ethercat_al.h
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00034 
00035 #ifndef RIQ_HAND_ETHERCAT_HARDWARE__ETHERCAT_AL_H
00036 #define RIQ_HAND_ETHERCAT_HARDWARE__ETHERCAT_AL_H
00037 
00038 #include "ethercat_hardware/ethercat_device.h"
00039 #include "riq_msgs/RIQHandCommand.h"
00040 #include <boost/thread/mutex.hpp>
00041 
00042 namespace riq_hand_ethercat_hardware
00043 {
00044 
00045 
00046 struct ECatStates
00047 {
00048   enum {INIT=0,BOOTSTRAP=3,PREOP=2,SAFEOP=4,OP=8};
00049   static const char* stateString(unsigned state);
00050 };
00051 
00052 struct ECatALStatus
00053 {
00054   union {
00055     uint16_t raw_;
00056     struct {
00057       uint16_t state_ : 4;
00058       uint16_t error_ : 1;
00059       uint16_t res_   : 11;
00060     } __attribute__ ((__packed__));
00061   } __attribute__ ((__packed__));
00062 
00063   const char* stateString() const {return ECatStates::stateString(state_);}
00064   
00065   static const unsigned BASE_ADDR = 0x130;
00066 } __attribute__ ((__packed__));
00067 
00068 
00069 struct ECatALStatusCode
00070 {
00071   uint16_t error_code_;
00072 
00073   static const char* errorCodeString(unsigned code);  
00074   const char* errorCodeString() const {return errorCodeString(error_code_);}
00075 
00076   enum {NO_ERROR=0, SYNC_MANAGER_WATCHDOG=0x1b};
00077 
00078   static const unsigned BASE_ADDR = 0x134;
00079 } __attribute__ ((__packed__));
00080 
00081 
00082 struct ECatALStatusAll
00083 {
00084   static const unsigned BASE_ADDR = 0x130;
00085   ECatALStatus      status_;
00086   uint16_t          unused_;
00087   ECatALStatusCode  status_code_;
00088 
00089   bool readData(EthercatCom *com, EtherCAT_SlaveHandler *sh);
00090 
00091   static void sizeAssert();
00092 } __attribute__ ((__packed__));
00093 
00094 
00095 struct ECatALControl
00096 {
00097   union {
00098     uint16_t raw_;
00099     struct {
00100       uint16_t state_ : 4;
00101       uint16_t ack_error_ : 1;
00102       uint16_t res_ : 11;
00103     } __attribute__ ((__packed__));
00104   } __attribute__ ((__packed__));
00105 
00106   static const unsigned BASE_ADDR = 0x120;
00107     
00108   bool writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh) const;
00109 
00110   static void sizeAssert();
00111 } __attribute__ ((__packed__));
00112 
00113 
00114 }; //namespace riq_hand_ethercat_hardware
00115 
00116 #endif /* RIQ_HAND_ETHERCAT_HARDWARE__ETHERCAT_AL_H */


riq_hand_ethercat_hardware
Author(s): Derek King
autogenerated on Fri Jan 3 2014 11:46:38