#include "../common/tactile_edc_ethercat_protocol.h"
#include "../common/ethercat_can_bridge_protocol.h"
#include "../common/common_edc_ethercat_protocol.h"

Include dependency graph for 0220_palm_edc_ethercat_protocol.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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	MOTOR_DATA_PACKET

Macros
#define	ETHERCAT_COMMAND_AGREED_SIZE 70

#define	ETHERCAT_STATUS_AGREED_SIZE 232

#define	JOINTS_NUM_0220 ((int)28)
	This needs to be a #define because it's used to dimension an array. More...

#define	MESSAGE_ID_MOTOR_ID_BOTTOM_BIT 0b00000100000
	Used to mask for even/odd motors. More...

#define	MESSAGE_ID_MOTOR_ID_SHIFT_POS 5
	Bit number of lowest bit of MESSAGE_ID_MOTOR_ID_BITS. More...

#define	MESSAGE_ID_MOTOR_ID_TOP_2_BITS 0b00110000000
	Used to group motors into fours. More...

#define	MOTOR_CONFIG_D_RANGE_MAX 0x7FFF

#define	MOTOR_CONFIG_D_RANGE_MIN 0x0000

#define	MOTOR_CONFIG_DEADBAND_RANGE_MAX 0xFF

#define	MOTOR_CONFIG_DEADBAND_RANGE_MIN 0x00

#define	MOTOR_CONFIG_F_RANGE_MAX 0x7FFF

#define	MOTOR_CONFIG_F_RANGE_MIN 0x0000

#define	MOTOR_CONFIG_I_RANGE_MAX 0x7FFF

#define	MOTOR_CONFIG_I_RANGE_MIN 0x0000

#define	MOTOR_CONFIG_IMAX_RANGE_MAX 0x3FFF

#define	MOTOR_CONFIG_IMAX_RANGE_MIN 0x0000

#define	MOTOR_CONFIG_P_RANGE_MAX 0x7FFF

#define	MOTOR_CONFIG_P_RANGE_MIN 0x0000

#define	MOTOR_CONFIG_SIGN_RANGE_MAX 0x01

#define	MOTOR_CONFIG_SIGN_RANGE_MIN 0x00

#define	MOTOR_DEMAND_PWM_RANGE_MAX 0x03FF

#define	MOTOR_DEMAND_PWM_RANGE_MIN -0x03FF

#define	MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MAX 0x0200

#define	MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MIN -0x0200

#define	MOTOR_DEMAND_TORQUE_RANGE_MAX 0x7FFF

#define	MOTOR_DEMAND_TORQUE_RANGE_MIN -0x7FFF

#define	MOTOR_FLAG_BITS_A3950_NFAULT 0x2000
	nFault output from A3950 H-Bridge More...

#define	MOTOR_FLAG_BITS_CURRENT_CHOKE 0x000F
	Top 4 bits of the current choke. More...

#define	MOTOR_FLAG_BITS_EEPROM_CONFIG_BAD_CRC 0x4000
	EEPROM contains a bad CRC. Configs not loaded. More...

#define	MOTOR_FLAG_BITS_EEPROM_WRITING 0x0010
	1=EEPROM write currently in progress, don't update configuration. More...

#define	MOTOR_FLAG_BITS_JIGGLING_IN_PROGRESS 0x0080
	Jiggling in progress to zreo gauge readings. Control unavailable at this time. More...

#define	MOTOR_FLAG_BITS_LAST_CONFIG_CRC_FAILED 0x0020
	1=Last CRC message didn't patch the previously sent configs. More...

#define	MOTOR_FLAG_BITS_LAST_CONFIG_OUT_OF_RANGE 0x0040
	1=Last config message contained a value which was out of range. More...

#define	MOTOR_FLAG_BITS_MOTOR_ID_IS_INVALID 0x0200
	Motor seems to have an out-of-range ID. You'll probably never see this flag. (Might get rid of it) More...

#define	MOTOR_FLAG_BITS_NO_DEMAND_SEEN 0x0400
	Haven't received any demand messages for longer than NO_DEMAND_TIMEOUT_MS. Motor halted. More...

#define	MOTOR_FLAG_BITS_OVER_TEMP 0x8000
	Motor over-heated and halted. More...

#define	MOTOR_FLAG_BITS_SGL_FAULT 0x0800
	Fault seen with Left strain gauge. Not currently implemented. More...

#define	MOTOR_FLAG_BITS_SGR_FAULT 0x1000
	Fault seen with Left strain gauge. Not currently implemented. More...

#define	MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_DISABLE 0x0002
	Turn off Backlash Compensation. More...

#define	MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_ENABLE 0x0001
	Turn on Backlash Compensation. More...

#define	MOTOR_SYSTEM_CONTROL_EEPROM_WRITE 0x0080
	see the MOTOR_FLAG_BITS_JIGGLING_IN_PROGRESS flag appear. More...

