ethercat_hardware Namespace Reference

Namespaces
	wg_util

Classes
struct	EepromStatusReg
struct	MbxDiagnostics
class	MotorHeatingModel
class	MotorHeatingModelCommon
struct	MotorHeatingModelParameters
struct	MotorHeatingModelParametersEepromConfig
struct	SyncMan
struct	SyncManActivate
struct	SyncManControl
struct	SyncManPDIControl
struct	SyncManStatus
struct	WG0XMbxCmd
struct	WG0XMbxHdr
struct	WG0XSpiEepromCmd
class	WGEeprom
class	WGMailbox
class	WGSoftProcessor

Enumerations
enum	MbxCmdType { LOCAL_BUS_READ =1, LOCAL_BUS_WRITE =2 }

Functions
struct ethercat_hardware::MotorHeatingModelParameters	__attribute__ ((__packed__))
static bool	getDoubleAttribute (TiXmlElement *elt, const std::string &filename, const char *param_name, double &value)
static bool	getIntegerAttribute (TiXmlElement *elt, const std::string &filename, const char *param_name, int &value)
static bool	getStringAttribute (TiXmlElement *elt, const std::string &filename, const char *param_name, std::string &value)
int	safe_clock_gettime (clockid_t clk_id, timespec *time)
	error checking wrapper around clock_gettime More...
void	safe_usleep (uint32_t usec)
	safe version of usleep. More...
static void	saturateTemperature (double &temperature, const char *name)
int	timediff_ms (const timespec &current, const timespec &start)
	Find difference between two timespec values. More...
void	updateIndexAndWkc (EC_Telegram *tg, EC_Logic *logic)

Variables
ethercat_hardware::MotorHeatingModelCommon	__attribute__
static const int	DEBUG_LEVEL = 0
static const unsigned	MBX_DATA_SIZE = (MBX_SIZE - sizeof(WG0XMbxHdr) - 1)
static const unsigned	MBX_SIZE = 512

Enumeration Type Documentation

MbxCmdType

enum ethercat_hardware::MbxCmdType

Enumerator
LOCAL_BUS_READ
LOCAL_BUS_WRITE

Definition at line 87 of file wg_mailbox.cpp.

Function Documentation

__attribute__()

struct ethercat_hardware::MotorHeatingModelParameters ethercat_hardware::__attribute__

(

(__packed__)

)

getDoubleAttribute()

static bool ethercat_hardware::getDoubleAttribute ( TiXmlElement *  elt, const std::string &  filename, const char *  param_name, double &  value  )

static

Definition at line 525 of file motor_heating_model.cpp.

getIntegerAttribute()

static bool ethercat_hardware::getIntegerAttribute ( TiXmlElement *  elt, const std::string &  filename, const char *  param_name, int &  value  )

static

Definition at line 547 of file motor_heating_model.cpp.

getStringAttribute()

static bool ethercat_hardware::getStringAttribute ( TiXmlElement *  elt, const std::string &  filename, const char *  param_name, std::string &  value  )

static

Definition at line 512 of file motor_heating_model.cpp.

safe_clock_gettime()

int ethercat_hardware::safe_clock_gettime	(	clockid_t	clk_id,
		timespec *	time
	)

error checking wrapper around clock_gettime

Parameters

current	current time
current	start time

Returns

returns 0 for success, non-zero for failure

Definition at line 212 of file wg_mailbox.cpp.

safe_usleep()

void ethercat_hardware::safe_usleep

(

uint32_t

usec

)

safe version of usleep.

Uses nanosleep internally. Will restart sleep after begin woken by signal.

Parameters

usec	number of microseconds to sleep for. Must be < 1000000.

Definition at line 231 of file wg_mailbox.cpp.

saturateTemperature()

static void ethercat_hardware::saturateTemperature ( double &  temperature, const char *  name  )

static

Definition at line 569 of file motor_heating_model.cpp.

timediff_ms()

int ethercat_hardware::timediff_ms	(	const timespec &	current,
		const timespec &	start
	)

Find difference between two timespec values.

Parameters

current	current time
current	start time

Returns

returns time difference (current-start) in milliseconds

Definition at line 197 of file wg_mailbox.cpp.

updateIndexAndWkc()

void ethercat_hardware::updateIndexAndWkc	(	EC_Telegram *	tg,
		EC_Logic *	logic
	)

Definition at line 253 of file wg_mailbox.cpp.

Variable Documentation

__attribute__

struct ethercat_hardware::WG0XMbxCmd ethercat_hardware::__attribute__

DEBUG_LEVEL

const int ethercat_hardware::DEBUG_LEVEL = 0

static

Definition at line 89 of file motor_heating_model.cpp.

MBX_DATA_SIZE

const unsigned ethercat_hardware::MBX_DATA_SIZE = (MBX_SIZE - sizeof(WG0XMbxHdr) - 1)

static

Definition at line 109 of file wg_mailbox.cpp.

MBX_SIZE

const unsigned ethercat_hardware::MBX_SIZE = 512

static

Definition at line 108 of file wg_mailbox.cpp.