WG0X Class Reference

#include <wg0x.h>

Inheritance diagram for WG0X:

Public Member Functions
virtual void	collectDiagnostics (EthercatCom *com)
void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
	For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
virtual int	initialize (pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true)
void	packCommand (unsigned char *buffer, bool halt, bool reset)
bool	program (EthercatCom *com, const MotorHeatingModelParametersEepromConfig &heating_config)
	Programs motor heating parameters into device EEPROM.
bool	program (EthercatCom *com, const WG0XActuatorInfo &actutor_info)
	Programs acutator and heating parameters into device EEPROM.
bool	publishTrace (const string &reason, unsigned level, unsigned delay)
	Asks device to publish (motor) trace. Only works for devices that support it.
bool	readActuatorInfoFromEeprom (EthercatCom *com, WG0XActuatorInfo &actuator_info)
	Reads actuator info from eeprom.
bool	readMotorHeatingModelParametersFromEeprom (EthercatCom *com, MotorHeatingModelParametersEepromConfig &config)
	Reads actuator info from eeprom.
bool	unpackState (unsigned char this_buffer, unsigned char prev_buffer)
	WG0X ()
virtual	~WG0X ()
Static Public Member Functions
static double	calcEncoderVelocity (int32_t new_position, uint32_t new_timestamp, int32_t old_position, uint32_t old_timestamp)
static unsigned	computeChecksum (void const *data, unsigned length)
static double	convertRawTemperature (int16_t raw_temp)
	Converts raw 16bit temperature value returned by device into value in degress Celcius.
static int32_t	positionDiff (int32_t new_position, int32_t old_position)
static unsigned int	rotateRight8 (unsigned in)
static ros::Duration	timediffToDuration (int32_t timediff_usec)
static int32_t	timestampDiff (uint32_t new_timestamp, uint32_t old_timestamp)
Protected Types
enum	{ MODE_OFF = 0x00, MODE_ENABLE = (1 << 0), MODE_CURRENT = (1 << 1), MODE_SAFETY_RESET = (1 << 4), MODE_SAFETY_LOCKOUT = (1 << 5), MODE_UNDERVOLTAGE = (1 << 6), MODE_RESET = (1 << 7) }
enum	{ WG05_PRODUCT_CODE = 6805005, WG06_PRODUCT_CODE = 6805006, WG021_PRODUCT_CODE = 6805021 }
enum	{ NO_CALIBRATION = 0, CONTROLLER_CALIBRATION = 1, SAVED_CALIBRATION = 2 }
enum	{ LIMIT_SENSOR_0_STATE = (1 << 0), LIMIT_SENSOR_1_STATE = (1 << 1), LIMIT_ON_TO_OFF = (1 << 2), LIMIT_OFF_TO_ON = (1 << 3) }
enum	{ SAFETY_DISABLED = (1 << 0), SAFETY_UNDERVOLTAGE = (1 << 1), SAFETY_OVER_CURRENT = (1 << 2), SAFETY_BOARD_OVER_TEMP = (1 << 3), SAFETY_HBRIDGE_OVER_TEMP = (1 << 4), SAFETY_OPERATIONAL = (1 << 5), SAFETY_WATCHDOG = (1 << 6) }
enum	AppRamStatus { APP_RAM_PRESENT = 1, APP_RAM_MISSING = 2, APP_RAM_NOT_APPLICABLE = 3 }
	Different possible states for application ram on device. More...
Protected Member Functions
bool	_readMailboxRepeatRequest (EthercatCom *com)
void	clearErrorFlags (void)
bool	clearReadMailbox (EthercatCom *com)
	Clears read mailbox by reading first and last byte.
void	diagnoseMailboxError (EthercatCom *com)
	Runs diagnostic on read and write mailboxes.
bool	initializeMotorHeatingModel (bool allow_unprogrammed)
bool	initializeMotorModel (pr2_hardware_interface::HardwareInterface *hw, const string &device_description, double max_pwm_ratio, double board_resistance, bool poor_measured_motor_voltage)
	Allocates and initialized motor trace for WG0X devices than use it (WG006, WG005).
bool	lockMailbox ()
bool	lockWG0XDiagnostics ()
void	publishGeneralDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)
void	publishMailboxDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)
bool	readAppRam (EthercatCom *com, double &zero_offset)
bool	readEepromPage (EthercatCom com, unsigned page, void data, unsigned length)
	Read data from single eeprom page.
bool	readEepromStatusReg (EthercatCom *com, EepromStatusReg &reg)
	Reads EEPROM status register.
int	readMailbox (EthercatCom com, unsigned address, void data, unsigned length)
	Read data from WG0X local bus using mailbox communication.
int	readMailbox_ (EthercatCom com, unsigned address, void data, unsigned length)