#define	MOTOR_SYSTEM_CONTROL_INITIATE_JIGGLING 0x0040

#define	MOTOR_SYSTEM_CONTROL_SGL_TRACKING_DEC 0x0008
	Decrement the tracking value for Left gauge. More...

#define	MOTOR_SYSTEM_CONTROL_SGL_TRACKING_INC 0x0004
	Increment the tracking value for Left gauge. More...

#define	MOTOR_SYSTEM_CONTROL_SGR_TRACKING_DEC 0x0020
	Decrement the tracking value for Right gauge. More...

#define	MOTOR_SYSTEM_CONTROL_SGR_TRACKING_INC 0x0010
	Increment the tracking value for Right gauge. More...

#define	MOTOR_SYSTEM_RESET_KEY 0x5200
	\| Motor ID. More...

#define	NO_TORQUE_CONTROL_ERROR_FLAGS

#define	NUM_MOTORS 20

#define	PALM_0200_EDC_NO_DEMAND_TIMEOUT_MS 20

#define	PALM_0200_EDC_SERIOUS_ERROR_FLAGS

#define	PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0200_ETHERCAT_COMMAND_DATA_SIZE)

#define	PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0200_ETHERCAT_STATUS_DATA_SIZE)

#define	PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

#define	PALM_0200_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND)

#define	PALM_0200_ETHERCAT_COMMAND_HEADER_SIZE ( sizeof(EDC_COMMAND) + sizeof(FROM_MOTOR_DATA_TYPE) + sizeof(int16s) )

#define	PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS (PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)

#define	PALM_0200_ETHERCAT_STATUS_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS)

#define	SENSORS_NUM_0220 ((int)36)

#define	STRAIN_GAUGE_TYPE_COUPLED 0x0C

#define	STRAIN_GAUGE_TYPE_DECOUPLED 0x0D

Enumerations
enum	FROM_MOTOR_DATA_TYPE { MOTOR_DATA_INVALID = 0x0, MOTOR_DATA_SGL = 0x1, MOTOR_DATA_SGR = 0x2, MOTOR_DATA_PWM = 0x3, MOTOR_DATA_FLAGS = 0x4, MOTOR_DATA_CURRENT = 0x5, MOTOR_DATA_VOLTAGE = 0x6, MOTOR_DATA_TEMPERATURE = 0x7, MOTOR_DATA_CAN_NUM_RECEIVED = 0x8, MOTOR_DATA_CAN_NUM_TRANSMITTED = 0x9, MOTOR_DATA_SLOW_MISC = 0xA, MOTOR_DATA_READBACK_LAST_CONFIG = 0xB, MOTOR_DATA_CAN_ERROR_COUNTERS = 0xC, MOTOR_DATA_PTERM = 0xD, MOTOR_DATA_ITERM = 0xE, MOTOR_DATA_DTERM = 0xF }

enum	FROM_MOTOR_SLOW_DATA_TYPE { MOTOR_SLOW_DATA_INVALID = 0x0000, MOTOR_SLOW_DATA_SVN_REVISION = 0x0001, MOTOR_SLOW_DATA_SVN_SERVER_REVISION = 0x0002, MOTOR_SLOW_DATA_SVN_MODIFIED = 0x0003, MOTOR_SLOW_DATA_SERIAL_NUMBER_LOW = 0x0004, MOTOR_SLOW_DATA_SERIAL_NUMBER_HIGH = 0x0005, MOTOR_SLOW_DATA_GEAR_RATIO = 0x0006, MOTOR_SLOW_DATA_ASSEMBLY_DATE_YYYY = 0x0007, MOTOR_SLOW_DATA_ASSEMBLY_DATE_MMDD = 0x0008, MOTOR_SLOW_DATA_CONTROLLER_F = 0x0009, MOTOR_SLOW_DATA_CONTROLLER_P = 0x000A, MOTOR_SLOW_DATA_CONTROLLER_I = 0x000B, MOTOR_SLOW_DATA_CONTROLLER_IMAX = 0x000C, MOTOR_SLOW_DATA_CONTROLLER_D = 0x000D, MOTOR_SLOW_DATA_CONTROLLER_DEADSIGN = 0x000E, MOTOR_SLOW_DATA_CONTROLLER_FREQUENCY = 0x000F, MOTOR_SLOW_DATA_STRAIN_GAUGE_TYPE = 0x0010, MOTOR_SLOW_DATA_LAST = 0x0010 }

