EtherCAT driver for WG005 motor controller. More...

#include <wg05.h>

Inheritance diagram for WG05:

Public Types
enum	{ PRODUCT_CODE = 6805005 }

Public Types inherited from EthercatDevice
enum	AddrMode { FIXED_ADDR =0, POSITIONAL_ADDR =1 }

Public Member Functions
void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device More...

int	initialize (pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true)

void	packCommand (unsigned char *buffer, bool halt, bool reset)

bool	unpackState (unsigned char this_buffer, unsigned char prev_buffer)

Public Member Functions inherited from WG0X
virtual void	collectDiagnostics (EthercatCom *com)

void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device More...

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. More...

void	packCommand (unsigned char *buffer, bool halt, bool reset)

bool	program (EthercatCom *com, const WG0XActuatorInfo &actutor_info)
	Programs acutator and heating parameters into device EEPROM. More...

bool	program (EthercatCom *com, const MotorHeatingModelParametersEepromConfig &heating_config)
	Programs motor heating parameters into device EEPROM. More...

bool	publishTrace (const string &reason, unsigned level, unsigned delay)
	Asks device to publish (motor) trace. Only works for devices that support it. More...

bool	readActuatorInfoFromEeprom (EthercatCom *com, WG0XActuatorInfo &actuator_info)
	Reads actuator info from eeprom. More...

bool	readMotorHeatingModelParametersFromEeprom (EthercatCom *com, MotorHeatingModelParametersEepromConfig &config)
	Reads actuator info from eeprom. More...

bool	unpackState (unsigned char this_buffer, unsigned char prev_buffer)

	WG0X ()

virtual	~WG0X ()

Public Member Functions inherited from EthercatDevice
virtual void	construct (ros::NodeHandle &nh)

	EthercatDevice ()

void	ethercatDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts)
	Adds diagnostic information for EtherCAT ports. More...

virtual void	multiDiagnostics (vector< diagnostic_msgs::DiagnosticStatus > &vec, unsigned char *buffer)
	For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used. More...

int	readData (EthercatCom com, EC_UINT address, void buffer, EC_UINT length, AddrMode addrMode)

int	readWriteData (EthercatCom com, EC_UINT address, void buffer, EC_UINT length, AddrMode addrMode)

int	writeData (EthercatCom com, EC_UINT address, void const buffer, EC_UINT length, AddrMode addrMode)

virtual	~EthercatDevice ()

Additional Inherited Members
Static Public Member Functions inherited from WG0X
static double	calcEncoderVelocity (int32_t new_position, uint32_t new_timestamp, int32_t old_position, uint32_t old_timestamp)

static double	convertRawTemperature (int16_t raw_temp)
	Converts raw 16bit temperature value returned by device into value in degress Celcius. More...

static int32_t	positionDiff (int32_t new_position, int32_t old_position)

static ros::Duration	timediffToDuration (int32_t timediff_usec)

static int32_t	timestampDiff (uint32_t new_timestamp, uint32_t old_timestamp)

Static Public Member Functions inherited from EthercatDevice
static int	readData (EthercatCom com, EtherCAT_SlaveHandler sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
	Read data from device ESC. More...

static int	readWriteData (EthercatCom com, EtherCAT_SlaveHandler sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode)
	Read then write data to ESC. More...

static int	writeData (EthercatCom com, EtherCAT_SlaveHandler sh, EC_UINT address, void const *buffer, EC_UINT length, AddrMode addrMode)
	Write data to device ESC. More...

Public Attributes inherited from EthercatDevice
enum EthercatDevice::AddrMode	__attribute__

unsigned int	command_size_

EthercatDeviceDiagnostics	deviceDiagnostics [2]

diagnostic_updater::DiagnosticStatusWrapper	diagnostic_status_

pthread_mutex_t	diagnosticsLock_

unsigned	newDiagnosticsIndex_

pthread_mutex_t	newDiagnosticsIndexLock_

EtherCAT_SlaveHandler *	sh_

unsigned int	status_size_

bool	use_ros_

Protected Types inherited from WG0X
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 inherited from WG0X
void	clearErrorFlags (void)

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) More...

bool	lockWG0XDiagnostics ()

void	publishGeneralDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)

void	publishMailboxDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)

bool	readAppRam (EthercatCom *com, double &zero_offset)

int	readMailbox (EthercatCom com, unsigned address, void data, unsigned length)
	Read data from WG0X local bus using mailbox communication. More...

bool	tryLockWG0XDiagnostics ()

void	unlockWG0XDiagnostics ()

bool	verifyChecksum (const void *buffer, unsigned size)

bool	verifyState (WG0XStatus this_status, WG0XStatus prev_status)

bool	writeAppRam (EthercatCom *com, double zero_offset)

int	writeMailbox (EthercatCom com, unsigned address, void const data, unsigned length)
	Write data to WG0X local bus using mailbox communication. More...

Static Protected Member Functions inherited from WG0X
static void	copyActuatorInfo (ethercat_hardware::ActuatorInfo &out, const WG0XActuatorInfo &in)
	Fills in ethercat_hardware::ActuatorInfo from WG0XActuatorInfo. More...

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 inherited from WG0X
enum WG0X:: { ... }	__attribute__

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') More...

uint8_t	board_minor_
	Printed circuit assembly revision. More...

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_

ethercat_hardware::WGEeprom	eeprom_
	Access to device eeprom. More...

bool	encoder_errors_detected_

bool	fpga_internal_reset_detected_

uint8_t	fw_major_

uint8_t	fw_minor_

bool	has_error_

bool	in_lockout_

uint32_t	last_last_timestamp_

uint32_t	last_timestamp_

ethercat_hardware::WGMailbox	mailbox_
	Mailbox access to device. More...

uint16_t	max_board_temperature_

uint16_t	max_bridge_temperature_

int	max_consecutive_drops_

double	max_current_
	min(board current limit, actuator current limit) More...

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 inherited from WG0X
static const unsigned	ACTUATOR_INFO_PAGE = 4095

static const unsigned	COMMAND_PHY_ADDR = 0x1000

static boost::shared_ptr< ethercat_hardware::MotorHeatingModelCommon >	motor_heating_model_common_

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

EtherCAT driver for WG005 motor controller.

Definition at line 43 of file wg05.h.

Member Enumeration Documentation

anonymous enum

Enumerator
PRODUCT_CODE

Definition at line 50 of file wg05.h.

Member Function Documentation

void WG05::construct	(	EtherCAT_SlaveHandler *	sh,
		int &	start_address
	)

virtual

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented from EthercatDevice.

Definition at line 52 of file wg05.cpp.

int WG05::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = `true`
	)

virtual

Reimplemented from WG0X.

Definition at line 115 of file wg05.cpp.

void WG05::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.

Definition at line 147 of file wg05.cpp.

bool WG05::unpackState	(	unsigned char *	this_buffer,
		unsigned char *	prev_buffer
	)

virtual

Reimplemented from EthercatDevice.

Definition at line 152 of file wg05.cpp.

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Member Function Documentation