	Internal function.
bool	readMailboxInternal (EthercatCom com, void data, unsigned length)
	Reads data from read mailbox.
bool	readMailboxRepeatRequest (EthercatCom *com)
bool	readSpiEepromCmd (EthercatCom *com, WG0XSpiEepromCmd &cmd)
	Reads SPI state machine command register.
bool	sendSpiEepromCmd (EthercatCom *com, const WG0XSpiEepromCmd &cmd)
	Sends command to SPI EEPROM state machine.
bool	tryLockWG0XDiagnostics ()
void	unlockMailbox ()
void	unlockWG0XDiagnostics ()
bool	verifyChecksum (const void *buffer, unsigned size)
bool	verifyDeviceStateForMailboxOperation ()
bool	verifyState (WG0XStatus this_status, WG0XStatus prev_status)
bool	waitForEepromReady (EthercatCom *com)
	Waits for EEPROM to become ready.
bool	waitForReadMailboxReady (EthercatCom *com)
	Waits until read mailbox is full or timeout.
bool	waitForSpiEepromReady (EthercatCom *com)
	Waits for SPI eeprom state machine to be idle.
bool	waitForWriteMailboxReady (EthercatCom *com)
	Waits until write mailbox is empty or timeout.
bool	writeAppRam (EthercatCom *com, double zero_offset)
bool	writeEepromPage (EthercatCom com, unsigned page, const void data, unsigned length)
	Write data to single eeprom page.
int	writeMailbox (EthercatCom com, unsigned address, void const data, unsigned length)
	Write data to WG0X local bus using mailbox communication.
int	writeMailbox_ (EthercatCom com, unsigned address, void const data, unsigned length)
	Internal function.
bool	writeMailboxInternal (EthercatCom com, void const data, unsigned length)
	Writes data to mailbox.
Static Protected Member Functions
static void	copyActuatorInfo (ethercat_hardware::ActuatorInfo &out, const WG0XActuatorInfo &in)
	Fills in ethercat_hardware::ActuatorInfo from WG0XActuatorInfo.
static string	modeString (uint8_t mode)
static string	safetyDisableString (uint8_t status)
static bool	timestamp_jump (uint32_t timestamp, uint32_t last_timestamp, uint32_t amount)
Protected Attributes
pr2_hardware_interface::Actuator	actuator_
WG0XActuatorInfo	actuator_info_
ethercat_hardware::ActuatorInfo	actuator_info_msg_
AppRamStatus	app_ram_status_
uint8_t	board_major_
	Printed circuit board revision (for this value 0=='A', 1=='B').
uint8_t	board_minor_
	Printed circuit assembly revision.
double	cached_zero_offset_
int	calibration_status_
WG0XConfigInfo	config_info_
int	consecutive_drops_
pr2_hardware_interface::DigitalOut	digital_out_
bool	disable_motor_model_checking_
int	drops_
bool	fpga_internal_reset_detected_
uint8_t	fw_major_
uint8_t	fw_minor_
bool	has_error_
bool	in_lockout_
uint32_t	last_last_timestamp_
unsigned	last_num_encoder_errors_
	Number of encoder errors the last time motors were reset.
uint32_t	last_timestamp_
MbxDiagnostics	mailbox_diagnostics_
pthread_mutex_t	mailbox_lock_
MbxDiagnostics	mailbox_publish_diagnostics_
uint16_t	max_board_temperature_
uint16_t	max_bridge_temperature_
int	max_consecutive_drops_
double	max_current_
	min(board current limit, actuator current limit)
boost::shared_ptr < ethercat_hardware::MotorHeatingModel >	motor_heating_model_
MotorModel *	motor_model_
ethercat_hardware::MotorTraceSample	motor_trace_sample_
pr2_hardware_interface::DigitalOut	publish_motor_trace_
bool	resetting_
ros::Duration	sample_timestamp_
bool	status_checksum_error_
bool	timestamp_jump_detected_
bool	too_many_dropped_packets_
WG0XDiagnostics	wg0x_collect_diagnostics_
pthread_mutex_t	wg0x_diagnostics_lock_
WG0XDiagnostics	wg0x_publish_diagnostics_
Static Protected Attributes
static const unsigned	ACTUATOR_INFO_PAGE = 4095
static const unsigned	COMMAND_PHY_ADDR = 0x1000
static const unsigned	MAX_EEPROM_PAGE_SIZE = 264
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
static boost::shared_ptr < ethercat_hardware::MotorHeatingModelCommon >	motor_heating_model_common_
static const unsigned	NUM_EEPROM_PAGES = 4096
static const unsigned	PDO_COMMAND_SYNCMAN_NUM = 0
static const unsigned	PDO_STATUS_SYNCMAN_NUM = 1
static const int	PWM_MAX = 0x4000
static const unsigned	STATUS_PHY_ADDR = 0x2000