enum	TO_MOTOR_DATA_TYPE { MOTOR_DEMAND_INVALID = 0x0, MOTOR_DEMAND_TORQUE = 0x1, MOTOR_DEMAND_PWM = 0x2, MOTOR_SYSTEM_RESET = 0x3, MOTOR_SYSTEM_CONTROLS = 0x4, MOTOR_CONFIG_FIRST_VALUE = 0x5, MOTOR_CONFIG_TORQUE_LIMIT = 0x5, MOTOR_CONFIG_TORQUE_LIMITER_GAIN = 0x6, MOTOR_CONFIG_MAX_PWM = 0x7, MOTOR_CONFIG_SG_REFS = 0x8, MOTOR_CONFIG_F = 0x9, MOTOR_CONFIG_P = 0xA, MOTOR_CONFIG_I = 0xB, MOTOR_CONFIG_D = 0xC, MOTOR_CONFIG_IMAX = 0xD, MOTOR_CONFIG_DEADBAND_SIGN = 0xE, MOTOR_CONFIG_LAST_VALUE = 0xE, MOTOR_CONFIG_CRC = 0xF }

enum	TO_MOTOR_DEBUG_TYPE { MOTOR_DEBUG_INVALID = 0x0, MOTOR_DEBUG_TORQUE_DEMAND = 0x1, MOTOR_DEBUG_SGL = 0x2, MOTOR_DEBUG_SGR = 0x3, MOTOR_DEBUG_CURRENT = 0x4, MOTOR_DEBUG_TEMPERATURE = 0x5 }

Variables
static const char *	palm_0200_edc_error_flag_names [16]
	how long, in milliseconds, before it switches off the motor. More...

static const char *	to_motor_data_type_names [16]

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"

Definition in file 0220_palm_edc_ethercat_protocol.h.

Macro Definition Documentation

◆ ETHERCAT_COMMAND_AGREED_SIZE

#define ETHERCAT_COMMAND_AGREED_SIZE 70

Definition at line 435 of file 0220_palm_edc_ethercat_protocol.h.

◆ ETHERCAT_STATUS_AGREED_SIZE

#define ETHERCAT_STATUS_AGREED_SIZE 232

Definition at line 434 of file 0220_palm_edc_ethercat_protocol.h.

◆ JOINTS_NUM_0220

#define JOINTS_NUM_0220 ((int)28)

This needs to be a #define because it's used to dimension an array.

The number of joints in the hand

Definition at line 361 of file 0220_palm_edc_ethercat_protocol.h.

◆ MESSAGE_ID_MOTOR_ID_BOTTOM_BIT

#define MESSAGE_ID_MOTOR_ID_BOTTOM_BIT 0b00000100000

Used to mask for even/odd motors.

Definition at line 353 of file 0220_palm_edc_ethercat_protocol.h.

◆ MESSAGE_ID_MOTOR_ID_SHIFT_POS

#define MESSAGE_ID_MOTOR_ID_SHIFT_POS 5

Bit number of lowest bit of MESSAGE_ID_MOTOR_ID_BITS.

Definition at line 352 of file 0220_palm_edc_ethercat_protocol.h.

◆ MESSAGE_ID_MOTOR_ID_TOP_2_BITS

#define MESSAGE_ID_MOTOR_ID_TOP_2_BITS 0b00110000000

Used to group motors into fours.

Definition at line 354 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_D_RANGE_MAX

#define MOTOR_CONFIG_D_RANGE_MAX 0x7FFF

Definition at line 285 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_D_RANGE_MIN

#define MOTOR_CONFIG_D_RANGE_MIN 0x0000

Definition at line 284 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_DEADBAND_RANGE_MAX

#define MOTOR_CONFIG_DEADBAND_RANGE_MAX 0xFF

Definition at line 291 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_DEADBAND_RANGE_MIN

#define MOTOR_CONFIG_DEADBAND_RANGE_MIN 0x00

Definition at line 290 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_F_RANGE_MAX

#define MOTOR_CONFIG_F_RANGE_MAX 0x7FFF

Definition at line 276 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_F_RANGE_MIN

#define MOTOR_CONFIG_F_RANGE_MIN 0x0000

Definition at line 275 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_I_RANGE_MAX

#define MOTOR_CONFIG_I_RANGE_MAX 0x7FFF

Definition at line 282 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_I_RANGE_MIN

#define MOTOR_CONFIG_I_RANGE_MIN 0x0000

Definition at line 281 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_IMAX_RANGE_MAX

#define MOTOR_CONFIG_IMAX_RANGE_MAX 0x3FFF

Definition at line 288 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_IMAX_RANGE_MIN

#define MOTOR_CONFIG_IMAX_RANGE_MIN 0x0000

Definition at line 287 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_P_RANGE_MAX

#define MOTOR_CONFIG_P_RANGE_MAX 0x7FFF

Definition at line 279 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_P_RANGE_MIN

#define MOTOR_CONFIG_P_RANGE_MIN 0x0000

Definition at line 278 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_SIGN_RANGE_MAX

#define MOTOR_CONFIG_SIGN_RANGE_MAX 0x01

Definition at line 294 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_CONFIG_SIGN_RANGE_MIN

#define MOTOR_CONFIG_SIGN_RANGE_MIN 0x00

Definition at line 293 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_DEMAND_PWM_RANGE_MAX

#define MOTOR_DEMAND_PWM_RANGE_MAX 0x03FF

Definition at line 273 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_DEMAND_PWM_RANGE_MIN

