Contents

CAN Communication

Baud-Rate

The CAN communication baud-rate is 1Mbps.

Non-Periodic Communication

Messages can be sent to initialize or stop CAN communication.

Periodic Communication

The Allegro Hand control software attempts to communicate with the real or simulated hand at a regular control interval. Every 3 milliseconds the joint torques are calculated and the joint angles are updated.

CAN Frames

Standard CAN Packet

The standard CAN packet used for communication contains 8 bytes.

typedef struct{ 
	unsigned char STD_EXT; 
	unsigned long msg_id;		//message identifier 
	unsigned char data_length;	// 
	char           data[8];		// data array 
} can_msg;

ID (Message Identifier)

The 4 byte integer CAN message is split into the command ID (26 bits), destination ID (3bits) and source ID (3 bits).

TABLE GOES HERE

Command Identifiers

TABLE GOES HERE

Source and Destination Identifiers

TABLE GOES HERE
 whatever 

Case-study: Softing CAN

In this chapter, sample code demonstrating the implementation of the CAN communication interface is provide. This is the foundation for Softing PCI CAN.

Opening the CAN Communication Channel

char ch_name[256]; 
sprintf_s(ch_name, 256, "CAN-ACx-PCI_%d", ch); 
INIL2_initialize_channel(&hCAN[ch-1], ch_name); 
 
L2CONFIG L2Config; 
L2Config.fBaudrate = 1000.0; 
L2Config.bEnableAck = 0; 
L2Config.bEnableErrorframe = 0; 
L2Config.s32AccCodeStd = 0; 
L2Config.s32AccMaskStd = 0; 
L2Config.s32AccCodeXtd = 0; 
L2Config.s32AccMaskXtd = 0; 
L2Config.s32OutputCtrl = GET_FROM_SCIM; 
L2Config.s32Prescaler = 1; 
L2Config.s32Sam = 0; 
L2Config.s32Sjw = 1; 
L2Config.s32Tseg1 = 4; 
L2Config.s32Tseg2 = 3; 
L2Config.hEvent = (void*)-1; 
 
CANL2_initialize_fifo_mode(hCAN[ch-1], &L2Config);

CAN Initialization

long Txid; 
unsigned char data[8]; 
 
Txid = ((unsigned long)ID_CMD_SET_PERIOD<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); 
data[0] = (unsigned char)period_msec; 
canWrite(hCAN, Txid, data, 1, STD); 
 
Sleep(10); 
 
Txid = ((unsigned long)ID_CMD_SET_MODE_TASK<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); 
canWrite(hCAN, Txid, data, 0, STD); 
 
Sleep(10); 
 
Txid = ((unsigned long)ID_CMD_QUERY_STATE_DATA<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); 
canWrite(hCAN, Txid, data, 0, STD);

Starting Periodic CAN Communication

When you start periodic CAN communication, joint angles are automatically updated according to the torque control input.

long Txid; 
unsigned char data[8]; 
 
Txid = ((unsigned long)ID_CMD_QUERY_STATE_DATA<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); 
canWrite(hCAN[ch-1], Txid, data, 0, STD); 
 
Sleep(10); 
 
Txid = ((unsigned long)ID_CMD_SET_SYSTEM_ON<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); 
canWrite(hCAN[ch-1], Txid, data, 0, STD);

Stopping Periodic CAN Communication

long Txid; 
unsigned char data[8]; 
 
Txid = ((unsigned long)ID_CMD_SET_SYSTEM_OFF<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); 
canWrite(hCAN[ch-1], Txid, data, 0, STD);

Transmitting Control Torques

Control inputs for the four joints in each finger should be packed in a single CAN frame. The sample code below demontrates how to encode four PWM inputs into an 8 byte data buffer and how to set the CAN frame ID properly.

long Txid; 
unsigned char data[8]; 
float torque2pwm = 800.0f 
short pwm[4] = { 
	0.1*torque2pwm, 
	0.1*torque2pwm, 
	0.1*torque2pwm, 
	0.1*torque2pwm 
}; 
 
if (findex >= 0 && findex < 4) 
{ 
	data[0] = (unsigned char)( (pwm[0] >> 8) & 0x00ff); 
	data[1] = (unsigned char)(pwm[0] & 0x00ff); 
 
	data[2] = (unsigned char)( (pwm[1] >> 8) & 0x00ff); 
	data[3] = (unsigned char)(pwm[1] & 0x00ff); 
 
	data[4] = (unsigned char)( (pwm[2] >> 8) & 0x00ff); 
	data[5] = (unsigned char)(pwm[2] & 0x00ff); 
 
	data[6] = (unsigned char)( (pwm[3] >> 8) & 0x00ff); 
	data[7] = (unsigned char)(pwm[3] & 0x00ff); 
 
	Txid = ((unsigned long)(ID_CMD_SET_TORQUE_1 + findex)<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN); 
	canWrite(hCAN, Txid, data, 8, STD); 
}

Receiving Joint Angles

Each finger consists of four joints. The joint angles for those four joints can be received via one CAN packet. The sample code below demonstrates the method for decoding the data buffer and reading the joint angles.

The sample code assumes that when fingers are in their zero positions, the joint angles from the can packet are 32768. In practice, users should perform experiments and introduce offsets to obtain the zero position.

char cmd; 
char src; 
char des; 
int len; 
unsigned char data[8]; 
int ret; 
can_msg msg; 
PARAM_STRUCT param; 
 
ret = CANL2_read_ac(hCAN, &param); 
 
switch (ret) 
{ 
case CANL2_RA_DATAFRAME: 
	msg.msg_id = param.Ident; 
	msg.STD_EXT = STD; 
	msg.data_length = param.DataLength; 
 
	msg.data[0] = param.RCV_data[0]; 
	msg.data[1] = param.RCV_data[1]; 
	msg.data[2] = param.RCV_data[2]; 
	msg.data[3] = param.RCV_data[3]; 
	msg.data[4] = param.RCV_data[4]; 
	msg.data[5] = param.RCV_data[5]; 
	msg.data[6] = param.RCV_data[6]; 
	msg.data[7] = param.RCV_data[7]; 
 
	break; 
} 
 
cmd = (char)( (msg.msg_id >> 6) & 0x1f ); 
des = (char)( (msg.msg_id >> 3) & 0x07 ); 
src = (char)( msg.msg_id & 0x07 ); 
len = (int)( msg.data_length ); 
for(int nd=0; nd<len; nd++) 
	data[nd] = msg.data[nd]; 
 
switch (cmd) 
{ 
case ID_CMD_QUERY_CONTROL_DATA: 
	{
		if (id_src >= ID_DEVICE_SUB_01 && id_src <= ID_DEVICE_SUB_04) 
		{ 
			int temp_pos[4]; // raw angle data 
			float ang[4]; // degree 
			float q[4]; // radian 
 
			temp_pos[0] = (int)(data[0] | (data[1] << 8)); 
			temp_pos[1] = (int)(data[2] | (data[3] << 8)); 
			temp_pos[2] = (int)(data[4] | (data[5] << 8)); 
			temp_pos[3] = (int)(data[6] | (data[7] << 8)); 
 
			ang[0] = ((float)(temp_pos[0]-32768)*(333.3f/65536.0f))*(1); 
			ang[1] = ((float)(temp_pos[1]-32768)*(333.3f/65536.0f))*(1); 
			ang[2] = ((float)(temp_pos[2]-32768)*(333.3f/65536.0f))*(1); 
			ang[3] = ((float)(temp_pos[3]-32768)*(333.3f/65536.0f))*(1); 
 
			q[0] = (3.141592f/180.0f) * ang[0]; 
			q[1] = (3.141592f/180.0f) * ang[1]; 
			q[2] = (3.141592f/180.0f) * ang[2]; 
			q[3] = (3.141592f/180.0f) * ang[3]; 
		} 
	} 
 
}

Download

File:AllegroHandCanProtocol.pdf ----------- Work in Progress.
File:AllegroHandCanProtocol KR.pdf





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Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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