Firmware Version 0.1.7

API Reference

Firmware Version:

C/C++ API Reference

Return Interface Enum

typedef enum
{
  RETURN_FAILURE = 0,
  RETURN_SUCCESS = 1
} ret_interface_t;

Description

Used to indicate the success or failure status of an interface operation.

Enumerator	Value	Description
RETURN_FAILURE	0	Operation failed
RETURN_SUCCESS	1	Operation succeeded

CAN Baud Rate Enum

typedef enum
{
    UNKNOWN_OR_INVALID_BAUDRATE = -1,
    BAUDRATE_10K,
    BAUDRATE_20K,
    BAUDRATE_50K,
    BAUDRATE_100K,
    BAUDRATE_125K,
    BAUDRATE_250K,
    BAUDRATE_500K,
    BAUDRATE_750K,
    BAUDRATE_1M
} CANBaudRate;

Description

Defines the supported CAN bus communication baud rates for the interface.

Enumerator	Value	Description
UNKNOWN_OR_INVALID_BAUDRATE	-1	Invalid or unknown baud rate
BAUDRATE_10K	0	10 kbps
BAUDRATE_20K	1	20 kbps
BAUDRATE_50K	2	50 kbps
BAUDRATE_100K	3	100 kbps
BAUDRATE_125K	4	125 kbps
BAUDRATE_250K	5	250 kbps
BAUDRATE_500K	6	500 kbps
BAUDRATE_750K	7	750 kbps
BAUDRATE_1M	8	1 Mbps

CANInterface.CANInterface()

CANInterface::CANInterface()

Description

Construct a new CANInterface object.

CANInterface.closeInterface()

uint8_t CANInterface::closeInterface()

Description

Closes CANInterface and running threads.

Returns

Datatype	Description
uint8_t	uint8_t Success(0) or Failure(1)

CANInterface.getConnectedDevices()

std::map<uint32_t, uint8_t> CANInterface::getConnectedDevices()

Description

Get list of connected devices.

Returns

Datatype	Description
std::map<uint32_t,uint8_t>	Map array of node id's and corresponding device types which are connected.

CANInterface.initInterface()

uint8_t CANInterface::initInterface(std::string interface_name, std::function< void(uint32_t, uint8_t)> on_new_dev_cb=nullptr, std::function< void(uint32_t)> on_dev_disconnect_cb=nullptr)

Description

Invokes lower level interface initialisation and starts various threads.

Parameters

Datatype	Variable	Description
std::string	interface_name	Name of CAN Interface eg. can0, vcan0...etc
std::function< void(uint32_t, uint8_t)>	on_new_dev_cb	Callback function which will be called when a new device is connected. The arguments of the function are: • CAN Node ID of the device of type uint32_t • Value of uint8_t type variable represents the type of the device which is connected.   • 0 means that an actuator is connected.   • 1 means that a motor driver is connected.   • 2 means that an IMU is connected.   • 3 means that an NCoder is connected. Return value of the function is void ie. it returns nothing.
std::function< void(uint32_t)>	on_dev_disconnect_cb	Callback function which will be called when a device is disconnected. The argument of this function is the CAN Node ID of the device of type uint32_t and return value of the function is void i.e. it returns nothing.

Returns

Datatype	Description
uint8_t	uint8_t Success(0) or Failure(1)

USBInterface.USBInterface()

USBInterface::USBInterface()

Description

Construct a new USBInterface object.

USBInterface.closeInterface()

uint8_t USBInterface::closeInterface()

Description

Closes USBInterface and running threads.

Returns

Datatype	Description
uint8_t	uint8_t Success(0) or Failure(1)

USBInterface.enterDFUMode()

ret_interface_t USBInterface::enterDFUMode()

Description

Set NLink to DFU Mode.

Returns

Datatype	Description
ret_interface_t	ret_interface_t Success(0) or Failure(1)

USBInterface.eraseConfiguration()

ret_interface_t USBInterface::eraseConfiguration()

Description

Erase the configuration from NLink.

Returns

Datatype	Description
ret_interface_t	ret_interface_t Success(0) or Failure(1)

USBInterface.getCANBaudRate()

ret_interface_t USBInterface::getCANBaudRate(CANBaudRate *baud_rate)

Description

Get CAN Baud Rate for NLink.

Parameters

Datatype	Variable	Description
CANBaudRate *	baud_rate	Pointer to CANBaudRate where current baud rate will be stored

Returns

Datatype	Description
ret_interface_t	ret_interface_t Success(0) or Failure(1)

USBInterface.getConnectedDevices()

std::map<uint32_t, uint8_t> USBInterface::getConnectedDevices()

Description

Get list of connected devices.

Returns

Datatype	Description
std::map<uint32_t,uint8_t>	Map array of node id's and corresponding device types which are connected.

USBInterface.getFirmwareVersion()

ret_interface_t USBInterface::getFirmwareVersion(uint8_t *fw_version_major, uint8_t *fw_version_minor, uint8_t *fw_version_revision, std::string *fw_version_commit)

Description

Get the firmware version of the device.

Parameters

Datatype	Variable	Description
uint8_t *	fw_version_major	-
uint8_t *	fw_version_minor	-
uint8_t *	fw_version_revision	-
std::string *	fw_version_commit	-

Returns

Datatype	Description
ret_interface_t	ret_interface_t Success(0) or Failure(1)

USBInterface.getHardwareVersion()

ret_interface_t USBInterface::getHardwareVersion(uint8_t *hw_version_major, uint8_t *hw_version_minor, uint8_t *hw_revision)

Description

Get the hardware version of the device.