#define MOTOR_DEMAND_PWM_RANGE_MIN -0x03FF

Definition at line 272 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MAX

#define MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MAX 0x0200

Definition at line 297 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MIN

#define MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MIN -0x0200

Definition at line 296 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_DEMAND_TORQUE_RANGE_MAX

#define MOTOR_DEMAND_TORQUE_RANGE_MAX 0x7FFF

Definition at line 270 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_DEMAND_TORQUE_RANGE_MIN

#define MOTOR_DEMAND_TORQUE_RANGE_MIN -0x7FFF

Definition at line 269 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_A3950_NFAULT

#define MOTOR_FLAG_BITS_A3950_NFAULT 0x2000

nFault output from A3950 H-Bridge

Definition at line 172 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_CURRENT_CHOKE

#define MOTOR_FLAG_BITS_CURRENT_CHOKE 0x000F

Top 4 bits of the current choke.

Definition at line 156 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_EEPROM_CONFIG_BAD_CRC

#define MOTOR_FLAG_BITS_EEPROM_CONFIG_BAD_CRC 0x4000

EEPROM contains a bad CRC. Configs not loaded.

Definition at line 173 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_EEPROM_WRITING

#define MOTOR_FLAG_BITS_EEPROM_WRITING 0x0010

1=EEPROM write currently in progress, don't update configuration.

Definition at line 158 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_JIGGLING_IN_PROGRESS

#define MOTOR_FLAG_BITS_JIGGLING_IN_PROGRESS 0x0080

Jiggling in progress to zreo gauge readings. Control unavailable at this time.

Definition at line 161 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_LAST_CONFIG_CRC_FAILED

#define MOTOR_FLAG_BITS_LAST_CONFIG_CRC_FAILED 0x0020

1=Last CRC message didn't patch the previously sent configs.

Definition at line 159 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_LAST_CONFIG_OUT_OF_RANGE

#define MOTOR_FLAG_BITS_LAST_CONFIG_OUT_OF_RANGE 0x0040

1=Last config message contained a value which was out of range.

Definition at line 160 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_MOTOR_ID_IS_INVALID

#define MOTOR_FLAG_BITS_MOTOR_ID_IS_INVALID 0x0200

Motor seems to have an out-of-range ID. You'll probably never see this flag. (Might get rid of it)

Definition at line 167 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_NO_DEMAND_SEEN

#define MOTOR_FLAG_BITS_NO_DEMAND_SEEN 0x0400

Haven't received any demand messages for longer than NO_DEMAND_TIMEOUT_MS. Motor halted.

Definition at line 168 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_OVER_TEMP

#define MOTOR_FLAG_BITS_OVER_TEMP 0x8000

Motor over-heated and halted.

Definition at line 174 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_SGL_FAULT

#define MOTOR_FLAG_BITS_SGL_FAULT 0x0800

Fault seen with Left strain gauge. Not currently implemented.

Definition at line 169 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_FLAG_BITS_SGR_FAULT

#define MOTOR_FLAG_BITS_SGR_FAULT 0x1000

Fault seen with Left strain gauge. Not currently implemented.

Definition at line 171 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_DISABLE

#define MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_DISABLE 0x0002

Turn off Backlash Compensation.

Definition at line 258 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_ENABLE

#define MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_ENABLE 0x0001

Turn on Backlash Compensation.

Definition at line 257 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_EEPROM_WRITE

#define MOTOR_SYSTEM_CONTROL_EEPROM_WRITE 0x0080

see the MOTOR_FLAG_BITS_JIGGLING_IN_PROGRESS flag appear.

Write the configuration to the EEPROM.

Definition at line 265 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_INITIATE_JIGGLING

#define MOTOR_SYSTEM_CONTROL_INITIATE_JIGGLING 0x0040

Initiate the jiggling to re-zero the strain gauges. You'll

Definition at line 263 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_SGL_TRACKING_DEC

#define MOTOR_SYSTEM_CONTROL_SGL_TRACKING_DEC 0x0008

Decrement the tracking value for Left gauge.

Definition at line 260 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_SGL_TRACKING_INC

#define MOTOR_SYSTEM_CONTROL_SGL_TRACKING_INC 0x0004

Increment the tracking value for Left gauge.

Definition at line 259 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_SGR_TRACKING_DEC

#define MOTOR_SYSTEM_CONTROL_SGR_TRACKING_DEC 0x0020

Decrement the tracking value for Right gauge.

Definition at line 262 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_CONTROL_SGR_TRACKING_INC

#define MOTOR_SYSTEM_CONTROL_SGR_TRACKING_INC 0x0010

Increment the tracking value for Right gauge.

Definition at line 261 of file 0220_palm_edc_ethercat_protocol.h.

◆ MOTOR_SYSTEM_RESET_KEY

#define MOTOR_SYSTEM_RESET_KEY 0x5200

| Motor ID.

