This needs to be a #define for symmetry with SENSORS_NUM. More...

#include <0220_palm_edc_ethercat_protocol.h>

Public Attributes
int32u	aux_data_type
	Request for specific aux data.
int32u	aux_spi_data_type
	4 bytes
AUX_SPI_SENSOR	aux_spi_sensor
int8u	can_bus
EDC_COMMAND	EDC_command
	What type of data should the palm send back in the next packet?
FROM_MOTOR_DATA_TYPE	from_motor_data_type
	Which data does the host want from the motors?
FROM_MUSCLE_DATA_TYPE	from_muscle_data_type
	Which data does the host want from the muscles?
int16u	idle_time_us
	packet, and the next packet arriving. Ideally, this number should be more than 50.
int8u	message_data [8]
int16u	message_id
int8u	message_length
int16s	motor_data [NUM_MOTORS]
	Data to send to motors. Typically torque/PWM demands, or configs.
MOTOR_DATA_PACKET	motor_data_packet [10]
	Data for 10 motors only. (Even ones or Odd ones)
FROM_MOTOR_DATA_TYPE	motor_data_type
int8u	muscle_data [NUM_MUSCLES/2]
	Data to send to muscles. [-4 .. 4] packed into the nibbles.
MUSCLE_DATA_PACKET	muscle_data_packet [NUM_MUSCLE_DATA_PACKETS]
FROM_MUSCLE_DATA_TYPE	muscle_data_type
int16u	sensors [SENSORS_NUM_0220+1]
	74 bytes
TACTILE_SENSOR_STATUS_v2	tactile [5]
TACTILE_SENSOR_STATUS_v1	tactile [5]
int32u	tactile_data_type
	Request for specific tactile data.
int16u	tactile_data_valid
	Bit 0: FF. Bit 4: TH.
TACTILE_SENSOR_MID_PROX	tactile_mid_prox [5]
TO_MOTOR_DATA_TYPE	to_motor_data_type
	Request for specific motor data.
TO_MUSCLE_DATA_TYPE	to_muscle_data_type
	What type of data are we sending to the muscles?
int32u	which_motor_data_arrived
	Bit N set when motor CAN message arrives. Ideally, bits 0..19 get set.
int32u	which_motor_data_had_errors
	Bit N set when motor sends bad CAN message Ideally, no bits get set.
int16s	which_motors
int16u	which_muscle_data_arrived

Detailed Description

This needs to be a #define for symmetry with SENSORS_NUM.

These are the data sent by the host.

These are the data sent from the Palm to the host.

This packet allows the palm to transmit and receive CAN messages on either CAN bus. One CAN message per EtherCAT packet only. The CAN messages can be used for bootloading new code onto the motors, or to configure the motor boards.

Definition at line 365 of file 0220_palm_edc_ethercat_protocol.h.

Member Data Documentation

int32u __attribute__::aux_data_type

Request for specific aux data.

Definition at line 122 of file 0230_palm_edc_ethercat_protocol.h.

int32u __attribute__::aux_spi_data_type

4 bytes

Definition at line 69 of file 0230_palm_edc_ethercat_protocol.h.

AUX_SPI_SENSOR __attribute__::aux_spi_sensor

32 bytes TOTAL = 36 bytes

Definition at line 70 of file 0230_palm_edc_ethercat_protocol.h.

int8u __attribute__::can_bus

Definition at line 54 of file ethercat_can_bridge_protocol.h.

EDC_COMMAND __attribute__::EDC_command

What type of data should the palm send back in the next packet?

This tells us the contents of the data below. This value should be identical to the EDC_command value which arrived from the host in the previous EtherCAT packet

Header [0]:18 What type of data should the palm send back in the next packet? ------

Definition at line 367 of file 0220_palm_edc_ethercat_protocol.h.

FROM_MOTOR_DATA_TYPE __attribute__::from_motor_data_type

Which data does the host want from the motors?

Definition at line 402 of file 0220_palm_edc_ethercat_protocol.h.

FROM_MUSCLE_DATA_TYPE __attribute__::from_muscle_data_type

Which data does the host want from the muscles?

Definition at line 308 of file 0320_palm_edc_ethercat_protocol.h.

int16u __attribute__::idle_time_us

packet, and the next packet arriving. Ideally, this number should be more than 50.

