Classes | Functions | Variables
wg0x.h File Reference
#include "ethercat_hardware/ethercat_device.h"
#include "ethercat_hardware/motor_model.h"
#include "ethercat_hardware/motor_heating_model.h"
#include "realtime_tools/realtime_publisher.h"
#include "ethercat_hardware/wg_mailbox.h"
#include "ethercat_hardware/wg_eeprom.h"
#include <boost/shared_ptr.hpp>
Include dependency graph for wg0x.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

struct  MbxDiagnostics
 
class  WG0X
 
struct  WG0XActuatorInfo
 
struct  WG0XCommand
 
struct  WG0XConfigInfo
 
struct  WG0XDiagnostics
 
struct  WG0XDiagnosticsInfo
 
struct  WG0XSafetyDisableCounters
 
struct  WG0XSafetyDisableStatus
 
struct  WG0XStatus
 
struct  WG0XUserConfigRam
 

Functions

struct WG0XSafetyDisableStatus __attribute__ ((__packed__))
 

Variables

struct WG0XActuatorInfo __attribute__
 
uint16_t absolute_current_limit_
 
int16_t adc_current_
 
static const unsigned BASE_ADDR = 0xA1
 
uint8_t board_over_temp_count_
 
uint16_t board_temperature_
 
uint8_t bridge_over_temp_count_
 
uint16_t bridge_temperature_
 
uint8_t calibration_reading_
 
uint8_t checksum_
 
static const unsigned CONFIG_INFO_BASE_ADDR = 0x0080
 
int16_t config_offset_current_A_
 
int16_t config_offset_current_B_
 
uint8_t configuration_status_
 
uint32_t crc32_
 
uint8_t current_loop_ki_
 
uint8_t current_loop_kp_
 
uint32_t device_serial_number_
 
uint8_t digital_out_
 
int32_t encoder_count_
 
int32_t encoder_index_pos_
 
uint8_t encoder_status_
 
uint8_t firmware_major_revision_
 
uint8_t firmware_minor_revision_
 
uint8_t highside_deadtime_
 
int32_t last_calibration_falling_edge_
 
int32_t last_calibration_rising_edge_
 
uint8_t lowside_deadtime_
 
uint8_t mbx_command_irq_count_
 
int16_t measured_current_
 
uint8_t mode_
 
int16_t motor_voltage_
 
float nominal_current_scale_
 
float nominal_voltage_scale_
 
uint16_t num_encoder_errors_
 
int16_t offset_current_A_
 
int16_t offset_current_B_
 
uint8_t operate_disable_count_
 
uint8_t over_current_count_
 
uint16_t packet_count_
 
uint8_t pad_ [8]
 
uint8_t pca_revision_
 
uint8_t pcb_revision_
 
uint8_t pdi_checksum_error_count_
 
uint8_t pdi_timeout_error_count_
 
uint8_t pdo_command_irq_count_
 
uint32_t product_id_
 
int16_t programmed_current_
 
int16_t programmed_pwm
 
int16_t programmed_pwm_value_
 
uint32_t revision_
 
uint8_t safety_disable_count_
 
WG0XSafetyDisableCounters safety_disable_counters_
 
uint8_t safety_disable_status_
 
uint8_t safety_disable_status_hold_
 
static const unsigned SIZE =44
 
uint16_t supply_current_in_
 
uint16_t supply_current_out_
 
uint16_t supply_voltage_
 
uint32_t timestamp_
 
uint8_t undervoltage_count_
 
uint8_t unused1 [2]
 
uint8_t unused2 [14]
 
uint8_t unused3
 
uint8_t unused4
 
uint8_t unused_ [3]
 
uint8_t version_
 
uint16_t voltage_ref_
 
uint8_t watchdog_disable_count_
 
uint16_t watchdog_limit_
 
double zero_offset_
 

Function Documentation

◆ __attribute__()

struct WG0XSafetyDisableStatus __attribute__ ( (__packed__)  )

Variable Documentation

◆ __attribute__

struct MbxDiagnostics __attribute__

◆ absolute_current_limit_

uint16_t absolute_current_limit_

Definition at line 267 of file wg0x.h.

