#include <wg_mailbox.h>

Public Member Functions
bool	initialize (EtherCAT_SlaveHandler *sh)

void	publishMailboxDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)

int	readMailbox (EthercatCom com, unsigned address, void data, unsigned length)
	Read data from WG0X local bus using mailbox communication. More...

	WGMailbox ()

int	writeMailbox (EthercatCom com, unsigned address, void const data, unsigned length)
	Write data to WG0X local bus using mailbox communication. More...

Static Public Attributes
static const unsigned	MBX_COMMAND_PHY_ADDR = 0x1400

static const unsigned	MBX_COMMAND_SIZE = 512

static const unsigned	MBX_COMMAND_SYNCMAN_NUM = 2

static const unsigned	MBX_STATUS_PHY_ADDR = 0x2400

static const unsigned	MBX_STATUS_SIZE = 512

static const unsigned	MBX_STATUS_SYNCMAN_NUM = 3

Protected Member Functions
bool	_readMailboxRepeatRequest (EthercatCom *com)

bool	clearReadMailbox (EthercatCom *com)
	Clears read mailbox by reading first and last byte. More...

void	diagnoseMailboxError (EthercatCom *com)
	Runs diagnostic on read and write mailboxes. More...

bool	lockMailbox ()

int	readMailbox_ (EthercatCom com, unsigned address, void data, unsigned length)
	Internal function. More...

bool	readMailboxInternal (EthercatCom com, void data, unsigned length)
	Reads data from read mailbox. More...

bool	readMailboxRepeatRequest (EthercatCom *com)

void	unlockMailbox ()

bool	verifyDeviceStateForMailboxOperation ()

bool	waitForReadMailboxReady (EthercatCom *com)
	Waits until read mailbox is full or timeout. More...

bool	waitForWriteMailboxReady (EthercatCom *com)
	Waits until write mailbox is empty or timeout. More...

int	writeMailbox_ (EthercatCom com, unsigned address, void const data, unsigned length)
	Internal function. More...

bool	writeMailboxInternal (EthercatCom com, void const data, unsigned length)
	Writes data to mailbox. More...

Protected Attributes
MbxDiagnostics	mailbox_diagnostics_

pthread_mutex_t	mailbox_lock_

MbxDiagnostics	mailbox_publish_diagnostics_

EtherCAT_SlaveHandler *	sh_

Detailed Description

Definition at line 87 of file wg_mailbox.h.

Constructor & Destructor Documentation

◆ WGMailbox()

ethercat_hardware::WGMailbox::WGMailbox ( )

Definition at line 259 of file wg_mailbox.cpp.

Member Function Documentation

◆ _readMailboxRepeatRequest()

bool ethercat_hardware::WGMailbox::_readMailboxRepeatRequest ( EthercatCom * com )

protected

Definition at line 624 of file wg_mailbox.cpp.

◆ clearReadMailbox()

bool ethercat_hardware::WGMailbox::clearReadMailbox ( EthercatCom * com )

protected

Clears read mailbox by reading first and last byte.

Mailbox lock should be held when this function is called.

Parameters

com	used to perform communication with device

Returns: returns true for success, false for failure

Definition at line 309 of file wg_mailbox.cpp.

◆ diagnoseMailboxError()

void ethercat_hardware::WGMailbox::diagnoseMailboxError ( EthercatCom * com )

protected

Runs diagnostic on read and write mailboxes.

Collects and data from mailbox control registers.

Todo:: not implemented yet

Parameters

com	used to perform communication with device

Returns: returns true for success, false for failure

Definition at line 296 of file wg_mailbox.cpp.

◆ initialize()

bool ethercat_hardware::WGMailbox::initialize ( EtherCAT_SlaveHandler * sh )

Definition at line 268 of file wg_mailbox.cpp.

◆ lockMailbox()

bool ethercat_hardware::WGMailbox::lockMailbox ( )

protected

Definition at line 938 of file wg_mailbox.cpp.

