#include <sr_edc.h>
Public Member Functions | |
| void | build_CAN_message (ETHERCAT_CAN_BRIDGE_DATA *message) |
| bool | can_data_is_ack (ETHERCAT_CAN_BRIDGE_DATA *packet) |
| This function checks if the can packet in the unpackState() this_buffer is an ACK. | |
| virtual void | construct (EtherCAT_SlaveHandler *sh, int &start_address) |
| Construct function, run at startup to set SyncManagers and FMMUs. | |
| virtual void | construct (EtherCAT_SlaveHandler *sh, int &start_address, unsigned int ethercat_command_data_size, unsigned int ethercat_status_data_size, unsigned int ethercat_can_bridge_data_size, unsigned int ethercat_command_data_address, unsigned int ethercat_status_data_address, unsigned int ethercat_can_bridge_data_command_address, unsigned int ethercat_can_bridge_data_status_address) |
| Construct function, run at startup to set SyncManagers and FMMUs. | |
| void | erase_flash () |
| Erase the PIC18F Flash memory. | |
| virtual int | initialize (pr2_hardware_interface::HardwareInterface *hw, bool allow_unprogrammed=true) |
| bool | read_flash (unsigned int offset, unsigned int baddr) |
| Function that reads back 8 bytes from PIC18F program memory. | |
| bool | simple_motor_flasher (sr_robot_msgs::SimpleMotorFlasher::Request &req, sr_robot_msgs::SimpleMotorFlasher::Response &res) |
| ROS Service that flashes a new firmware into a SimpleMotor board. | |
| SrEdc () | |
| Constructor of the SrEdc driver. | |
| virtual | ~SrEdc () |
| Destructor of the SrEdc driver. | |
Protected Types | |
| typedef realtime_tools::RealtimePublisher < std_msgs::Int16 > | rt_pub_int16_t |
Protected Member Functions | |
| virtual void | get_board_id_and_can_bus (int board_id, int *can_bus, unsigned int *board_can_id)=0 |
| virtual void | reinitialize_boards ()=0 |
| This function will call the reinitialization function for the boards attached to the CAN bus. | |
Protected Attributes | |
| bool | can_packet_acked |
| int | counter_ |
| boost::shared_ptr < realtime_tools::RealtimePublisher < std_msgs::Float64MultiArray > > | extra_analog_inputs_publisher |
| Extra analog inputs real time publisher (+ accelerometer and gyroscope) | |
| bool | flashing |
| ros::NodeHandle | nodehandle_ |
| std::vector< boost::shared_ptr < rt_pub_int16_t > > | realtime_pub_ |
Private Member Functions | |
| void | find_address_range (bfd *fd, unsigned int *smallest_start_address, unsigned int *biggest_end_address) |
| bool | read_back_and_check_flash (unsigned int baddr, unsigned int total_size) |
| bool | read_content_from_object_file (bfd *fd, bfd_byte *content, unsigned int base_addr) |
| void | send_CAN_msg (int8u can_bus, int16u msg_id, int8u msg_length, int8u msg_data[], int timeout, bool *timedout) |
| bool | write_flash_data (unsigned int base_addr, unsigned int total_size) |
Static Private Member Functions | |
| static std::string | get_filename (std::string full_path) |
Private Attributes | |
| bfd_byte * | binary_content |
| int | can_bus_ |
| We're using 2 can busses, so can_bus_ is 1 for motors 0 to 9 and 2 for motors 10 to 19. | |
| ETHERCAT_CAN_BRIDGE_DATA | can_message_ |
| bool | can_message_sent |
| unsigned int | motor_being_flashed |
| unsigned int | pos |
| pthread_mutex_t | producing |
| ros::ServiceServer | serviceServer |
Static Private Attributes | |
| static const unsigned int | max_retry = 20 |
Detailed Description
Member Typedef Documentation
typedef realtime_tools::RealtimePublisher<std_msgs::Int16> SrEdc::rt_pub_int16_t [protected] |
Reimplemented in SR06, SR08, and SrEdcMuscle.
Constructor & Destructor Documentation
| SrEdc::SrEdc | ( | ) |
Constructor of the SrEdc driver.
This is the Constructor of the driver. We initialize a few boolean values, a mutex and create the Bootloading service.
Definition at line 122 of file sr_edc.cpp.
| SrEdc::~SrEdc | ( | ) | [virtual] |
Destructor of the SrEdc driver.
This is the Destructor of the driver. it frees the FMMUs and SyncManagers which have been allocated during the construct.
Definition at line 143 of file sr_edc.cpp.
Member Function Documentation
| void SrEdc::build_CAN_message | ( | ETHERCAT_CAN_BRIDGE_DATA * | message | ) |
Definition at line 623 of file sr_edc.cpp.
| bool SrEdc::can_data_is_ack | ( | ETHERCAT_CAN_BRIDGE_DATA * | packet | ) |
This function checks if the can packet in the unpackState() this_buffer is an ACK.
