint
            dtype: float
            unit: tick
      - name: move_to_tlimit
        summary: Move to target position in the user reference frame respecting time limits for each sector.
        caller_name: planner_move_to_tlimit
        dtype: void
        arguments:
          - name: pos_setpoint
            dtype: float
            unit: tick
      - name: errors
        flags: [INVALID_INPUT, VCRUISE_OVER_LIMIT]
        getter_name: planner_get_errors
        summary: Any errors in the trajectory planner, as a bitmask
  - name: homing
    remote_attributes:
      - name: velocity
        dtype: float
        unit: ticks/s
        meta: {export: True}
        getter_name: homing_planner_get_homing_velocity
        setter_name: homing_planner_set_homing_velocity
        summary: The velocity at which the motor performs homing.
      - name: max_homing_t
        dtype: float
        unit: s
        meta: {export: True}
        getter_name: homing_planner_get_max_homing_t
        setter_name: homing_planner_set_max_homing_t
        summary: The maximum time the motor is allowed to travel before homing times out and aborts.
      - name: retract_dist
        dtype: float
        unit: ticks
        meta: {export: True}
        getter_name: homing_planner_get_retract_distance
        setter_name: homing_planner_set_retract_distance
        summary: The retraction distance the motor travels after the endstop has been found.
      - name: warnings
        meta: {dynamic: True}
        flags: [HOMING_TIMEOUT]
        getter_name: homing_planner_get_warnings
        summary: Any homing warnings, as a bitmask
      - name: stall_detect
        remote_attributes:
          - name: velocity
            dtype: float
            unit: ticks/s
            meta: {export: True}
            getter_name: homing_planner_get_max_stall_vel
            setter_name: homing_planner_set_max_stall_vel
            summary: The velocity below which (and together with `stall_detect.delta_pos`) stall detection mode is triggered.
          - name: delta_pos
            dtype: float
            unit: ticks
            meta: {export: True}
            getter_name: homing_planner_get_max_stall_delta_pos
            setter_name: homing_planner_set_max_stall_delta_pos
            summary: The velocity below which (and together with `stall_detect.delta_pos`) stall detection mode is triggered.
          - name: t
            dtype: float
            unit: s
            meta: {export: True}
            getter_name: homing_planner_get_max_stall_t
            setter_name: homing_planner_set_max_stall_t
            summary: The time to remain in stall detection mode before the motor is considered stalled.
      - name: home
        summary: Perform the homing operation.
        caller_name: homing_planner_home
        dtype: void
        arguments: []
  - name: watchdog
    remote_attributes:
      - name: enabled
        dtype: bool
        getter_name: Watchdog_get_enabled
        setter_name: Watchdog_set_enabled
        summary: Whether the watchdog is enabled or not.
      - name: triggered
        dtype: bool
        meta: {dynamic: True}
        getter_name: Watchdog_triggered
        summary: Whether the watchdog has been triggered or not.
      - name: timeout
        dtype: float
        unit: s
        meta: {export: True}
        getter_name: Watchdog_get_timeout_seconds
        setter_name: Watchdog_set_timeout_seconds
        summary: The watchdog timeout period.