Detailed Description

Definition at line 416 of file wg0x.h.

Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

MODE_OFF
MODE_ENABLE
MODE_CURRENT
MODE_SAFETY_RESET
MODE_SAFETY_LOCKOUT
MODE_UNDERVOLTAGE
MODE_RESET

Definition at line 455 of file wg0x.h.

anonymous enum [protected]

Enumerator:

WG05_PRODUCT_CODE
WG06_PRODUCT_CODE
WG021_PRODUCT_CODE

Definition at line 466 of file wg0x.h.

anonymous enum [protected]

Enumerator:

NO_CALIBRATION
CONTROLLER_CALIBRATION
SAVED_CALIBRATION

Definition at line 487 of file wg0x.h.

anonymous enum [protected]

Enumerator:

LIMIT_SENSOR_0_STATE
LIMIT_SENSOR_1_STATE
LIMIT_ON_TO_OFF
LIMIT_OFF_TO_ON

Definition at line 576 of file wg0x.h.

anonymous enum [protected]

Enumerator:

SAFETY_DISABLED
SAFETY_UNDERVOLTAGE
SAFETY_OVER_CURRENT
SAFETY_BOARD_OVER_TEMP
SAFETY_HBRIDGE_OVER_TEMP
SAFETY_OPERATIONAL
SAFETY_WATCHDOG

Definition at line 584 of file wg0x.h.

enum WG0X::AppRamStatus [protected]

Different possible states for application ram on device.

Enumerator:

APP_RAM_PRESENT
APP_RAM_MISSING
APP_RAM_NOT_APPLICABLE

Definition at line 505 of file wg0x.h.

Constructor & Destructor Documentation

WG0X::WG0X ( )

Definition at line 243 of file wg0x.cpp.

WG0X::~WG0X ( ) [virtual]

Definition at line 279 of file wg0x.cpp.

Member Function Documentation

bool WG0X::_readMailboxRepeatRequest ( EthercatCom * com ) [protected]

Definition at line 1969 of file wg0x.cpp.

double WG0X::calcEncoderVelocity	(	int32_t	new_position,
		uint32_t	new_timestamp,
		int32_t	old_position,
		uint32_t	old_timestamp
	)			`[static]`

Returns velocity in encoder ticks per second.

Timestamp assumed to be in microseconds Accounts for wrapping of timestamp values and position values.

Definition at line 803 of file wg0x.cpp.

void WG0X::clearErrorFlags ( void ) [protected]

Definition at line 632 of file wg0x.cpp.

bool WG0X::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 1654 of file wg0x.cpp.

void WG0X::collectDiagnostics ( EthercatCom * com ) [virtual]

Reimplemented from EthercatDevice.

Definition at line 957 of file wg0x.cpp.

unsigned WG0X::computeChecksum	(	void const *	data,
		unsigned	length
	)			`[static]`

Definition at line 70 of file wg0x.cpp.

void WG0X::construct	(	EtherCAT_SlaveHandler *	sh,
		int &	start_address
	)			`[virtual]`

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented from EthercatDevice.