The idle time from when the palm has finished dealing with one EtherCAT

Definition at line 390 of file 0220_palm_edc_ethercat_protocol.h.

int8u __attribute__::message_data[8]

Definition at line 57 of file ethercat_can_bridge_protocol.h.

int16u __attribute__::message_id

Definition at line 56 of file ethercat_can_bridge_protocol.h.

int8u __attribute__::message_length

Definition at line 55 of file ethercat_can_bridge_protocol.h.

int16s __attribute__::motor_data

Data to send to motors. Typically torque/PWM demands, or configs.

Motor Data [18]:40 Data to send to motors. Typically torque/PWM demands, or configs.

Definition at line 407 of file 0220_palm_edc_ethercat_protocol.h.

MOTOR_DATA_PACKET __attribute__::motor_data_packet

Data for 10 motors only. (Even ones or Odd ones)

Data for 10 motors only. (Even ones or Odd ones) 40 bytes

Definition at line 384 of file 0220_palm_edc_ethercat_protocol.h.

FROM_MOTOR_DATA_TYPE __attribute__::motor_data_type

Which data does motor[] contain? This value should agree with the previous value in ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND

Which data does motor[] contain? This value should agree with the previous value in ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND

Definition at line 374 of file 0220_palm_edc_ethercat_protocol.h.

int8u __attribute__::muscle_data[NUM_MUSCLES/2]

Data to send to muscles. [-4 .. 4] packed into the nibbles.

Definition at line 311 of file 0320_palm_edc_ethercat_protocol.h.

MUSCLE_DATA_PACKET __attribute__::muscle_data_packet[NUM_MUSCLE_DATA_PACKETS]

Definition at line 289 of file 0320_palm_edc_ethercat_protocol.h.

FROM_MUSCLE_DATA_TYPE __attribute__::muscle_data_type

Which data does pressure_sensors[] actually contain? This value should agree with the previous value in ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND

Definition at line 281 of file 0320_palm_edc_ethercat_protocol.h.

int16u __attribute__::sensors

74 bytes

Definition at line 372 of file 0220_palm_edc_ethercat_protocol.h.

TACTILE_SENSOR_STATUS_v2 __attribute__::tactile[5]

32*5 = 160 bytes TOTAL = 166 bytes

Definition at line 65 of file 0230_palm_edc_ethercat_protocol.h.

TACTILE_SENSOR_STATUS_v1 __attribute__::tactile

Definition at line 388 of file 0220_palm_edc_ethercat_protocol.h.

int32u __attribute__::tactile_data_type

Request for specific tactile data.

4 bytes

Definition at line 386 of file 0220_palm_edc_ethercat_protocol.h.

int16u __attribute__::tactile_data_valid

Bit 0: FF. Bit 4: TH.

2 bytes (Bit 0: FF. Bit 4: TH.)

Definition at line 387 of file 0220_palm_edc_ethercat_protocol.h.

TACTILE_SENSOR_MID_PROX __attribute__::tactile_mid_prox[5]

16*5 = 80 bytes TOTAL = 154 bytes

Definition at line 59 of file 0230_palm_edc_ethercat_protocol.h.

TO_MOTOR_DATA_TYPE __attribute__::to_motor_data_type

Request for specific motor data.

Definition at line 406 of file 0220_palm_edc_ethercat_protocol.h.

TO_MUSCLE_DATA_TYPE __attribute__::to_muscle_data_type

What type of data are we sending to the muscles?

Definition at line 310 of file 0320_palm_edc_ethercat_protocol.h.

int32u __attribute__::which_motor_data_arrived

Bit N set when motor CAN message arrives. Ideally, bits 0..19 get set.

Definition at line 381 of file 0220_palm_edc_ethercat_protocol.h.

int32u __attribute__::which_motor_data_had_errors

Bit N set when motor sends bad CAN message Ideally, no bits get set.

Definition at line 382 of file 0220_palm_edc_ethercat_protocol.h.

int16s __attribute__::which_motors

0: Even motor numbers. 1: Odd motor numbers This value should agree with the previous value in ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND

Which motors does the host want to read? 0: Even motor numbers. 1: Odd motor numbers

0: Even motor numbers. 1: Odd motor numbers This value should agree with the previous value in ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND

Definition at line 377 of file 0220_palm_edc_ethercat_protocol.h.

int16u __attribute__::which_muscle_data_arrived

Bit s indicate which muscle data packet is new this frame This variable needst to be 16 bits (even though we use only 8 of the bits) to ensure that later words are 16-bit aligned. (Mis-alignment causes memory exception).

Definition at line 285 of file 0320_palm_edc_ethercat_protocol.h.

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

Public Attributes

Detailed Description

Member Data Documentation