Definition at line 255 of file 0220_palm_edc_ethercat_protocol.h.

◆ NO_TORQUE_CONTROL_ERROR_FLAGS

#define NO_TORQUE_CONTROL_ERROR_FLAGS

Value:

( MOTOR_FLAG_BITS_SGL_FAULT \

| MOTOR_FLAG_BITS_SGR_FAULT )

MOTOR_FLAG_BITS_SGR_FAULT

#define MOTOR_FLAG_BITS_SGR_FAULT

Fault seen with Left strain gauge. Not currently implemented.

Definition: 0220_palm_edc_ethercat_protocol.h:171

MOTOR_FLAG_BITS_SGL_FAULT

#define MOTOR_FLAG_BITS_SGL_FAULT

Fault seen with Left strain gauge. Not currently implemented.

Definition: 0220_palm_edc_ethercat_protocol.h:169

Definition at line 177 of file 0220_palm_edc_ethercat_protocol.h.

◆ NUM_MOTORS

#define NUM_MOTORS 20

Definition at line 52 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_EDC_NO_DEMAND_TIMEOUT_MS

#define PALM_0200_EDC_NO_DEMAND_TIMEOUT_MS 20

If a motor doesn't see any Torque or PWM demand values,

Definition at line 186 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_EDC_SERIOUS_ERROR_FLAGS

#define PALM_0200_EDC_SERIOUS_ERROR_FLAGS

Value:

(  MOTOR_FLAG_BITS_NO_DEMAND_SEEN         \
                                                      | MOTOR_FLAG_BITS_A3950_NFAULT           \
                                                      | MOTOR_FLAG_BITS_EEPROM_CONFIG_BAD_CRC  \
                                                      | MOTOR_FLAG_BITS_OVER_TEMP    )

Definition at line 180 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS

#define PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0200_ETHERCAT_COMMAND_DATA_SIZE)

Definition at line 452 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS

#define PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0200_ETHERCAT_STATUS_DATA_SIZE)

Definition at line 455 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS

#define PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

Definition at line 451 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_ETHERCAT_COMMAND_DATA_SIZE

#define PALM_0200_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND)

Definition at line 427 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_ETHERCAT_COMMAND_HEADER_SIZE

#define PALM_0200_ETHERCAT_COMMAND_HEADER_SIZE ( sizeof(EDC_COMMAND) + sizeof(FROM_MOTOR_DATA_TYPE) + sizeof(int16s) )

Definition at line 424 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS

#define PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS (PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)

Definition at line 454 of file 0220_palm_edc_ethercat_protocol.h.

◆ PALM_0200_ETHERCAT_STATUS_DATA_SIZE

#define PALM_0200_ETHERCAT_STATUS_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_STATUS)

Definition at line 426 of file 0220_palm_edc_ethercat_protocol.h.

◆ SENSORS_NUM_0220

#define SENSORS_NUM_0220 ((int)36)

The number of sensors in the robot.

Definition at line 358 of file 0220_palm_edc_ethercat_protocol.h.

◆ STRAIN_GAUGE_TYPE_COUPLED

#define STRAIN_GAUGE_TYPE_COUPLED 0x0C

Definition at line 143 of file 0220_palm_edc_ethercat_protocol.h.

◆ STRAIN_GAUGE_TYPE_DECOUPLED

#define STRAIN_GAUGE_TYPE_DECOUPLED 0x0D

Definition at line 144 of file 0220_palm_edc_ethercat_protocol.h.

Enumeration Type Documentation

◆ FROM_MOTOR_DATA_TYPE

enum FROM_MOTOR_DATA_TYPE

The host can request different types of data from the motors. These values are inserted into bits [3..0] of the message ID in the Data Request (Start Of Frame) message.

//! //! //! //! //! //! //! //! //! //! //! //! //! //! //! //! //!
Word 0 Word 1
FROM_MOTOR_DATA_TYPE Byte0 Byte1 Byte2 Byte3
MOTOR_DATA_SGL Torque SGL
MOTOR_DATA_SGR Torque SGR
MOTOR_DATA_PWM Torque PWM
MOTOR_DATA_FLAGS Torque Flags
MOTOR_DATA_CURRENT Torque Current
MOTOR_DATA_VOLTAGE Torque Voltage
MOTOR_DATA_TEMPERATURE Torque Temperature
MOTOR_DATA_CAN_NUM_RECEIVED Torque Num Rx
MOTOR_DATA_CAN_NUM_TRANSMITTED Torque Num Tx
MOTOR_DATA_SVN_REVISION Server revision This revision (top bit = modified)
MOTOR_DATA_READBACK_LAST_CONFIG FROM_MOTOR_SLOW_DATA_TYPE Config value
MOTOR_DATA_CAN_ERROR_COUNTERS Torque Tx Err Rx Err
//!