Reimplemented in WG021, WG05, and WG06.

Definition at line 287 of file wg0x.cpp.

double WG0X::convertRawTemperature ( int16_t raw_temp ) [static]

Converts raw 16bit temperature value returned by device into value in degress Celcius.

Parameters:

raw_temp

Raw 16bit temperature value return by device

Returns:: Temperature in degrees Celcius

Definition at line 818 of file wg0x.cpp.

void WG0X::copyActuatorInfo	(	ethercat_hardware::ActuatorInfo &	out,
		const WG0XActuatorInfo &	in
	)			`[static, protected]`

Fills in ethercat_hardware::ActuatorInfo from WG0XActuatorInfo.

WG0XAcuatorInfo is a packed structure that comes directly from the device EEPROM. ethercat_hardware::ActuatorInfo is a ROS message type that is used by both motor model and motor heating model.

Definition at line 309 of file wg0x.cpp.

void WG0X::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 1641 of file wg0x.cpp.

void WG0X::diagnostics	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned char *	buffer
	)			`[virtual]`

For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:

	d	Diagnostics status wrapper.
	buffer	Pointer to slave process data.

Reimplemented from EthercatDevice.

Reimplemented in WG021.

Definition at line 2579 of file wg0x.cpp.

int WG0X::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = `true`
	)			`[virtual]`

Implements EthercatDevice.

Reimplemented in WG021, WG05, and WG06.

Definition at line 480 of file wg0x.cpp.

bool WG0X::initializeMotorHeatingModel ( bool allow_unprogrammed ) [protected]

Definition at line 381 of file wg0x.cpp.

bool WG0X::initializeMotorModel	(	pr2_hardware_interface::HardwareInterface *	hw,
		const string &	device_description,
		double	max_pwm_ratio,
		double	board_resistance,
		bool	poor_measured_motor_voltage
	)			`[protected]`

Allocates and initialized motor trace for WG0X devices than use it (WG006, WG005).

Definition at line 327 of file wg0x.cpp.

bool WG0X::lockMailbox ( ) [protected]

Definition at line 2283 of file wg0x.cpp.

bool WG0X::lockWG0XDiagnostics ( ) [protected]

Definition at line 2303 of file wg0x.cpp.

string WG0X::modeString ( uint8_t mode ) [static, protected]

Definition at line 2432 of file wg0x.cpp.

void WG0X::packCommand	(	unsigned char *	buffer,
		bool	halt,
		bool	reset
	)			`[virtual]`

Parameters:

	reset	when asserted this will clear diagnostic error conditions device safety disable
	halt	while asserted will disable actuator, usually by disabling H-bridge

Reimplemented from EthercatDevice.

Reimplemented in WG021, WG05, and WG06.

Definition at line 645 of file wg0x.cpp.

int32_t WG0X::positionDiff	(	int32_t	new_position,
		int32_t	old_position
	)			`[static]`

Returns (new_position - old_position). Accounts for wrap-around of 32-bit position values.

It is assumed that each position value is exactly 32bit and can wrap from -2147483648 to +2147483647.

Definition at line 792 of file wg0x.cpp.

bool WG0X::program	(	EthercatCom *	com,
		const MotorHeatingModelParametersEepromConfig &	heating_config
	)

Programs motor heating parameters into device EEPROM.

Originally, devices only stored ActuatorInfo in EEPROM. However, later we discovered that in extreme cases, certain motors may overheat. To prevent motor overheating, a model is used to estimate motor winding temperature and stop motor if temperature gets too high. However, the new motor heating model needs more motor parameters than were originally stored in eeprom.

Parameters:

	com	EtherCAT communication class used for communicating with device
	heating_config	Motor heating model parameters to be stored in device EEPROM

Returns:: true if there is success, false if there is an error

Definition at line 1497 of file wg0x.cpp.

bool WG0X::program	(	EthercatCom *	com,
		const WG0XActuatorInfo &	actutor_info
	)

Programs acutator and heating parameters into device EEPROM.

WG0X devices store configuaration info in EEPROM. This configuration information contains information such as device name, motor parameters, and encoder parameters.