This function checks several things on the can packet in this_buffer, it compares it with the can_message_ private member in several ways (SID, length, data) to check if it's an ACK.
- Parameters:
-
packet The packet from this_buffer of unpackState() that we want to check if it's an ACK
- Returns:
- Returns true if packet is an ACK of can_message_ packet.
Definition at line 674 of file sr_edc.cpp.
| void SrEdc::construct | ( | EtherCAT_SlaveHandler * | sh, |
| int & | start_address | ||
| ) | [virtual] |
Construct function, run at startup to set SyncManagers and FMMUs.
The role of this function is to setup the SyncManagers and the FMMUs used by this EtherCAT slave. This slave is using two Mailboxes on two different memory areas.
Here we are setting up the way of communicating between ROS and the PIC32 using the EtherCAT protocol.
We communicate using Shared Memory areas.
The FMMUs are usefull to map the logical memory used by ROS to the Physical memory of the EtherCAT slave chip (ET1200 chip). So that the chip receiving the packet will know that the data at address 0x10000 is in reality to be written at physical address 0x1000 of the chip memory for example. It is the mapping between the EtherCAT bus address space and each slave's chip own memory address space.
The SyncManagers are usefull to give a safe way of accessing this Shared Memory, using a consumer / producer model. There are features like interrupts to tell the consumer that there is something to consume or to tell the producer that the Mailbox is empty and then ready to receive a new message.
- One Mailbox contains the commands, written by ROS, read by the PIC32
- One Mailbox contains the status, written back by the PIC32, read by ROS
That's basically one Mailbox for upstream and one Mailbox for downstream.
- The first Mailbox contains in fact two commands, one is the torque demand, the other is a CAN command used in CAN_DIRECT_MODE to communicate with the SimpleMotor for test purposes, or to reflash a new firmware in bootloading mode. This Mailbox is at logicial address 0x10000 and mapped via a FMMU to physical address 0x1000 (the first address of user memory)
- The second Mailbox contains in fact two status, they are the response of the two previously described commands. One is the status containing the joints data, sensor data, finger tips data and motor data. The other is the can command response in CAN_DIRECT_MODE. When doing a flashing in bootloading mode this is usually an acknowledgment from the bootloader. This Mailbox is at logical address 0x10038 and mapped via a FMMU to physical address 0x1038.
This function sets the two private members command_size_ and status_size_ to be the size of each Mailbox. It is important for these numbers to be accurate since they are used by the EthercatHardware class when manipulating the buffers. If you need to have several commands like in this SrEdc driver, put the sum of the size, same thing for the status.
Reimplemented from SR0X.
Reimplemented in SR06, SR08, and SrEdcMuscle.
Definition at line 182 of file sr_edc.cpp.
| void SrEdc::construct | ( | EtherCAT_SlaveHandler * | sh, |
| int & | start_address, | ||
| unsigned int | ethercat_command_data_size, | ||
| unsigned int | ethercat_status_data_size, | ||
| unsigned int | ethercat_can_bridge_data_size, | ||
| unsigned int | ethercat_command_data_address, | ||
| unsigned int | ethercat_status_data_address, | ||
| unsigned int | ethercat_can_bridge_data_command_address, | ||
| unsigned int | ethercat_can_bridge_data_status_address | ||
| ) | [virtual] |
Construct function, run at startup to set SyncManagers and FMMUs.
The role of this function is to setup the SyncManagers and the FMMUs used by this EtherCAT slave. This slave is using two Mailboxes on two different memory areas.
Here we are setting up the way of communicating between ROS and the PIC32 using the EtherCAT protocol.
We communicate using Shared Memory areas.
The FMMUs are usefull to map the logical memory used by ROS to the Physical memory of the EtherCAT slave chip (ET1200 chip). So that the chip receiving the packet will know that the data at address 0x10000 is in reality to be written at physical address 0x1000 of the chip memory for example. It is the mapping between the EtherCAT bus address space and each slave's chip own memory address space.
The SyncManagers are usefull to give a safe way of accessing this Shared Memory, using a consumer / producer model. There are features like interrupts to tell the consumer that there is something to consume or to tell the producer that the Mailbox is empty and then ready to receive a new message.
- One Mailbox contains the commands, written by ROS, read by the PIC32
- One Mailbox contains the status, written back by the PIC32, read by ROS
That's basically one Mailbox for upstream and one Mailbox for downstream.