@author Hugo Elias

Enumerator
MOTOR_DATA_INVALID	For safety, this is not a valid request.
MOTOR_DATA_SGL	ADC reading of left strain gauge.
MOTOR_DATA_SGR	ADC reading of right strain gauge.
MOTOR_DATA_PWM	Current motor PWM duty cycle.
MOTOR_DATA_FLAGS	See error_flag_names[].
MOTOR_DATA_CURRENT	Current in milliamps.
MOTOR_DATA_VOLTAGE	Voltage in millivolts.
MOTOR_DATA_TEMPERATURE	Temperature in 8.8 fixed point format.
MOTOR_DATA_CAN_NUM_RECEIVED	Number of CAN messages received by this motor.
MOTOR_DATA_CAN_NUM_TRANSMITTED	Number of CAN messages transmitted by this motor.
MOTOR_DATA_SLOW_MISC	See FROM_MOTOR_SLOW_DATA_TYPE.
MOTOR_DATA_READBACK_LAST_CONFIG	Torque=TO_MOTOR_DATA_TYPE. Misc=config value.
MOTOR_DATA_CAN_ERROR_COUNTERS	LSB = TX error counter. MSB = RX error counter.
MOTOR_DATA_PTERM	Internal proportional term from the torque controller / 256.
MOTOR_DATA_ITERM	Internal integral term from the torque controller / 256.
MOTOR_DATA_DTERM	Internal derivative term from the torque controller / 256.

Definition at line 88 of file 0220_palm_edc_ethercat_protocol.h.

◆ FROM_MOTOR_SLOW_DATA_TYPE

enum FROM_MOTOR_SLOW_DATA_TYPE

Enumerator
MOTOR_SLOW_DATA_INVALID	For safety, this is not a data type.
MOTOR_SLOW_DATA_SVN_REVISION	The revision of the code.
MOTOR_SLOW_DATA_SVN_SERVER_REVISION	The revision of the code on the SVN server at build time. Should we have done an Update before building?
MOTOR_SLOW_DATA_SVN_MODIFIED	Did the local code have any uncomitted modifications at build time?
MOTOR_SLOW_DATA_SERIAL_NUMBER_LOW
MOTOR_SLOW_DATA_SERIAL_NUMBER_HIGH
MOTOR_SLOW_DATA_GEAR_RATIO	The gear ratio of the motor. E.G. 131 or 128.
MOTOR_SLOW_DATA_ASSEMBLY_DATE_YYYY	Year of assembly, E.G. 2012.
MOTOR_SLOW_DATA_ASSEMBLY_DATE_MMDD	Day/Month of assembly. E.G. 0x0A1F means October 31st.
MOTOR_SLOW_DATA_CONTROLLER_F	Feed forward gain of the FPID torque controller.
MOTOR_SLOW_DATA_CONTROLLER_P	Proportional gain of the FPID torque controller.
MOTOR_SLOW_DATA_CONTROLLER_I	Integral gain of the FPID torque controller.
MOTOR_SLOW_DATA_CONTROLLER_IMAX	Maximum wind up of the integral term.
MOTOR_SLOW_DATA_CONTROLLER_D	Derivative gain of the FPID torque controller.
MOTOR_SLOW_DATA_CONTROLLER_DEADSIGN	LSB = Dead band. Unsigned 8 bit. MSB = Sign. 0=+ve. 1=-ve.
MOTOR_SLOW_DATA_CONTROLLER_FREQUENCY	Typically 5000. I.E. Torque controller runs at 5kHz.
MOTOR_SLOW_DATA_STRAIN_GAUGE_TYPE	0x0C = coupled gauges. 0x0D = decoupled gauges.
MOTOR_SLOW_DATA_LAST	Important to know that this is the last one.

Definition at line 117 of file 0220_palm_edc_ethercat_protocol.h.

◆ TO_MOTOR_DATA_TYPE

enum TO_MOTOR_DATA_TYPE

The host can send different types of data from the motors. These can be either control demands, or configurations. These values are inserted into bits [3..0] of the message ID in the Motor data message.

Enumerator
MOTOR_DEMAND_INVALID	A zero is what happens if an EtherCAT packet doesn't get through, so it's considered a special case.
MOTOR_DEMAND_TORQUE	Demanding torque activates the Torque PID loop.
MOTOR_DEMAND_PWM	Demanding PWM bypasses the Torque PID loop, and gives the exact PWM you asked for except where
MOTOR_SYSTEM_RESET	Send with a demand value of 0x520x to reset motor x.
MOTOR_SYSTEM_CONTROLS	Various bits to switch on / off misc things.
MOTOR_CONFIG_FIRST_VALUE	This is the first TO_MOTOR_DATA_TYPE which is actually a configuration and should be stored in EEPROM.
MOTOR_CONFIG_TORQUE_LIMIT	This is the torque value at which the torque limiter will kick in.
MOTOR_CONFIG_TORQUE_LIMITER_GAIN	This is the proportional gain term for the torque limit controller.
MOTOR_CONFIG_MAX_PWM	Put an upper limit on the absolute value of the motor PWM. Range [0..0x03FF].
MOTOR_CONFIG_SG_REFS	Strain gauge amp references. LSB = ref for SGL, MSB = ref for SGR.
MOTOR_CONFIG_F	Feed forward gain.
MOTOR_CONFIG_P	Proportional gain.
MOTOR_CONFIG_I	Integral gain.
MOTOR_CONFIG_D	Derivative gain.
MOTOR_CONFIG_IMAX	Maximum integral windup.
MOTOR_CONFIG_DEADBAND_SIGN	MSB=sign. LSB=Deadband.
MOTOR_CONFIG_LAST_VALUE	This is the last config (apart from the CRC, which is special)
MOTOR_CONFIG_CRC	Sending this value, if it matches the CRC of the configs above, causes the configs to take effect.