◆ adc_current_

int16_t adc_current_

Definition at line 261 of file wg0x.h.

◆ BASE_ADDR

static const unsigned BASE_ADDR = 0xA1
static

Definition at line 255 of file wg0x.h.

◆ board_over_temp_count_

uint8_t board_over_temp_count_

Definition at line 254 of file wg0x.h.

◆ board_temperature_

uint16_t board_temperature_

Definition at line 265 of file wg0x.h.

◆ bridge_over_temp_count_

uint8_t bridge_over_temp_count_

Definition at line 255 of file wg0x.h.

◆ bridge_temperature_

uint16_t bridge_temperature_

Definition at line 266 of file wg0x.h.

◆ calibration_reading_

uint8_t calibration_reading_

Definition at line 262 of file wg0x.h.

◆ checksum_

uint8_t checksum_

Definition at line 271 of file wg0x.h.

◆ CONFIG_INFO_BASE_ADDR

const unsigned CONFIG_INFO_BASE_ADDR = 0x0080
static

Definition at line 277 of file wg0x.h.

◆ config_offset_current_A_

int16_t config_offset_current_A_

Definition at line 252 of file wg0x.h.

◆ config_offset_current_B_

int16_t config_offset_current_B_

Definition at line 253 of file wg0x.h.

◆ configuration_status_

uint8_t configuration_status_

Definition at line 271 of file wg0x.h.

◆ crc32_

uint32_t crc32_

Definition at line 255 of file wg0x.h.

◆ current_loop_ki_

uint8_t current_loop_ki_

Definition at line 266 of file wg0x.h.

◆ current_loop_kp_

uint8_t current_loop_kp_

Definition at line 265 of file wg0x.h.

◆ device_serial_number_

uint32_t device_serial_number_

Definition at line 264 of file wg0x.h.

◆ digital_out_

uint8_t digital_out_

Definition at line 253 of file wg0x.h.

◆ encoder_count_

int32_t encoder_count_

Definition at line 258 of file wg0x.h.

◆ encoder_index_pos_

int32_t encoder_index_pos_

Definition at line 259 of file wg0x.h.

◆ encoder_status_

uint8_t encoder_status_

Definition at line 261 of file wg0x.h.

◆ firmware_major_revision_

uint8_t firmware_major_revision_

Definition at line 103 of file wg0x.h.

◆ firmware_minor_revision_

uint8_t firmware_minor_revision_

Definition at line 102 of file wg0x.h.

◆ highside_deadtime_

uint8_t highside_deadtime_

Definition at line 264 of file wg0x.h.

◆ last_calibration_falling_edge_

int32_t last_calibration_falling_edge_

Definition at line 264 of file wg0x.h.

◆ last_calibration_rising_edge_

int32_t last_calibration_rising_edge_

Definition at line 263 of file wg0x.h.

◆ lowside_deadtime_

uint8_t lowside_deadtime_

Definition at line 263 of file wg0x.h.

◆ mbx_command_irq_count_

uint8_t mbx_command_irq_count_

Definition at line 267 of file wg0x.h.

◆ measured_current_

int16_t measured_current_

Definition at line 256 of file wg0x.h.

◆ mode_

uint8_t mode_

Definition at line 252 of file wg0x.h.

◆ motor_voltage_

int16_t motor_voltage_

Definition at line 268 of file wg0x.h.

◆ nominal_current_scale_

float nominal_current_scale_

Definition at line 268 of file wg0x.h.

◆ nominal_voltage_scale_

float nominal_voltage_scale_

Definition at line 269 of file wg0x.h.

