CAN Jaguar code set up as a VxWorks Library
 

Hi Gang,

Attached you'll find a zip file that I put together to create a copy of the CANJaguar code as a linkable library (static). Once it's a library. you can link your C++ applications against it using the project build properties in workbench. The library is set to be built from the command line via a make file.

In order to build the library, go to workbench and then project->Open Workbench Development Shell and select the "Wind River VxWorks 6.3" option. This opens a development command box with the environment set up to build code from the command line. CD to where you unzipped the files and type "make". Then copy the library & header files to your chosen directory, set up your header search path and add the library to your project build settings.

Why did I set this up to build from the command line? Well, I've encountered problems with the VxWorks shared library project because it compiles with the PPC32 build spec rather than the PPC603 build spec. This causes problems with the "GOTT" table on the PPC. Building from the command line allows me to simply build the library without having to screw around with creating a whole new set of build specs.

I've combined all of the various flavors of the CANJaguar code from FirstForge, other teams and some extras that I added into this one set of files. I've tested all of the operating modes (voltage, current, speed and position) with this code and have seen these modes work using US Digital shaft encoders and CIM motors mounted in a toughbox gearbox. Using P (.35), I (.003), D (.001) values referenced elsewhere in the forums (thanks!), I find that we get pretty good performance characteristics.

I've tested both V87 and V89 Jaguar firmware with Black and Gray Jaguars. Sorry, I don't have a set up with a 2CAN, so I can't test that easily. If you find anything missing, please let me know and I'll update the software.

Also, you'll find that I changed the indentation of the CANJaguar.cpp code to be that used in the Linux kernel (modified K&R). Sorry if that offends anyone, but I'm a Linux guy :eek: . You can always change it back using a pretty printer if you really want to. But, since it's now a library, you really don't need to look at the code :P .

HTH,

Mike A.