Definition at line 229 of file 0220_palm_edc_ethercat_protocol.h.

◆ TO_MOTOR_DEBUG_TYPE

enum TO_MOTOR_DEBUG_TYPE

Then the motor is in debug mode, the host can send different types of spoof sensor data to the motors. These values are inserted into bits [3..0] of the message ID in the Motor data message.

NOT CURRENTLY IMPLEMENTED IN THE MOTORS.

Enumerator
MOTOR_DEBUG_INVALID	Should not be used.
MOTOR_DEBUG_TORQUE_DEMAND	Same as MOTOR_DEMAND_TORQUE.
MOTOR_DEBUG_SGL	Spoof the left strain gauge sensor.
MOTOR_DEBUG_SGR	Spoof the right strain gauge sensor.
MOTOR_DEBUG_CURRENT	Spoof the current sensor.
MOTOR_DEBUG_TEMPERATURE	Spoof the temperature sensor.

Definition at line 330 of file 0220_palm_edc_ethercat_protocol.h.

Variable Documentation

◆ palm_0200_edc_error_flag_names

const char* palm_0200_edc_error_flag_names[16]

static

Initial value:

= { "Current choke bit 6",                          
                                                "Current choke bit 7",                          
                                                "Current choke bit 8",                          
                                                "Current choke bit 9",                          
                                                "EEPROM write in progress",                     
                                                "Last CRC sent didn't match configs",           
                                                "Last config received was out of range",        
                                                "Jiggling in progress",                         
                                                "Invalid flag",                                 
                                                "Motor ID is invalid",                          
                                                "No demand seen for more than 20ms",            
                                                "Fault with strain gauge 0: left",              
                                                "Fault with strain gauge 1: right",             
                                                "A3950 H-bridge nFault asserted",               
                                                "EEPROM contains bad CRC. Motor off.",          
                                                "Motor over temperature"                        
                                               }

how long, in milliseconds, before it switches off the motor.

These are the names of the bits in the MOTOR_DATA_FLAGS. error_flag_names[n] is the name of bit 'n' in MOTOR_DATA_FLAGS.

Definition at line 193 of file 0220_palm_edc_ethercat_protocol.h.

◆ to_motor_data_type_names

const char* to_motor_data_type_names[16]

static

Initial value:

= { "INVALID",
                                                        "Demand: Torque",
                                                        "Demand: PWM",
                                                        "INVALID",
                                                        "INVALID",
                                                        "INVALID",
                                                        "INVALID",
                                                        "Config: Maximum PWM value",
                                                        "Config: Strain gauge amp references. LSB = ref for SGL, MSB = ref for SGR",
                                                        "Config: Feed forward gain",
                                                        "Config: Proportional gain",
                                                        "Config: Integral gain",
                                                        "Config: Derivative gain",
                                                        "Config: Maximum integral windup",
                                                        "Config: MSB=Deadband. LSB=Sign",
                                                        "Config: CRC",
                                                        }

These are the human-readable names of the different types of data. you can send to the motors.

Definition at line 304 of file 0220_palm_edc_ethercat_protocol.h.

	Word 0		Word 1
FROM_MOTOR_DATA_TYPE	Byte0	Byte1	Byte2	Byte3
MOTOR_DATA_SGL	Torque		SGL
MOTOR_DATA_SGR	Torque		SGR
MOTOR_DATA_PWM	Torque		PWM
MOTOR_DATA_FLAGS	Torque		Flags
MOTOR_DATA_CURRENT	Torque		Current
MOTOR_DATA_VOLTAGE	Torque		Voltage
MOTOR_DATA_TEMPERATURE	Torque		Temperature
MOTOR_DATA_CAN_NUM_RECEIVED	Torque		Num Rx
MOTOR_DATA_CAN_NUM_TRANSMITTED	Torque		Num Tx
MOTOR_DATA_SVN_REVISION	Server revision		This revision (top bit = modified)
MOTOR_DATA_READBACK_LAST_CONFIG	FROM_MOTOR_SLOW_DATA_TYPE		Config value
MOTOR_DATA_CAN_ERROR_COUNTERS	Torque		Tx Err	Rx Err

