#include <wg0x.h>
Public Member Functions | |
| void | generateCRC (void) |
| Calculate CRC of structure and update crc32_256_ and crc32_264_ elements. More... | |
| bool | verifyCRC (void) const |
| Verify CRC stored in actuator info structure. More... | |
Public Attributes | |
| uint32_t | crc32_256_ |
| uint32_t | crc32_264_ |
| double | encoder_reduction_ |
| uint32_t | id_ |
| uint16_t | major_ |
| double | max_current_ |
| uint16_t | minor_ |
| char | motor_make_ [32] |
| char | motor_model_ [32] |
| double | motor_torque_constant_ |
| char | name_ [64] |
| uint8_t | pad1 [40] |
| uint8_t | pad2 [4] |
| uint32_t | pulses_per_revolution_ |
| double | resistance_ |
| char | robot_name_ [32] |
| double | speed_constant_ |
| void WG0XActuatorInfo::generateCRC | ( | void | ) |
| bool WG0XActuatorInfo::verifyCRC | ( | void | ) | const |
Verify CRC stored in actuator info structure.
ActuatorInfo now constains two CRCs. Originally all devices had EEPROMS with 264 byte pages, and only crc264 was used. However, support was need for EEPROM with 246 byte pages. To have backwards compatible support, there is also a CRC of first 252 (256-4) bytes.
Devices configure in past will only have 264 byte EEPROM pages, and 264byte CRC. Newer devices might have 256 or 264 byte pages. The 264 byte EEPROMs will store both CRCs. The 256 byte EEPROMs will only store the 256 byte CRC.
Thus:
| com | EtherCAT communication class used for communicating with device |