#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 0320_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...

union	MUSCLE_DATA_PACKET

union	TWELVE_BIT_INT_TO_NIBBLES

Macros
#define	DIRECTION_FROM_MUSCLE 0x02

#define	DIRECTION_TO_MUSCLE 0x01

#define	ETHERCAT_COMMAND_0300_AGREED_SIZE 36

#define	ETHERCAT_STATUS_0300_AGREED_SIZE 236

#define	JOINTS_NUM_0320 ((int)28)
	This needs to be a #define because it's used to dimension an array. More...

#define	MESSAGE_ID_MUSCLE_DRIVER_ID_SHIFT_POS 5
	Bit number of lowest bit of MESSAGE_ID_MUSCLE_ID_BITS. More...

#define	MUSCLE_DEMAND_VALVES_RANGE_MAX 0x4

#define	MUSCLE_DEMAND_VALVES_RANGE_MIN -0x4

#define	MUSCLE_FLAG_BITS_NO_DEMAND_SEEN 0x0400
	Haven't received any demand messages for longer than NO_DEMAND_TIMEOUT_MS. Valves switched off. More...

#define	MUSCLE_SYSTEM_RESET_KEY 0x5200
	\| Muscle board ID. More...

#define	NUM_MUSCLE_DATA_PACKETS 8

#define	NUM_MUSCLES 40

#define	NUM_PRESSURE_SENSORS_PER_MESSAGE 5

#define	PALM_0300_EDC_NO_DEMAND_TIMEOUT_MS 20

#define	PALM_0300_EDC_SERIOUS_ERROR_FLAGS ( MOTOR_FLAG_BITS_NO_DEMAND_SEEN )

#define	PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0300_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0300_ETHERCAT_COMMAND_DATA_SIZE)

#define	PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0300_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0300_ETHERCAT_STATUS_DATA_SIZE)

#define	PALM_0300_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

#define	PALM_0300_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND)

#define	PALM_0300_ETHERCAT_COMMAND_HEADER_SIZE ( sizeof(EDC_COMMAND) + sizeof(FROM_MUSCLE_DATA_TYPE) + sizeof(int16s) )

#define	PALM_0300_ETHERCAT_STATUS_DATA_ADDRESS (PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)

#define	PALM_0300_ETHERCAT_STATUS_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS)

#define	SENSORS_NUM_0320 ((int)36)

Enumerations
enum	FROM_MUSCLE_DATA_TYPE { MUSCLE_DATA_INVALID = 0x0, MUSCLE_DATA_PRESSURE = 0x1, MUSCLE_DATA_CAN_STATS = 0x2, MUSCLE_DATA_SLOW_MISC = 0x3 }

enum	FROM_MUSCLE_SLOW_DATA_TYPE { MUSCLE_SLOW_DATA_INVALID = 0x0000, MUSCLE_SLOW_DATA_SVN_REVISION = 0x0001, MUSCLE_SLOW_DATA_SVN_SERVER_REVISION = 0x0002, MUSCLE_SLOW_DATA_SVN_MODIFIED = 0x0003, MUSCLE_SLOW_DATA_SERIAL_NUMBER_LOW = 0x0004, MUSCLE_SLOW_DATA_SERIAL_NUMBER_HIGH = 0x0005, MUSCLE_SLOW_DATA_ASSEMBLY_DATE_YYYY = 0x0006, MUSCLE_SLOW_DATA_ASSEMBLY_DATE_MMDD = 0x0007, MUSCLE_SLOW_DATA_LAST = 0x0007 }

enum	TO_MUSCLE_DATA_TYPE { MUSCLE_DEMAND_INVALID = 0x0, MUSCLE_DEMAND_VALVES = 0x1, MUSCLE_SYSTEM_RESET = 0x3 }

Variables
static const char *	palm_0300_edc_error_flag_names [16]
	how long, in milliseconds, before it switches off the valves. More...

static const char *	to_muscle_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 0320_palm_edc_ethercat_protocol.h.