Originally, devices only stored ActuatorInfo in EEPROM. However, later we discovered that in extreme cases, certain motors may overheat. To prevent motor overheating, a model is used to estimate motor winding temperature and stop motor if temperature gets too high. However, the new motor heating model needs more motor parameters than were originally stored in eeprom.

Parameters:

	com	EtherCAT communication class used for communicating with device
	actutor_info	Actuator information to be stored in device EEPROM
	actutor_info	Motor heating motor information to be stored in device EEPROM

Returns:: true if there is success, false if there is an error

Definition at line 1471 of file wg0x.cpp.

void WG0X::publishGeneralDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & d ) [protected]

Definition at line 2480 of file wg0x.cpp.

void WG0X::publishMailboxDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & d ) [protected]

Definition at line 2466 of file wg0x.cpp.

bool WG0X::publishTrace	(	const string &	reason,
		unsigned	level,
		unsigned	delay
	)			`[virtual]`

Asks device to publish (motor) trace. Only works for devices that support it.

Parameters:

	reason	Message to put in trace as reason.
	level	Level to put in trace (aka ERROR=2, WARN=1, OK=0)
	delay	Publish trace after delay cyles. For 1kHz realtime loop 1cycle = 1ms.

Returns:: Return true if device support publishing trace. False, if not.

Reimplemented from EthercatDevice.

Definition at line 946 of file wg0x.cpp.

bool WG0X::readActuatorInfoFromEeprom	(	EthercatCom *	com,
		WG0XActuatorInfo &	actuator_info
	)

Reads actuator info from eeprom.

Parameters:

	com	EtherCAT communication class used for communicating with device
	acuator_info	Structure where actuator info will be stored.

Returns:: true if there is success, false if there is an error

Definition at line 1229 of file wg0x.cpp.

bool WG0X::readAppRam	(	EthercatCom *	com,
		double &	zero_offset
	)			`[protected]`

Definition at line 1043 of file wg0x.cpp.

bool WG0X::readEepromPage	(	EthercatCom *	com,
		unsigned	page,
		void *	data,
		unsigned	length
	)			`[protected]`

Read data from single eeprom page.

Data should be less than 264 bytes. Note that some eeproms only support 256 byte pages. If 264 bytes of data are read from a 256 byte eeprom, then last 8 bytes of data will be zeros.

Parameters:

	com	EtherCAT communication class used for communicating with device
	page	EEPROM page number to read from. Should be 0 to 4095.
	data	pointer to data buffer
	length	length of data in buffer

Returns:: true if there is success, false if there is an error

Definition at line 1172 of file wg0x.cpp.

bool WG0X::readEepromStatusReg	(	EthercatCom *	com,
		EepromStatusReg &	reg
	)			`[protected]`

Reads EEPROM status register.

Amoung other things, eeprom status register provide information about whether eeprom is busy performing a write.

Parameters:

	com	EtherCAT communication class used for communicating with device
	reg	reference to EepromStatusReg struct where eeprom status will be stored

Returns:: true if there is success, false if there is an error

Definition at line 1385 of file wg0x.cpp.

int WG0X::readMailbox	(	EthercatCom *	com,
		unsigned	address,
		void *	data,
		unsigned	length
	)			`[protected]`

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 2189 of file wg0x.cpp.

int WG0X::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 2208 of file wg0x.cpp.

bool WG0X::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 2058 of file wg0x.cpp.

bool WG0X::readMailboxRepeatRequest ( EthercatCom * com ) [protected]

Definition at line 1959 of file wg0x.cpp.

bool WG0X::readMotorHeatingModelParametersFromEeprom	(	EthercatCom *	com,
		MotorHeatingModelParametersEepromConfig &	config
	)

Reads actuator info from eeprom.

Parameters:

	com	EtherCAT communication class used for communicating with device
	acuator_info	Structure where actuator info will be stored.

Returns:: true if there is success, false if there is an error

Definition at line 1248 of file wg0x.cpp.

bool WG0X::readSpiEepromCmd	(	EthercatCom *	com,
		WG0XSpiEepromCmd &	cmd
	)			`[protected]`

Reads SPI state machine command register.

