#include "../0220_palm_edc/0220_palm_edc_ethercat_protocol.h"

Include dependency graph for 0240_palm_edc_IMU_ethercat_protocol.h:

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

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

struct	IMU_COMMAND_TYPE

Macros
#define	ETHERCAT_COMMAND_0240_AGREED_SIZE 74

#define	ETHERCAT_STATUS_0240_AGREED_SIZE 232

#define	IMU_COMMAND_NONE 0

#define	IMU_COMMAND_SET_SCALE 1

#define	PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0240_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0240_ETHERCAT_COMMAND_DATA_SIZE)

#define	PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0240_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0240_ETHERCAT_STATUS_DATA_SIZE)

#define	PALM_0240_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

#define	PALM_0240_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0240_PALM_EDC_COMMAND)

#define	PALM_0240_ETHERCAT_COMMAND_HEADER_SIZE ( sizeof(EDC_COMMAND) + sizeof(FROM_MOTOR_DATA_TYPE) + sizeof(int16s) )

#define	PALM_0240_ETHERCAT_STATUS_DATA_ADDRESS (PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)

#define	PALM_0240_ETHERCAT_STATUS_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0240_PALM_EDC_STATUS)

Detailed Description

The term "Command" means data going from the ROS PC to the Node on the robot Previously known as "Incoming"

The term "Status" means data going from Node on the robot the to the ROS PC Previously known as "Outgoing"

Macro Definition Documentation

#define ETHERCAT_COMMAND_0240_AGREED_SIZE 74

#define ETHERCAT_STATUS_0240_AGREED_SIZE 232

#define IMU_COMMAND_NONE 0

#define IMU_COMMAND_SET_SCALE 1

#define PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0240_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0240_ETHERCAT_COMMAND_DATA_SIZE)

#define PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0240_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0240_ETHERCAT_STATUS_DATA_SIZE)

#define PALM_0240_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

#define PALM_0240_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0240_PALM_EDC_COMMAND)

#define PALM_0240_ETHERCAT_COMMAND_HEADER_SIZE ( sizeof(EDC_COMMAND) + sizeof(FROM_MOTOR_DATA_TYPE) + sizeof(int16s) )

#define PALM_0240_ETHERCAT_STATUS_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0240_PALM_EDC_STATUS)