Macro Definition Documentation

◆ DIRECTION_FROM_MUSCLE

#define DIRECTION_FROM_MUSCLE 0x02

Definition at line 162 of file 0320_palm_edc_ethercat_protocol.h.

◆ DIRECTION_TO_MUSCLE

#define DIRECTION_TO_MUSCLE 0x01

Definition at line 161 of file 0320_palm_edc_ethercat_protocol.h.

◆ ETHERCAT_COMMAND_0300_AGREED_SIZE

#define ETHERCAT_COMMAND_0300_AGREED_SIZE 36

Definition at line 331 of file 0320_palm_edc_ethercat_protocol.h.

◆ ETHERCAT_STATUS_0300_AGREED_SIZE

#define ETHERCAT_STATUS_0300_AGREED_SIZE 236

Definition at line 330 of file 0320_palm_edc_ethercat_protocol.h.

◆ JOINTS_NUM_0320

#define JOINTS_NUM_0320 ((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 262 of file 0320_palm_edc_ethercat_protocol.h.

◆ MESSAGE_ID_MUSCLE_DRIVER_ID_SHIFT_POS

#define MESSAGE_ID_MUSCLE_DRIVER_ID_SHIFT_POS 5

Bit number of lowest bit of MESSAGE_ID_MUSCLE_ID_BITS.

Definition at line 255 of file 0320_palm_edc_ethercat_protocol.h.

◆ MUSCLE_DEMAND_VALVES_RANGE_MAX

#define MUSCLE_DEMAND_VALVES_RANGE_MAX 0x4

Definition at line 159 of file 0320_palm_edc_ethercat_protocol.h.

◆ MUSCLE_DEMAND_VALVES_RANGE_MIN

#define MUSCLE_DEMAND_VALVES_RANGE_MIN -0x4

Definition at line 158 of file 0320_palm_edc_ethercat_protocol.h.

◆ MUSCLE_FLAG_BITS_NO_DEMAND_SEEN

#define MUSCLE_FLAG_BITS_NO_DEMAND_SEEN 0x0400

Haven't received any demand messages for longer than NO_DEMAND_TIMEOUT_MS. Valves switched off.

Definition at line 115 of file 0320_palm_edc_ethercat_protocol.h.

◆ MUSCLE_SYSTEM_RESET_KEY

#define MUSCLE_SYSTEM_RESET_KEY 0x5200

| Muscle board ID.

Definition at line 153 of file 0320_palm_edc_ethercat_protocol.h.

◆ NUM_MUSCLE_DATA_PACKETS

#define NUM_MUSCLE_DATA_PACKETS 8

Definition at line 54 of file 0320_palm_edc_ethercat_protocol.h.

◆ NUM_MUSCLES

#define NUM_MUSCLES 40

Definition at line 52 of file 0320_palm_edc_ethercat_protocol.h.

◆ NUM_PRESSURE_SENSORS_PER_MESSAGE

#define NUM_PRESSURE_SENSORS_PER_MESSAGE 5

Definition at line 53 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_EDC_NO_DEMAND_TIMEOUT_MS

#define PALM_0300_EDC_NO_DEMAND_TIMEOUT_MS 20

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

Definition at line 120 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_EDC_SERIOUS_ERROR_FLAGS

#define PALM_0300_EDC_SERIOUS_ERROR_FLAGS ( MOTOR_FLAG_BITS_NO_DEMAND_SEEN )

Definition at line 118 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS

#define PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS (PALM_0300_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0300_ETHERCAT_COMMAND_DATA_SIZE)

Definition at line 347 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS

#define PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS (PALM_0300_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0300_ETHERCAT_STATUS_DATA_SIZE)

Definition at line 350 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_ETHERCAT_COMMAND_DATA_ADDRESS

#define PALM_0300_ETHERCAT_COMMAND_DATA_ADDRESS 0x1000

Definition at line 346 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_ETHERCAT_COMMAND_DATA_SIZE