◆ publishMailboxDiagnostics()

void ethercat_hardware::WGMailbox::publishMailboxDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & d )

Definition at line 1025 of file wg_mailbox.cpp.

◆ readMailbox()

int ethercat_hardware::WGMailbox::readMailbox	(	EthercatCom *	com,
		unsigned	address,
		void *	data,
		unsigned	length
	)

Read data from WG0X local bus using mailbox communication.

Internally a localbus read is done in two parts. First, a mailbox write of a command header that include local bus address and length. Second, a mailbox read of the result.

Parameters

com	used to perform communication with device
address	WG0X (FPGA) local bus address to read from
data	pointer to buffer where read data can be stored, must be at least length in size
length	amount of data to read, limited at 511 bytes.

Returns: returns zero for success, non-zero for failure

Definition at line 844 of file wg_mailbox.cpp.

◆ readMailbox_()

int ethercat_hardware::WGMailbox::readMailbox_	(	EthercatCom *	com,
		unsigned	address,
		void *	data,
		unsigned	length
	)

protected

Internal function.

Aguments are the same as readMailbox() except that this assumes the mailbox lock is held.

Definition at line 863 of file wg_mailbox.cpp.

◆ readMailboxInternal()

bool ethercat_hardware::WGMailbox::readMailboxInternal	(	EthercatCom *	com,
		void *	data,
		unsigned	length
	)

protected

Reads data from read mailbox.

Will try to conserve bandwidth by reading length bytes of data and last byte of mailbox. Mailbox lock should be held when this function is called.

Parameters

com	used to perform communication with device
data	pointer to buffer where read data is stored.
length	amount of data to read from mailbox

Returns: returns true for success, false for failure

Definition at line 713 of file wg_mailbox.cpp.

◆ readMailboxRepeatRequest()

bool ethercat_hardware::WGMailbox::readMailboxRepeatRequest ( EthercatCom * com )

protected

Definition at line 614 of file wg_mailbox.cpp.

◆ unlockMailbox()

void ethercat_hardware::WGMailbox::unlockMailbox ( )

protected

Definition at line 949 of file wg_mailbox.cpp.

◆ verifyDeviceStateForMailboxOperation()

bool ethercat_hardware::WGMailbox::verifyDeviceStateForMailboxOperation ( )

protected

Definition at line 274 of file wg_mailbox.cpp.

◆ waitForReadMailboxReady()

bool ethercat_hardware::WGMailbox::waitForReadMailboxReady ( EthercatCom * com )

protected

Waits until read mailbox is full or timeout.

Wait times out after 100msec. Mailbox lock should be held when this function is called.

Parameters

com	used to perform communication with device

Returns: returns true for success, false for failure or timeout

Definition at line 391 of file wg_mailbox.cpp.

◆ waitForWriteMailboxReady()

bool ethercat_hardware::WGMailbox::waitForWriteMailboxReady ( EthercatCom * com )

protected

Waits until write mailbox is empty or timeout.

Wait times out after 100msec. Mailbox lock should be held when this function is called.

Parameters

com	used to perform communication with device

Returns: returns true for success, false for failure or timeout

Definition at line 443 of file wg_mailbox.cpp.

◆ writeMailbox()

int ethercat_hardware::WGMailbox::writeMailbox	(	EthercatCom *	com,
		unsigned	address,
		void const *	data,
		unsigned	length
	)

Write data to WG0X local bus using mailbox communication.

First, this puts a command header that include local bus address and length in write mailbox. Second it waits until device actually empties write mailbox.

Parameters

com	used to perform communication with device
address	WG0X (FPGA) local bus address to write data to
data	pointer to buffer where write data is stored, must be at least length in size
length	amount of data to write, limited at 507 bytes

Returns: returns zero for success, non-zero for failure

Definition at line 971 of file wg_mailbox.cpp.

◆ writeMailbox_()

int ethercat_hardware::WGMailbox::writeMailbox_	(	EthercatCom *	com,
		unsigned	address,
		void const *	data,
		unsigned	length
	)

protected

Internal function.