Parameters

Datatype	Variable	Description
uint8_t *	hw_version_major	-
uint8_t *	hw_version_minor	-
uint8_t *	hw_revision	-

Returns

Datatype	Description
ret_interface_t	ret_interface_t Success(0) or Failure(1)

USBInterface.initInterface()

uint8_t USBInterface::initInterface(std::string interface_name, std::function< void(uint32_t, uint8_t)> on_new_dev_cb=nullptr, std::function< void(uint32_t)> on_dev_disconnect_cb=nullptr)

Description

Invokes lower level interface initialisation and starts various threads.

Parameters

Datatype	Variable	Description
std::string	interface_name	Name of CAN Interface eg. can0, vcan0...etc
std::function< void(uint32_t, uint8_t)>	on_new_dev_cb	Callback function which will be called when a new device is connected. The arguments of the function are: • CAN Node ID of the device of type uint32_t • Value of uint8_t type variable represents the type of the device which is connected.   • 0 means that an actuator is connected.   • 1 means that a motor driver is connected.   • 2 means that an IMU is connected.   • 3 means that an NCoder is connected. Return value of the function is void ie. it returns nothing.
std::function< void(uint32_t)>	on_dev_disconnect_cb	Callback function which will be called when a device is disconnected. The argument of this function is the CAN Node ID of the device of type uint32_t and return value of the function is void i.e. it returns nothing.

Returns

Datatype	Description
uint8_t	uint8_t Success(0) or Failure(1)

USBInterface.rebootNLink()

ret_interface_t USBInterface::rebootNLink()

Description

Reboot the NLink device.

Returns

Datatype	Description
ret_interface_t	ret_interface_t Success(0) or Failure(1)

USBInterface.saveConfiguration()

ret_interface_t USBInterface::saveConfiguration()

Description

Save the configuration to NLink.

Returns

Datatype	Description
ret_interface_t	ret_interface_t Success(0) or Failure(1)

USBInterface.setCANBaudRate()

ret_interface_t USBInterface::setCANBaudRate(CANBaudRate baud_rate)

Description

Set CAN Baud Rate for NLink.

Parameters

Datatype	Variable	Description
CANBaudRate	baud_rate

Returns

Datatype	Description
ret_interface_t	uint8_t Success(0) or Failure(1)

Python API Reference

CANInterface.CANInterface()

CANInterface(interface_name: str)

Description

CANInterface class constructor.

@param interface_name Interface identifier string.

Parameters

Datatype	Variable	Description
str	interface_name	-

CANInterface.close()

close()

Description

Close the interface.

CANInterface.getConnectedDevices()

getConnectedDevices() -> 'list[int]'

Description

Get connected devices on the interface.

Returns

Datatype	Description
'list[int]'	List of CAN Node IDs of connected devices.

USBInterface.USBInterface()

USBInterface(interface_name: str)

Description

USBInterface class constructor.

@param interface_name Interface identifier string.

Parameters

Datatype	Variable	Description
str	interface_name	-

USBInterface.close()

close()

Description

Close the interface.

USBInterface.enterDFUMode()

enterDFUMode() -> bool

Description

Enter Device Firmware Update Mode.

Returns

Datatype	Description
bool	True if successful else False.

USBInterface.eraseConfiguration()

eraseConfiguration() -> bool

Description

Erase current configuration from the device.

Returns

Datatype	Description
bool	True if successful else False.

USBInterface.getCANBaudRate()

getCANBaudRate() -> 'tuple[int, nmotion_transport.CANBaudRate]'

Description

Get CAN Baudrate for the interface.

Returns

Datatype	Description
'tuple[int, nmotion_transport.CANBaudRate]'	CAN Baudrate value.

USBInterface.getConnectedDevices()

getConnectedDevices() -> 'dict[int, int]'

Description

Get connected devices on the interface.

Returns

Datatype	Description
'dict[int, int]'	List of CAN Node IDs and device type of connected devices.

USBInterface.getFirmwareVersion()

getFirmwareVersion() -> 'tuple[int, int, int, str]'

Description

Get Firmware version of the device.

Returns

Datatype	Description
'tuple[int, int, int, str]'	Firmware version as major, minor, revision, commit.

USBInterface.getHardwareVersion()

getHardwareVersion() -> 'tuple[int, int, int]'

Description

Get Hardware version of the device.

Returns

Datatype	Description
'tuple[int, int, int]'	Hardware version as major, minor, revision.

USBInterface.rebootNLink()

rebootNLink() -> bool

Description

Reboot the NLink device.

Returns

Datatype	Description
bool	True if successful else False.

USBInterface.saveConfiguration()

saveConfiguration() -> bool

Description

Save current configuration to the device.

Returns

Datatype	Description
bool	True if successful else False.

USBInterface.setCANBaudRate()

setCANBaudRate(baudrate: nmotion_transport.CANBaudRate) -> int

Description

Set CAN Baudrate for the interface.

Parameters

Datatype	Variable	Description
nmotion_transport.CANBaudRate	baudrate	CAN Baudrate to be set.

Returns

Datatype	Description
int	True if successful else False.