◆ num_encoder_errors_

uint16_t num_encoder_errors_

Definition at line 260 of file wg0x.h.

◆ offset_current_A_

int16_t offset_current_A_

Definition at line 259 of file wg0x.h.

◆ offset_current_B_

int16_t offset_current_B_

Definition at line 260 of file wg0x.h.

◆ operate_disable_count_

uint8_t operate_disable_count_

Definition at line 256 of file wg0x.h.

◆ over_current_count_

uint8_t over_current_count_

Definition at line 253 of file wg0x.h.

◆ packet_count_

uint16_t packet_count_

Definition at line 269 of file wg0x.h.

◆ pad_

uint8_t pad_

Definition at line 270 of file wg0x.h.

◆ pca_revision_

uint8_t pca_revision_

Definition at line 104 of file wg0x.h.

◆ pcb_revision_

uint8_t pcb_revision_

Definition at line 105 of file wg0x.h.

◆ pdi_checksum_error_count_

uint8_t pdi_checksum_error_count_

Definition at line 272 of file wg0x.h.

◆ pdi_timeout_error_count_

uint8_t pdi_timeout_error_count_

Definition at line 271 of file wg0x.h.

◆ pdo_command_irq_count_

uint8_t pdo_command_irq_count_

Definition at line 266 of file wg0x.h.

◆ product_id_

uint32_t product_id_

Definition at line 252 of file wg0x.h.

◆ programmed_current_

int16_t programmed_current_

Definition at line 255 of file wg0x.h.

◆ programmed_pwm

int16_t programmed_pwm

Definition at line 254 of file wg0x.h.

◆ programmed_pwm_value_

int16_t programmed_pwm_value_

Definition at line 254 of file wg0x.h.

◆ revision_

uint32_t revision_

Definition at line 99 of file wg0x.h.

◆ safety_disable_count_

uint8_t safety_disable_count_

Definition at line 254 of file wg0x.h.

◆ safety_disable_counters_

WG0XSafetyDisableCounters safety_disable_counters_

Definition at line 269 of file wg0x.h.

◆ safety_disable_status_

uint8_t safety_disable_status_

Definition at line 252 of file wg0x.h.

◆ safety_disable_status_hold_

uint8_t safety_disable_status_hold_

Definition at line 253 of file wg0x.h.

◆ SIZE

const unsigned SIZE =44
static

Definition at line 273 of file wg0x.h.

◆ supply_current_in_

uint16_t supply_current_in_

Definition at line 254 of file wg0x.h.

◆ supply_current_out_

uint16_t supply_current_out_

Definition at line 75 of file wg0x.h.

◆ supply_voltage_

uint16_t supply_voltage_

Definition at line 267 of file wg0x.h.

◆ timestamp_

uint32_t timestamp_

Definition at line 257 of file wg0x.h.

◆ undervoltage_count_

uint8_t undervoltage_count_

Definition at line 252 of file wg0x.h.

◆ unused1

uint8_t unused1[2]

Definition at line 262 of file wg0x.h.

◆ unused2

uint8_t unused2[14]

Definition at line 265 of file wg0x.h.

◆ unused3

uint8_t unused3

Definition at line 268 of file wg0x.h.

◆ unused4

uint8_t unused4

Definition at line 270 of file wg0x.h.

◆ unused_

uint8_t unused_[3]

Definition at line 253 of file wg0x.h.

◆ version_

uint8_t version_

Definition at line 252 of file wg0x.h.

◆ voltage_ref_

uint16_t voltage_ref_

Definition at line 76 of file wg0x.h.

◆ watchdog_disable_count_

uint8_t watchdog_disable_count_

Definition at line 257 of file wg0x.h.

◆ watchdog_limit_

uint16_t watchdog_limit_

Definition at line 275 of file wg0x.h.

◆ zero_offset_

double zero_offset_

Definition at line 254 of file wg0x.h.


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Tue Mar 28 2023 02:10:20