Classes

Macros

Enumerations

Variables

Detailed Description

Macro Definition Documentation

◆ ETHERCAT_COMMAND_AGREED_SIZE

◆ ETHERCAT_STATUS_AGREED_SIZE

◆ JOINTS_NUM_0220

◆ MESSAGE_ID_MOTOR_ID_BOTTOM_BIT

◆ MESSAGE_ID_MOTOR_ID_SHIFT_POS

◆ MESSAGE_ID_MOTOR_ID_TOP_2_BITS

◆ MOTOR_CONFIG_D_RANGE_MAX

◆ MOTOR_CONFIG_D_RANGE_MIN

◆ MOTOR_CONFIG_DEADBAND_RANGE_MAX

◆ MOTOR_CONFIG_DEADBAND_RANGE_MIN

◆ MOTOR_CONFIG_F_RANGE_MAX

◆ MOTOR_CONFIG_F_RANGE_MIN

◆ MOTOR_CONFIG_I_RANGE_MAX

◆ MOTOR_CONFIG_I_RANGE_MIN

◆ MOTOR_CONFIG_IMAX_RANGE_MAX

◆ MOTOR_CONFIG_IMAX_RANGE_MIN

◆ MOTOR_CONFIG_P_RANGE_MAX

◆ MOTOR_CONFIG_P_RANGE_MIN

◆ MOTOR_CONFIG_SIGN_RANGE_MAX

◆ MOTOR_CONFIG_SIGN_RANGE_MIN

◆ MOTOR_DEMAND_PWM_RANGE_MAX

◆ MOTOR_DEMAND_PWM_RANGE_MIN

◆ MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MAX

◆ MOTOR_DEMAND_TORQUE_LIMITER_GAIN_MIN

◆ MOTOR_DEMAND_TORQUE_RANGE_MAX

◆ MOTOR_DEMAND_TORQUE_RANGE_MIN

◆ MOTOR_FLAG_BITS_A3950_NFAULT

◆ MOTOR_FLAG_BITS_CURRENT_CHOKE

◆ MOTOR_FLAG_BITS_EEPROM_CONFIG_BAD_CRC

◆ MOTOR_FLAG_BITS_EEPROM_WRITING

◆ MOTOR_FLAG_BITS_JIGGLING_IN_PROGRESS

◆ MOTOR_FLAG_BITS_LAST_CONFIG_CRC_FAILED

◆ MOTOR_FLAG_BITS_LAST_CONFIG_OUT_OF_RANGE

◆ MOTOR_FLAG_BITS_MOTOR_ID_IS_INVALID

◆ MOTOR_FLAG_BITS_NO_DEMAND_SEEN

◆ MOTOR_FLAG_BITS_OVER_TEMP

◆ MOTOR_FLAG_BITS_SGL_FAULT

◆ MOTOR_FLAG_BITS_SGR_FAULT

◆ MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_DISABLE

◆ MOTOR_SYSTEM_CONTROL_BACKLASH_COMPENSATION_ENABLE

◆ MOTOR_SYSTEM_CONTROL_EEPROM_WRITE

◆ MOTOR_SYSTEM_CONTROL_INITIATE_JIGGLING

◆ MOTOR_SYSTEM_CONTROL_SGL_TRACKING_DEC

◆ MOTOR_SYSTEM_CONTROL_SGL_TRACKING_INC

◆ MOTOR_SYSTEM_CONTROL_SGR_TRACKING_DEC

◆ MOTOR_SYSTEM_CONTROL_SGR_TRACKING_INC

◆ MOTOR_SYSTEM_RESET_KEY

◆ NO_TORQUE_CONTROL_ERROR_FLAGS

◆ NUM_MOTORS

◆ PALM_0200_EDC_NO_DEMAND_TIMEOUT_MS

◆ PALM_0200_EDC_SERIOUS_ERROR_FLAGS

◆ PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS

◆ PALM_0200_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS

◆ PALM_0200_ETHERCAT_COMMAND_DATA_ADDRESS

◆ PALM_0200_ETHERCAT_COMMAND_DATA_SIZE

◆ PALM_0200_ETHERCAT_COMMAND_HEADER_SIZE

◆ PALM_0200_ETHERCAT_STATUS_DATA_ADDRESS

◆ PALM_0200_ETHERCAT_STATUS_DATA_SIZE

◆ SENSORS_NUM_0220

◆ STRAIN_GAUGE_TYPE_COUPLED

◆ STRAIN_GAUGE_TYPE_DECOUPLED

Enumeration Type Documentation

◆ FROM_MOTOR_DATA_TYPE

◆ FROM_MOTOR_SLOW_DATA_TYPE

◆ TO_MOTOR_DATA_TYPE

◆ TO_MOTOR_DEBUG_TYPE

Variable Documentation

◆ palm_0200_edc_error_flag_names

◆ to_motor_data_type_names