#define PALM_0300_ETHERCAT_COMMAND_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND)

Definition at line 323 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_ETHERCAT_COMMAND_HEADER_SIZE

#define PALM_0300_ETHERCAT_COMMAND_HEADER_SIZE ( sizeof(EDC_COMMAND) + sizeof(FROM_MUSCLE_DATA_TYPE) + sizeof(int16s) )

Definition at line 320 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_ETHERCAT_STATUS_DATA_ADDRESS

#define PALM_0300_ETHERCAT_STATUS_DATA_ADDRESS (PALM_0300_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)

Definition at line 349 of file 0320_palm_edc_ethercat_protocol.h.

◆ PALM_0300_ETHERCAT_STATUS_DATA_SIZE

#define PALM_0300_ETHERCAT_STATUS_DATA_SIZE sizeof(ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_STATUS)

Definition at line 322 of file 0320_palm_edc_ethercat_protocol.h.

◆ SENSORS_NUM_0320

#define SENSORS_NUM_0320 ((int)36)

The number of sensors in the robot.

Definition at line 259 of file 0320_palm_edc_ethercat_protocol.h.

Enumeration Type Documentation

◆ FROM_MUSCLE_DATA_TYPE

enum FROM_MUSCLE_DATA_TYPE

Author: Hugo Elias

Enumerator
MUSCLE_DATA_INVALID	For safety, this is not a valid request.
MUSCLE_DATA_PRESSURE	ADC reading pressure sensors.
MUSCLE_DATA_CAN_STATS	Number of CAN messages received / transmitted by this muscle driver + error counters.
MUSCLE_DATA_SLOW_MISC	See FROM_MUSCLE_SLOW_DATA_TYPE.

Definition at line 65 of file 0320_palm_edc_ethercat_protocol.h.

◆ FROM_MUSCLE_SLOW_DATA_TYPE

enum FROM_MUSCLE_SLOW_DATA_TYPE

Enumerator
MUSCLE_SLOW_DATA_INVALID	For safety, this is not a data type.
MUSCLE_SLOW_DATA_SVN_REVISION	The revision of the code.
MUSCLE_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?
MUSCLE_SLOW_DATA_SVN_MODIFIED	Did the local code have any uncomitted modifications at build time?
MUSCLE_SLOW_DATA_SERIAL_NUMBER_LOW
MUSCLE_SLOW_DATA_SERIAL_NUMBER_HIGH
MUSCLE_SLOW_DATA_ASSEMBLY_DATE_YYYY	Year of assembly, E.G. 2012.
MUSCLE_SLOW_DATA_ASSEMBLY_DATE_MMDD	Day/Month of assembly. E.G. 0x0A1F means October 31st.
MUSCLE_SLOW_DATA_LAST	Important to know that this is the last one.

Definition at line 84 of file 0320_palm_edc_ethercat_protocol.h.

◆ TO_MUSCLE_DATA_TYPE

enum TO_MUSCLE_DATA_TYPE

The host can send different types of data to the muscle drivers. These can be either control demands, system messages. These values are inserted into bits [3..0] of the message ID in the muscle driver data message.

Enumerator
MUSCLE_DEMAND_INVALID	A zero is what happens if an EtherCAT packet doesn't get through, so it's considered a special case.
MUSCLE_DEMAND_VALVES	Demanding valve pulses.
MUSCLE_SYSTEM_RESET	Send with a demand value of 0x520x to reset muscle driver x.

Definition at line 145 of file 0320_palm_edc_ethercat_protocol.h.

Variable Documentation

◆ palm_0300_edc_error_flag_names

const char* palm_0300_edc_error_flag_names[16]

static

Initial value:

= { "No demand seen for more than 20ms",

}

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

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

Definition at line 127 of file 0320_palm_edc_ethercat_protocol.h.

◆ to_muscle_data_type_names

const char* to_muscle_data_type_names[16]