Classes | Functions | Variables
wg0x.h File Reference
#include "ethercat_hardware/ethercat_device.h"
#include "ethercat_hardware/motor_model.h"
#include "ethercat_hardware/motor_heating_model.h"
#include "realtime_tools/realtime_publisher.h"
#include "ethercat_hardware/wg_mailbox.h"
#include "ethercat_hardware/wg_eeprom.h"
#include <boost/shared_ptr.hpp>
Include dependency graph for wg0x.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

struct  MbxDiagnostics
class  WG0X
struct  WG0XActuatorInfo
struct  WG0XCommand
struct  WG0XConfigInfo
struct  WG0XDiagnostics
struct  WG0XDiagnosticsInfo
struct  WG0XSafetyDisableCounters
struct  WG0XSafetyDisableStatus
struct  WG0XStatus
struct  WG0XUserConfigRam

Functions

struct WG0XSafetyDisableStatus __attribute__ ((__packed__))

Variables

struct WG0XActuatorInfo __attribute__
uint16_t absolute_current_limit_
int16_t adc_current_
static const unsigned BASE_ADDR = 0xA1
uint8_t board_over_temp_count_
uint16_t board_temperature_
uint8_t bridge_over_temp_count_
uint16_t bridge_temperature_
uint8_t calibration_reading_
uint8_t checksum_
static const unsigned CONFIG_INFO_BASE_ADDR = 0x0080
int16_t config_offset_current_A_
int16_t config_offset_current_B_
uint8_t configuration_status_
uint32_t crc32_
uint8_t current_loop_ki_
uint8_t current_loop_kp_
uint32_t device_serial_number_
uint8_t digital_out_
int32_t encoder_count_
int32_t encoder_index_pos_
uint8_t encoder_status_
uint8_t firmware_major_revision_
uint8_t firmware_minor_revision_
uint8_t highside_deadtime_
int32_t last_calibration_falling_edge_
int32_t last_calibration_rising_edge_
uint8_t lowside_deadtime_
uint8_t mbx_command_irq_count_
int16_t measured_current_
uint8_t mode_
int16_t motor_voltage_
float nominal_current_scale_
float nominal_voltage_scale_
uint16_t num_encoder_errors_
int16_t offset_current_A_
int16_t offset_current_B_
uint8_t operate_disable_count_
uint8_t over_current_count_
uint16_t packet_count_
uint8_t pad_ [8]
uint8_t pca_revision_
uint8_t pcb_revision_
uint8_t pdi_checksum_error_count_
uint8_t pdi_timeout_error_count_
uint8_t pdo_command_irq_count_
uint32_t product_id_
int16_t programmed_current_
int16_t programmed_pwm
int16_t programmed_pwm_value_
uint32_t revision_
uint8_t safety_disable_count_
WG0XSafetyDisableCounters safety_disable_counters_
uint8_t safety_disable_status_
uint8_t safety_disable_status_hold_
static const unsigned SIZE = 44
uint16_t supply_current_in_
uint16_t supply_current_out_
uint16_t supply_voltage_
uint32_t timestamp_
uint8_t undervoltage_count_
uint8_t unused1 [2]
uint8_t unused2 [14]
uint8_t unused3
uint8_t unused4
uint8_t unused_ [3]
uint8_t version_
uint16_t voltage_ref_
uint8_t watchdog_disable_count_
uint16_t watchdog_limit_
double zero_offset_

Function Documentation

struct WG0XSafetyDisableStatus __attribute__ ( (__packed__)  )

Variable Documentation

Definition at line 140 of file wg0x.h.

int16_t adc_current_

Definition at line 104 of file wg0x.h.

static const unsigned BASE_ADDR = 0xA1 [static]

Definition at line 60 of file wg0x.h.

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uint8_t checksum_

Definition at line 204 of file wg0x.h.

const unsigned CONFIG_INFO_BASE_ADDR = 0x0080 [static]

Definition at line 150 of file wg0x.h.

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uint32_t crc32_

Definition at line 138 of file wg0x.h.

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uint8_t digital_out_

Definition at line 186 of file wg0x.h.

int32_t encoder_count_

Definition at line 191 of file wg0x.h.

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uint8_t encoder_status_

Definition at line 194 of file wg0x.h.

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uint8_t mode_

Definition at line 185 of file wg0x.h.

int16_t motor_voltage_

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uint16_t packet_count_

Definition at line 202 of file wg0x.h.

uint8_t pad_

Definition at line 143 of file wg0x.h.

uint8_t pca_revision_

Definition at line 111 of file wg0x.h.

uint8_t pcb_revision_

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uint32_t product_id_

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int16_t programmed_pwm

Definition at line 198 of file wg0x.h.

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uint32_t revision_

Definition at line 110 of file wg0x.h.

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const unsigned SIZE = 44 [static]

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uint16_t supply_voltage_

Definition at line 200 of file wg0x.h.

uint32_t timestamp_

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uint8_t unused1[2]

Definition at line 105 of file wg0x.h.

uint8_t unused2[14]

Definition at line 108 of file wg0x.h.

uint8_t unused3

Definition at line 111 of file wg0x.h.

uint8_t unused4

Definition at line 113 of file wg0x.h.

uint8_t unused_[3]

Definition at line 136 of file wg0x.h.

uint8_t version_

Definition at line 135 of file wg0x.h.

uint16_t voltage_ref_

Definition at line 80 of file wg0x.h.

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uint16_t watchdog_limit_

Definition at line 148 of file wg0x.h.

double zero_offset_

Definition at line 137 of file wg0x.h.



ethercat_hardware
Author(s): Rob Wheeler (email: wheeler@willowgarage.com), Maintained by Derek King (email: dking@willowgarage.com)
autogenerated on Thu Jan 2 2014 11:39:31