TxPdoZ.hpp
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1 #pragma once
2 
3 // std
4 #include <cstdint>
5 
6 namespace rokubimini
7 {
8 namespace ethercat
9 {
10 // This PDO should only be used as long as the firmware doesn't provide the single PDO
11 struct TxPdoZ
12 {
13  // PDO A, 0x6000
14  uint8_t status_;
15  uint32_t warningsErrorsFatals_;
16  uint64_t timeStamp_;
17  float forceX_;
18  float forceY_;
19  float forceZ_;
20  float torqueX_;
21  float torqueY_;
22  float torqueZ_;
23  uint8_t forceTorqueSaturated_;
24  float accelerationX_;
25  float accelerationY_;
26  float accelerationZ_;
27  uint8_t accelerationSaturated_;
28  float angularRateX_;
29  float angularRateY_;
30  float angularRateZ_;
31  uint8_t angularRateSaturated_;
32  float temperature_;
33 
34  // PDO B, 0x6001
35  uint8_t statusB_;
36  uint32_t warningsErrorsFatalsB_;
37  uint64_t timeStampB_;
38  float forceXB_;
39  float forceYB_;
40  float forceZB_;
41  float torqueXB_;
42  float torqueYB_;
43  float torqueZB_;
44  uint8_t forceTorqueSaturatedB_;
45  float accelerationXB_;
46  float accelerationYB_;
47  float accelerationZB_;
48  uint8_t accelerationSaturatedB_;
49  float angularRateXB_;
50  float angularRateYB_;
51  float angularRateZB_;
52  uint8_t angularRateSaturatedB_;
53  float temperatureB_;
54 
55  float estimatedOrientationX_;
56  float estimatedOrientationY_;
57  float estimatedOrientationZ_;
58  float estimatedOrientationW_;
59  float forceInWorldX_;
60  float forceInWorldY_;
61  float forceInWorldZ_;
62  float torqueInWorldX_;
63  float torqueInWorldY_;
64  float torqueInWorldZ_;
65 
66  // PDO C, 0x6002
67  uint8_t statusC_;
68  uint32_t warningsErrorsFatalsC_;
69  uint64_t timeStampC_;
70  float forceXC_;
71  float forceYC_;
72  float forceZC_;
73  float torqueXC_;
74  float torqueYC_;
75  float torqueZC_;
76  uint8_t forceTorqueSaturatedC_;
77  float accelerationXC_;
78  float accelerationYC_;
79  float accelerationZC_;
80  uint8_t accelerationSaturatedC_;
81  float angularRateXC_;
82  float angularRateYC_;
83  float angularRateZC_;
84  uint8_t angularRateSaturatedC_;
85  float temperatureC_;
86 
87  float estimatedOrientationXC_;
88  float estimatedOrientationYC_;
89  float estimatedOrientationZC_;
90  float estimatedOrientationWC_;
91  float forceInWorldXC_;
92  float forceInWorldYC_;
93  float forceInWorldZC_;
94  float torqueInWorldXC_;
95  float torqueInWorldYC_;
96  float torqueInWorldZC_;
97 
98  float externalAccelerationX_;
99  float externalAccelerationY_;
100  float externalAccelerationZ_;
101  uint8_t externalAccelerationSaturated_;
102  float externalAngularRateX_;
103  float externalAngularRateY_;
104  float externalAngularRateZ_;
105  uint8_t externalAngularRateSaturated_;
106  float externalEstimatedOrientationX_;
107  float externalEstimatedOrientationY_;
108  float externalEstimatedOrientationZ_;
109  float externalEstimatedOrientationW_;
110  float relativeOrientationX_;
111  float relativeOrientationY_;
112  float relativeOrientationZ_;
113 
114 } __attribute__((packed));
115 
116 } // namespace ethercat
117 } // namespace rokubimini
uint8_t
unsigned char uint8_t
uint32_t
unsigned int uint32_t
uint64_t
unsigned __int64 uint64_t
rokubimini::ethercat::TxPdoZ::externalAccelerationSaturated_
uint8_t externalAccelerationSaturated_
Definition: TxPdoZ.hpp:101
rokubimini::ethercat::__attribute__
struct rokubimini::ethercat::RxPdo __attribute__((packed))
rokubimini::ethercat::TxPdoZ::externalAngularRateSaturated_
uint8_t externalAngularRateSaturated_
Definition: TxPdoZ.hpp:105

rokubimini_ethercat
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autogenerated on Wed Mar 3 2021 03:09:16