Aguments are the same as writeMailbox() except that this assumes the mailbox lock is held.

Definition at line 991 of file wg_mailbox.cpp.

◆ writeMailboxInternal()

bool ethercat_hardware::WGMailbox::writeMailboxInternal	(	EthercatCom *	com,
		void const *	data,
		unsigned	length
	)

protected

Writes data to mailbox.

Will try to conserve bandwidth by only length bytes of data and last byte of mailbox. Mailbox lock should be held when this function is called.

Parameters

com	used to perform communication with device
data	pointer to buffer where read data is stored.
length	amount of data to read from mailbox

Returns: returns true for success, false for failure

Definition at line 498 of file wg_mailbox.cpp.

Member Data Documentation

◆ mailbox_diagnostics_

MbxDiagnostics ethercat_hardware::WGMailbox::mailbox_diagnostics_

protected

Definition at line 110 of file wg_mailbox.h.

◆ mailbox_lock_

pthread_mutex_t ethercat_hardware::WGMailbox::mailbox_lock_

protected

Definition at line 109 of file wg_mailbox.h.

◆ mailbox_publish_diagnostics_

MbxDiagnostics ethercat_hardware::WGMailbox::mailbox_publish_diagnostics_

protected

Definition at line 111 of file wg_mailbox.h.

◆ MBX_COMMAND_PHY_ADDR

const unsigned ethercat_hardware::WGMailbox::MBX_COMMAND_PHY_ADDR = 0x1400

static

Definition at line 97 of file wg_mailbox.h.

◆ MBX_COMMAND_SIZE

const unsigned ethercat_hardware::WGMailbox::MBX_COMMAND_SIZE = 512

static

Definition at line 98 of file wg_mailbox.h.

◆ MBX_COMMAND_SYNCMAN_NUM

const unsigned ethercat_hardware::WGMailbox::MBX_COMMAND_SYNCMAN_NUM = 2

static

Definition at line 102 of file wg_mailbox.h.

◆ MBX_STATUS_PHY_ADDR

const unsigned ethercat_hardware::WGMailbox::MBX_STATUS_PHY_ADDR = 0x2400

static

Definition at line 99 of file wg_mailbox.h.

◆ MBX_STATUS_SIZE

const unsigned ethercat_hardware::WGMailbox::MBX_STATUS_SIZE = 512

static

Definition at line 100 of file wg_mailbox.h.

◆ MBX_STATUS_SYNCMAN_NUM

const unsigned ethercat_hardware::WGMailbox::MBX_STATUS_SYNCMAN_NUM = 3

static

Definition at line 103 of file wg_mailbox.h.

◆ sh_

EtherCAT_SlaveHandler* ethercat_hardware::WGMailbox::sh_

protected

Definition at line 126 of file wg_mailbox.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WGMailbox()

Member Function Documentation

◆ _readMailboxRepeatRequest()

◆ clearReadMailbox()

◆ diagnoseMailboxError()

◆ initialize()

◆ lockMailbox()

◆ publishMailboxDiagnostics()

◆ readMailbox()

◆ readMailbox_()

◆ readMailboxInternal()

◆ readMailboxRepeatRequest()

◆ unlockMailbox()

◆ verifyDeviceStateForMailboxOperation()

◆ waitForReadMailboxReady()

◆ waitForWriteMailboxReady()

◆ writeMailbox()

◆ writeMailbox_()

◆ writeMailboxInternal()

Member Data Documentation

◆ mailbox_diagnostics_

◆ mailbox_lock_

◆ mailbox_publish_diagnostics_

◆ MBX_COMMAND_PHY_ADDR

◆ MBX_COMMAND_SIZE

◆ MBX_COMMAND_SYNCMAN_NUM

◆ MBX_STATUS_PHY_ADDR

◆ MBX_STATUS_SIZE

◆ MBX_STATUS_SYNCMAN_NUM

◆ sh_