- The first Mailbox contains in fact two commands, one is the torque demand, the other is a CAN command used in CAN_DIRECT_MODE to communicate with the SimpleMotor for test purposes, or to reflash a new firmware in bootloading mode. This Mailbox is at logicial address 0x10000 and mapped via a FMMU to physical address 0x1000 (the first address of user memory)
- The second Mailbox contains in fact two status, they are the response of the two previously described commands. One is the status containing the joints data, sensor data, finger tips data and motor data. The other is the can command response in CAN_DIRECT_MODE. When doing a flashing in bootloading mode this is usually an acknowledgment from the bootloader. This Mailbox is at logical address 0x10038 and mapped via a FMMU to physical address 0x1038.
This function sets the two private members command_size_ and status_size_ to be the size of each Mailbox. It is important for these numbers to be accurate since they are used by the EthercatHardware class when manipulating the buffers. If you need to have several commands like in this SR06 driver, put the sum of the size, same thing for the status.
Definition at line 220 of file sr_edc.cpp.
| void SrEdc::erase_flash | ( | void | ) |
Erase the PIC18F Flash memory.
This function fills the can_message_ struct with a CAN message which tells the bootloader of the PIC18F to erase its Flash memory
Definition at line 321 of file sr_edc.cpp.
| void SrEdc::find_address_range | ( | bfd * | fd, |
| unsigned int * | smallest_start_address, | ||
| unsigned int * | biggest_end_address | ||
| ) | [private] |
Look for the start and end address of every section in the hex file, to detect the lowest and highest address of the data we need to write in the PIC's flash. The sections starting at an address higher than 0x7fff will be ignored as they are not proper "code memory" firmware (they can contain the CONFIG bits of the microcontroller, which we don't want to write here) To understand the structure (sections) of the object file containing the firmware (usually a .hex) the following commands can be useful:
objdump -x simplemotor.hex
objdump -s simplemotor.hex
- Parameters:
-
fd pointer to a bfd file structure smallest_start_address the lowest address found is returned through this pointer biggest_end_address the highest address found is returned through this pointer
Definition at line 826 of file sr_edc.cpp.
| virtual void SrEdc::get_board_id_and_can_bus | ( | int | board_id, |
| int * | can_bus, | ||
| unsigned int * | board_can_id | ||
| ) | [protected, pure virtual] |
Given the identifier for a certain board (motor board/ muscle driver) determines the right value for the CAN bus and the ID of the board in that CAN bus.
- Parameters:
-
board_id the unique identifier for the board can_bus pointer to the can bus number we want to determine board_can_id pointer to the board id we want to determine
Implemented in SR06, SR08, and SrEdcMuscle.
| static std::string SrEdc::get_filename | ( | std::string | full_path | ) | [inline, static, private] |
| int SrEdc::initialize | ( | pr2_hardware_interface::HardwareInterface * | hw, |
| bool | allow_unprogrammed = true |
||
| ) | [virtual] |
Reimplemented from SR0X.
Reimplemented in SR06, SR08, and SrEdcMuscle.
Definition at line 308 of file sr_edc.cpp.
| bool SrEdc::read_back_and_check_flash | ( | unsigned int | baddr, |
| unsigned int | total_size | ||
| ) | [private] |
Read back the firmware from the flash of the PIC, and checks it against the data read from the object (.hex) file
- Parameters:
-
baddr the base address of the code (the lowest address to be written on the flash) total_size the size in bytes of the code to write
- Returns:
- true if both are identical
Definition at line 798 of file sr_edc.cpp.
| bool SrEdc::read_content_from_object_file | ( | bfd * | fd, |
| bfd_byte * | content, | ||
| unsigned int | base_addr | ||
| ) | [private] |
Reads the content from the object (.hex) file and stores it in a previously reserved memory space
- Parameters:
-
fd pointer to a bfd file structure content a pointer to the memory space where we want to store the firmware base_addr the base address of the code (the lowest address to be written on the flash)
- Returns:
- true if the reading succeeds
Definition at line 859 of file sr_edc.cpp.
| bool SrEdc::read_flash | ( | unsigned int | offset, |
| unsigned int | baddr | ||
| ) |
Function that reads back 8 bytes from PIC18F program memory.
Flash memory is the program memory on the PIC18F This function is here to read back what we flashed into the PIC18F To check that there was no flashing transmission or writting error during the Flashing process. 8 bytes will be read, from address baddr + offset This function will fill the can_message_ structure with the correct value to allow the packCommand() function to send the correct etherCAT message to the PIC32 which will then send the correct CAN message to the PIC18F
- Parameters:
-
offset The position of the 8 bytes we want to read, relative to the base address baddr the base address
- Returns:
- Returns true if the command has timed out, false if the command was properly acknowledged
Definition at line 387 of file sr_edc.cpp.
| virtual void SrEdc::reinitialize_boards | ( | ) | [protected, pure virtual] |
This function will call the reinitialization function for the boards attached to the CAN bus.