For communicating with EEPROM, there is a simple state machine that transfers data to/from FPGA buffer over SPI. When any type of comunication is done with EEPROM: 1. Write command or write data into FPGA buffer. 2. Have state machine start transfer bytes from buffer to EEPROM, and write data from EEPROM into buffer 3. Wait for state machine to complete (by reading its status) 4. Read EEPROM response from FPGA buffer.

Parameters:

	com	EtherCAT communication class used for communicating with device
	reg	reference to WG0XSpiEepromCmd struct where read data will be stored

Returns:: true if there is success, false if there is an error

Definition at line 1440 of file wg0x.cpp.

unsigned int WG0X::rotateRight8 ( unsigned in ) [static]

Definition at line 62 of file wg0x.cpp.

string WG0X::safetyDisableString ( uint8_t status ) [static, protected]

Definition at line 2412 of file wg0x.cpp.

bool WG0X::sendSpiEepromCmd	(	EthercatCom *	com,
		const WG0XSpiEepromCmd &	cmd
	)			`[protected]`

Sends command to SPI EEPROM state machine.

This function makes sure SPI EEPROM state machine is idle before sending new command. It also waits for state machine to be idle before returning.

Parameters:

com

EtherCAT communication class used for communicating with device

Returns:: true if command was send, false if there is an error

Definition at line 1109 of file wg0x.cpp.

ros::Duration WG0X::timediffToDuration ( int32_t timediff_usec ) [static]

Convert timestamp difference to ros::Duration. Timestamp is assumed to be in microseconds

It is assumed that each timestamps is exactly 32bit and can wrap around from 0xFFFFFFFF back to 0. In this case 1 - 4294967295 should equal 2 not -4294967294. (Note : 0xFFFFFFFF = 4294967295)

Definition at line 778 of file wg0x.cpp.

bool WG0X::timestamp_jump	(	uint32_t	timestamp,
		uint32_t	last_timestamp,
		uint32_t	amount
	)			`[static, protected]`

Definition at line 825 of file wg0x.cpp.

int32_t WG0X::timestampDiff	(	uint32_t	new_timestamp,
		uint32_t	old_timestamp
	)			`[static]`

Returns (new_timestamp - old_timestamp). Accounts for wrapping of timestamp values.

It is assumed that each timestamps is exactly 32bit and can wrap around from 0xFFFFFFFF back to 0. In this case 1 - 4294967295 should equal 2 not -4294967294. (Note : 0xFFFFFFFF = 4294967295)

Definition at line 767 of file wg0x.cpp.

bool WG0X::tryLockWG0XDiagnostics ( ) [protected]

Definition at line 2315 of file wg0x.cpp.

void WG0X::unlockMailbox ( ) [protected]

Definition at line 2294 of file wg0x.cpp.

void WG0X::unlockWG0XDiagnostics ( ) [protected]

Definition at line 2330 of file wg0x.cpp.

bool WG0X::unpackState	(	unsigned char *	this_buffer,
		unsigned char *	prev_buffer
	)			`[virtual]`

Reimplemented from EthercatDevice.

Reimplemented in WG021, WG05, and WG06.

Definition at line 696 of file wg0x.cpp.

bool WG0X::verifyChecksum	(	const void *	buffer,
		unsigned	size
	)			`[protected]`

Definition at line 747 of file wg0x.cpp.

bool WG0X::verifyDeviceStateForMailboxOperation ( ) [protected]

Definition at line 1619 of file wg0x.cpp.

bool WG0X::verifyState	(	WG0XStatus *	this_status,
		WG0XStatus *	prev_status
	)			`[protected]`

Definition at line 831 of file wg0x.cpp.

bool WG0X::waitForEepromReady ( EthercatCom * com ) [protected]

Waits for EEPROM to become ready.

Certain eeprom operations (such as page reads), are complete immediately after data is trasferred. Other operations (such as page writes) take some amount of time after data is trasfered to complete. This polls the EEPROM status register until the 'ready' bit is set.

Parameters:

com

EtherCAT communication class used for communicating with device

Returns:: true if there is success, false if there is an error or wait takes too long

Definition at line 1343 of file wg0x.cpp.

bool WG0X::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 1736 of file wg0x.cpp.

bool WG0X::waitForSpiEepromReady ( EthercatCom * com ) [protected]

Waits for SPI eeprom state machine to be idle.

Polls busy SPI bit of SPI state machine.

Parameters:

com

EtherCAT communication class used for communicating with device

Returns:: true if state machine is free, false if there is an error, or we timed out waiting

Definition at line 1072 of file wg0x.cpp.

bool WG0X::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 1788 of file wg0x.cpp.

bool WG0X::writeAppRam	(	EthercatCom *	com,
		double	zero_offset
	)			`[protected]`

Definition at line 1032 of file wg0x.cpp.

bool WG0X::writeEepromPage	(	EthercatCom *	com,
		unsigned	page,
		const void *	data,
		unsigned	length
	)			`[protected]`

Write data to single eeprom page.

Data should be less than 264 bytes. If data size is less than 264 bytes, then the page will be padded with 0xFF. Note that some eeproms only support 256 byte pages. With 256 byte eeproms, the eeprom FW with ingore last 8 bytes of requested write.

Parameters:

	com	EtherCAT communication class used for communicating with device
	page	EEPROM page number to write to. Should be 0 to 4095.
	data	pointer to data buffer
	length	length of data in buffer. If length < 264, eeprom page will be padded out to 264 bytes.

Returns:: true if there is success, false if there is an error

Definition at line 1275 of file wg0x.cpp.

int WG0X::writeMailbox	(	EthercatCom *	com,
		unsigned	address,
		void const *	data,
		unsigned	length
	)			`[protected]`

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 2352 of file wg0x.cpp.

int WG0X::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 2372 of file wg0x.cpp.

bool WG0X::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 1843 of file wg0x.cpp.

Member Data Documentation

pr2_hardware_interface::Actuator WG0X::actuator_ [protected]

Definition at line 452 of file wg0x.h.

WG0XActuatorInfo WG0X::actuator_info_ [protected]

Definition at line 445 of file wg0x.h.

ethercat_hardware::ActuatorInfo WG0X::actuator_info_msg_ [protected]

Definition at line 449 of file wg0x.h.

const unsigned WG0X::ACTUATOR_INFO_PAGE = 4095 [static, protected]

Definition at line 597 of file wg0x.h.

AppRamStatus WG0X::app_ram_status_ [protected]

Definition at line 506 of file wg0x.h.

uint8_t WG0X::board_major_ [protected]

Printed circuit board revision (for this value 0=='A', 1=='B').

Definition at line 442 of file wg0x.h.

uint8_t WG0X::board_minor_ [protected]

Printed circuit assembly revision.

Definition at line 443 of file wg0x.h.

double WG0X::cached_zero_offset_ [protected]

Definition at line 486 of file wg0x.h.

int WG0X::calibration_status_ [protected]

Definition at line 488 of file wg0x.h.

const unsigned WG0X::COMMAND_PHY_ADDR = 0x1000 [static, protected]

Definition at line 564 of file wg0x.h.

WG0XConfigInfo WG0X::config_info_ [protected]

Definition at line 446 of file wg0x.h.

int WG0X::consecutive_drops_ [protected]

Definition at line 615 of file wg0x.h.

pr2_hardware_interface::DigitalOut WG0X::digital_out_ [protected]

Definition at line 453 of file wg0x.h.

bool WG0X::disable_motor_model_checking_ [protected]

Definition at line 603 of file wg0x.h.

int WG0X::drops_ [protected]

Definition at line 614 of file wg0x.h.

bool WG0X::fpga_internal_reset_detected_ [protected]

Definition at line 482 of file wg0x.h.

uint8_t WG0X::fw_major_ [protected]

Definition at line 440 of file wg0x.h.

uint8_t WG0X::fw_minor_ [protected]

Definition at line 441 of file wg0x.h.

bool WG0X::has_error_ [protected]

Definition at line 477 of file wg0x.h.

bool WG0X::in_lockout_ [protected]

Definition at line 475 of file wg0x.h.

uint32_t WG0X::last_last_timestamp_ [protected]

Definition at line 613 of file wg0x.h.

unsigned WG0X::last_num_encoder_errors_ [protected]

Number of encoder errors the last time motors were reset.

Definition at line 489 of file wg0x.h.

uint32_t WG0X::last_timestamp_ [protected]

Definition at line 612 of file wg0x.h.

MbxDiagnostics WG0X::mailbox_diagnostics_ [protected]

Definition at line 536 of file wg0x.h.

pthread_mutex_t WG0X::mailbox_lock_ [protected]

Definition at line 535 of file wg0x.h.

MbxDiagnostics WG0X::mailbox_publish_diagnostics_ [protected]

Definition at line 537 of file wg0x.h.

uint16_t WG0X::max_board_temperature_ [protected]

Definition at line 478 of file wg0x.h.

uint16_t WG0X::max_bridge_temperature_ [protected]

Definition at line 478 of file wg0x.h.

int WG0X::max_consecutive_drops_ [protected]

Definition at line 616 of file wg0x.h.

double WG0X::max_current_ [protected]

min(board current limit, actuator current limit)

Definition at line 447 of file wg0x.h.

const unsigned WG0X::MAX_EEPROM_PAGE_SIZE = 264 [static, protected]

Definition at line 599 of file wg0x.h.

const unsigned WG0X::MBX_COMMAND_PHY_ADDR = 0x1400 [static, protected]

Definition at line 566 of file wg0x.h.

const unsigned WG0X::MBX_COMMAND_SIZE = 512 [static, protected]

Definition at line 567 of file wg0x.h.

const unsigned WG0X::MBX_COMMAND_SYNCMAN_NUM = 2 [static, protected]

Definition at line 573 of file wg0x.h.

const unsigned WG0X::MBX_STATUS_PHY_ADDR = 0x2400 [static, protected]

Definition at line 568 of file wg0x.h.

const unsigned WG0X::MBX_STATUS_SIZE = 512 [static, protected]

Definition at line 569 of file wg0x.h.

const unsigned WG0X::MBX_STATUS_SYNCMAN_NUM = 3 [static, protected]

Definition at line 574 of file wg0x.h.

boost::shared_ptr<ethercat_hardware::MotorHeatingModel> WG0X::motor_heating_model_ [protected]

Definition at line 609 of file wg0x.h.

boost::shared_ptr< ethercat_hardware::MotorHeatingModelCommon > WG0X::motor_heating_model_common_ [static, protected]

Definition at line 608 of file wg0x.h.

MotorModel* WG0X::motor_model_ [protected]

Definition at line 602 of file wg0x.h.

ethercat_hardware::MotorTraceSample WG0X::motor_trace_sample_ [protected]

Definition at line 604 of file wg0x.h.

const unsigned WG0X::NUM_EEPROM_PAGES = 4096 [static, protected]

Definition at line 598 of file wg0x.h.

const unsigned WG0X::PDO_COMMAND_SYNCMAN_NUM = 0 [static, protected]

Definition at line 571 of file wg0x.h.

const unsigned WG0X::PDO_STATUS_SYNCMAN_NUM = 1 [static, protected]

Definition at line 572 of file wg0x.h.

pr2_hardware_interface::DigitalOut WG0X::publish_motor_trace_ [protected]

Definition at line 605 of file wg0x.h.

const int WG0X::PWM_MAX = 0x4000 [static, protected]

Definition at line 529 of file wg0x.h.

bool WG0X::resetting_ [protected]

Definition at line 476 of file wg0x.h.

ros::Duration WG0X::sample_timestamp_ [protected]

The ros::Duration timestamp measures the time since the ethercat process started. It is generated by accumulating diffs between 32bit device timestamps. Device timestamps are assumed to be in microseconds, so 32bit timestamp will overflow every 72 minutes, ros::Duration (int32_t secs, int32_t nsecs) should overflow will overflow after 68 years

Definition at line 496 of file wg0x.h.

bool WG0X::status_checksum_error_ [protected]

Definition at line 480 of file wg0x.h.

const unsigned WG0X::STATUS_PHY_ADDR = 0x2000 [static, protected]

Definition at line 565 of file wg0x.h.

bool WG0X::timestamp_jump_detected_ [protected]

Definition at line 481 of file wg0x.h.

bool WG0X::too_many_dropped_packets_ [protected]

Definition at line 479 of file wg0x.h.

WG0XDiagnostics WG0X::wg0x_collect_diagnostics_ [protected]

Definition at line 623 of file wg0x.h.

pthread_mutex_t WG0X::wg0x_diagnostics_lock_ [protected]