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

Include dependency graph for 0230_palm_edc_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...

Macros
#define	ETHERCAT_COMMAND_0230_AGREED_SIZE 62

#define	ETHERCAT_STATUS_0230_AGREED_SIZE 416

#define	PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0230_ETHERCAT_COMMAND_DATA_SIZE)

#define	PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0230_ETHERCAT_STATUS_DATA_SIZE)

#define	PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

#define	PALM_0230_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND)

#define	PALM_0230_ETHERCAT_COMMAND_HEADER_SIZE

#define	PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS (PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)

#define	PALM_0230_ETHERCAT_STATUS_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS)

#define	STATUS_AUX_LENGTH (STATUS_MOTOR_START - STATUS_AUX_START)

#define	STATUS_AUX_START (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, aux_spi_data_type))

#define	STATUS_HEADER_START 0

#define	STATUS_IDLETIME_LENGTH (STATUS_TOTAL_LENGTH - STATUS_IDLETIME_START)

#define	STATUS_IDLETIME_START (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, idle_time_us))

#define	STATUS_JOINTS_LENGTH (STATUS_TACTILE_START - STATUS_HEADER_START)

#define	STATUS_MOTOR_LENGTH (STATUS_IDLETIME_START - STATUS_MOTOR_START)

#define	STATUS_MOTOR_START (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, motor_data_type))

#define	STATUS_TACTILE_LENGTH (STATUS_AUX_START - STATUS_TACTILE_START)

#define	STATUS_TACTILE_START (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, tactile_data_type))

#define	STATUS_TOTAL_LENGTH (sizeof(ETHERCAT_DATA_STRUCTURE_0230_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"

Definition in file 0230_palm_edc_ethercat_protocol.h.

Macro Definition Documentation

◆ ETHERCAT_COMMAND_0230_AGREED_SIZE

#define ETHERCAT_COMMAND_0230_AGREED_SIZE 62

Definition at line 145 of file 0230_palm_edc_ethercat_protocol.h.

◆ ETHERCAT_STATUS_0230_AGREED_SIZE

#define ETHERCAT_STATUS_0230_AGREED_SIZE 416

Definition at line 144 of file 0230_palm_edc_ethercat_protocol.h.

◆ PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS

#define PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0230_ETHERCAT_COMMAND_DATA_SIZE)

Definition at line 162 of file 0230_palm_edc_ethercat_protocol.h.

◆ PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS

#define PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0230_ETHERCAT_STATUS_DATA_SIZE)

Definition at line 165 of file 0230_palm_edc_ethercat_protocol.h.

◆ PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS

#define PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

Definition at line 161 of file 0230_palm_edc_ethercat_protocol.h.

◆ PALM_0230_ETHERCAT_COMMAND_DATA_SIZE

#define PALM_0230_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND)

Definition at line 137 of file 0230_palm_edc_ethercat_protocol.h.

◆ PALM_0230_ETHERCAT_COMMAND_HEADER_SIZE

#define PALM_0230_ETHERCAT_COMMAND_HEADER_SIZE

Value:

(  sizeof(EDC_COMMAND)          +   \
                                                   sizeof(FROM_MOTOR_DATA_TYPE) +   \
                                                   sizeof(int16s)               +   \
                                                   sizeof(TO_MOTOR_DATA_TYPE)   +   \
                                                   sizeof(int32u)               )