Implemented in SR06, SR08, and SrEdcMuscle.
| void SrEdc::send_CAN_msg | ( | int8u | can_bus, |
| int16u | msg_id, | ||
| int8u | msg_length, | ||
| int8u | msg_data[], | ||
| int | timeout, | ||
| bool * | timedout | ||
| ) | [private] |
Contains the common procedure to send a CAN message (i.e. write it in the global struct from which it is read, added to the next ethercat frame, and sent) and wait for the can_packet_acked flag to be set
- Parameters:
-
can_bus which of the 2 CAN buses (0 or 1) wil be used msg_id id of the CAN message msg_length the length in bytes of msg_data msg_data data of the CAN message timeout time max (in ms) to wait for the can_packet_acked flag to be set timedout if true, the can_packet_acked flag wasn't set before the timeout
Definition at line 752 of file sr_edc.cpp.
| bool SrEdc::simple_motor_flasher | ( | sr_robot_msgs::SimpleMotorFlasher::Request & | req, |
| sr_robot_msgs::SimpleMotorFlasher::Response & | res | ||
| ) |
ROS Service that flashes a new firmware into a SimpleMotor board.
This function is a ROS Service, aimed at flashing a new firmware into the PIC18F of a SimpleMotor board through a CAN bootloader protocol.
The CAN bootloader allows for several commands to be executed : read_flash, erase_flash, write_flash, reboot, read_version
This service will fill a can_message_ structure and then switch a few boolean values to "false" in order to trigger the message to be sent by the SRXX::packCommand() function. And then repeat the process for another message, and so on.
This service will first read all the sections of the firmware using libbfd and find out the lowest and highest addresses containing code. Then it will allocate an array to contain the firmware's code. The size is (highest_addr - lowest_addr). The bfd library provides functions to manage object files more easily. To better understand some of the concepts used below, the following link can be useful: http://www.delorie.com/gnu/docs/binutils/ld_7.html The use of the following commands can also help to understand the structure of the object file containing the firmware
objdump -x simplemotor.hex
objdump -s simplemotor.hex
- Then it will send a MAGIC PACKET command to the PIC18F which will make it reboot in bootloader mode (regardless of whether it was already in bootloader mode or whether it was running the SimpleMotor code)
- Then it will send an ERASE_FLASH command to the PIC18F.
- Then it will send a WRITE_FLASH_ADDRESS_COMMAND to tell the PIC18F where we wanna write, and then 4 WRITE_FLASH_DATA commands (we write by blocks of 32 bytes). This process is repeated untill we've written all the firmware code, padding with 0x00 bytes in the end if the size is not a multiple of 32 bytes. The process starts at address (lowest_addr) and ends at (hiest_addr) + a few padding bytes if necessary.
You can call this service using this command :
rosservice call SimpleMotorFlasher "/home/hand/simplemotor.hex" 8
This will flash the "simplemotor.hex" firmware to the motor 8
- Parameters:
-
req The Request, contains the ID of the motor we want to flash via req.motor_id, and the path of the firmware to flash in req.firmware res The Response, it is always SUCCESS for now.
- Returns:
- This returns always true, the real return value is in the res parameter
Definition at line 471 of file sr_edc.cpp.
| bool SrEdc::write_flash_data | ( | unsigned int | base_addr, |
| unsigned int | total_size | ||
| ) | [private] |
Writes the code previously read from the hex file to the flash memory of the PIC
- Parameters:
-
base_addr the base address of the code (the lowest address to be written on the flash) total_size the size in bytes of the code to write
- Returns:
- true if the writing process succeeds
Definition at line 895 of file sr_edc.cpp.
Member Data Documentation
bfd_byte* SrEdc::binary_content [private] |
int SrEdc::can_bus_ [private] |
ETHERCAT_CAN_BRIDGE_DATA SrEdc::can_message_ [private] |
bool SrEdc::can_message_sent [private] |
bool SrEdc::can_packet_acked [protected] |
int SrEdc::counter_ [protected] |
boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float64MultiArray> > SrEdc::extra_analog_inputs_publisher [protected] |
Extra analog inputs real time publisher (+ accelerometer and gyroscope)
Reimplemented in SR06, SR08, and SrEdcMuscle.
bool SrEdc::flashing [protected] |
const unsigned int SrEdc::max_retry = 20 [static, private] |
unsigned int SrEdc::motor_being_flashed [private] |
ros::NodeHandle SrEdc::nodehandle_ [protected] |
unsigned int SrEdc::pos [private] |
pthread_mutex_t SrEdc::producing [private] |
std::vector< boost::shared_ptr<rt_pub_int16_t> > SrEdc::realtime_pub_ [protected] |
Reimplemented in SR06, SR08, and SrEdcMuscle.
ros::ServiceServer SrEdc::serviceServer [private] |
The documentation for this class was generated from the following files: