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Macros
#define	INSERT_CRC_CALCULATION_HERE

#define	JOINTS_NUM_0X20 ((int)28)
	This needs to be a #define because it's used to dimension an array. More...

#define	MESSAGE_ID_ACK_BIT 0b00000010000
	Bit mask specifying which bits of the CAN message ID are used for the ACK bit (only for bootloading) More...

#define	MESSAGE_ID_DIRECTION_BITS 0b11000000000
	Bit mask specifying which bits of the CAN message ID are used for the MESSAGE_DIRECTION. More...

#define	MESSAGE_ID_DIRECTION_SHIFT_POS 9
	Bit number of lowest bit of MESSAGE_ID_DIRECTION_BITS. More...

#define	MESSAGE_ID_MOTOR_ID_BITS 0b00111100000
	Bit mask specifying which bits of the CAN message ID are used for the motor ID [0..9]. More...

#define	MESSAGE_ID_TYPE_BITS 0b00000001111
	Bit mask specifying which bits of the CAN message ID are used for the TO_MOTOR_DATA_TYPE or FROM_MOTOR_DATA_TYPE. More...

#define	SENSORS_NUM_0X20 ((int)36)

Enumerations
enum	EDC_COMMAND { EDC_COMMAND_INVALID = 0, EDC_COMMAND_SENSOR_DATA, EDC_COMMAND_SENSOR_CHANNEL_NUMBERS, EDC_COMMAND_SENSOR_ADC_CHANNEL_CS, EDC_COMMAND_CAN_DIRECT_MODE }
	The host can request different types of data from the palm. More...

enum	HARD_CONFIGURATION_INFORMATION { PALM_SVN_VERSION = 0, SERVER_SVN_VERSION = 1 }

enum	MESSAGE_DIRECTION { DIRECTION_DATA_REQUEST = 0x0, DIRECTION_TO_MOTOR = 0x1, DIRECTION_FROM_MOTOR = 0x2, DIRECTION_BOOTLOADER = 0x3 }

enum	SENSOR_NAME_ENUM { FFJ1 =0, FFJ2, FFJ3, FFJ4, MFJ1, MFJ2, MFJ3, MFJ4, RFJ1, RFJ2, RFJ3, RFJ4, LFJ1, LFJ2, LFJ3, LFJ4, LFJ5, THJ1, THJ2, THJ3, THJ4, THJ5A, THJ5B, WRJ1A, WRJ1B, WRJ2, ACCX, ACCY, ACCZ, GYRX, GYRY, GYRZ, ANA0, ANA1, ANA2, ANA3, IGNORE }
	This enum defines which ADC reading goes into which sensors[]. More...

Variables
static const char *	joint_names [JOINTS_NUM_0X20]
	This needs to be a #define for symmetry with SENSORS_NUM. More...

static const char *	sensor_names [SENSORS_NUM_0X20]
	This array defines the names of the joints. The names and order should match the enum SENSOR_NAMES_ENUM. More...

static const char *	slow_data_types [17]

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 common_edc_ethercat_protocol.h.

Macro Definition Documentation

◆ INSERT_CRC_CALCULATION_HERE

#define INSERT_CRC_CALCULATION_HERE

Value:

crc_i = (int8u) (crc_result&0xff);          \
                                        crc_i ^= crc_byte;                          \
                                        crc_result >>= 8;                           \
                                        if(crc_i & 0x01)        crc_result ^= 0x3096;   \
                                        if(crc_i & 0x02)        crc_result ^= 0x612c;   \
                                        if(crc_i & 0x04)        crc_result ^= 0xc419;   \
                                        if(crc_i & 0x08)        crc_result ^= 0x8832;   \
                                        if(crc_i & 0x10)        crc_result ^= 0x1064;   \
                                        if(crc_i & 0x20)        crc_result ^= 0x20c8;   \
                                        if(crc_i & 0x40)        crc_result ^= 0x4190;   \
                                        if(crc_i & 0x80)        crc_result ^= 0x8320;

Definition at line 171 of file common_edc_ethercat_protocol.h.

◆ JOINTS_NUM_0X20

#define JOINTS_NUM_0X20 ((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 112 of file common_edc_ethercat_protocol.h.

◆ MESSAGE_ID_ACK_BIT

#define MESSAGE_ID_ACK_BIT 0b00000010000

Bit mask specifying which bits of the CAN message ID are used for the ACK bit (only for bootloading)

Definition at line 100 of file common_edc_ethercat_protocol.h.

◆ MESSAGE_ID_DIRECTION_BITS

#define MESSAGE_ID_DIRECTION_BITS 0b11000000000

Bit mask specifying which bits of the CAN message ID are used for the MESSAGE_DIRECTION.

Definition at line 98 of file common_edc_ethercat_protocol.h.

◆ MESSAGE_ID_DIRECTION_SHIFT_POS

#define MESSAGE_ID_DIRECTION_SHIFT_POS 9

Bit number of lowest bit of MESSAGE_ID_DIRECTION_BITS.

Definition at line 104 of file common_edc_ethercat_protocol.h.

◆ MESSAGE_ID_MOTOR_ID_BITS

#define MESSAGE_ID_MOTOR_ID_BITS 0b00111100000

Bit mask specifying which bits of the CAN message ID are used for the motor ID [0..9].

Definition at line 99 of file common_edc_ethercat_protocol.h.

◆ MESSAGE_ID_TYPE_BITS

#define MESSAGE_ID_TYPE_BITS 0b00000001111

Bit mask specifying which bits of the CAN message ID are used for the TO_MOTOR_DATA_TYPE or FROM_MOTOR_DATA_TYPE.

Definition at line 101 of file common_edc_ethercat_protocol.h.

◆ SENSORS_NUM_0X20

#define SENSORS_NUM_0X20 ((int)36)

The number of sensors in the robot.

Definition at line 108 of file common_edc_ethercat_protocol.h.

Enumeration Type Documentation

◆ EDC_COMMAND

enum EDC_COMMAND

The host can request different types of data from the palm.

Enumerator
EDC_COMMAND_INVALID	Reading an empty mailbox on the ET1200 results in a zero.
EDC_COMMAND_SENSOR_DATA	Normal operating value. Palm transmits ADC readings.
EDC_COMMAND_SENSOR_CHANNEL_NUMBERS	Instead of sending ADC readings, send the channel number, so the host can confirm the firmware is correct.
EDC_COMMAND_SENSOR_ADC_CHANNEL_CS	Instead of sending ADC readings, send the chip select channel, so the host can confirm the firmware is correct.
EDC_COMMAND_CAN_DIRECT_MODE	Might be used in the future for running automated tests inside the firmware.

Definition at line 48 of file common_edc_ethercat_protocol.h.

◆ HARD_CONFIGURATION_INFORMATION

enum HARD_CONFIGURATION_INFORMATION

Enumerator
PALM_SVN_VERSION
SERVER_SVN_VERSION

Definition at line 163 of file common_edc_ethercat_protocol.h.

◆ MESSAGE_DIRECTION

enum MESSAGE_DIRECTION

This represents the top two bits [10..9] of the CAN message ID. These bits tell us the type of the message.

Enumerator
DIRECTION_DATA_REQUEST	Requesting that motors send back status data (AKA Start of Frame)
DIRECTION_TO_MOTOR	Message contains command data being sent to the motors.
DIRECTION_FROM_MOTOR	Message contains status data from a motor.
DIRECTION_BOOTLOADER	Message has something to do with boot-loading.

Definition at line 89 of file common_edc_ethercat_protocol.h.

◆ SENSOR_NAME_ENUM

enum SENSOR_NAME_ENUM

This enum defines which ADC reading goes into which sensors[].

Enumerator
FFJ1
FFJ2
FFJ3
FFJ4
MFJ1
MFJ2
MFJ3
MFJ4
RFJ1
RFJ2
RFJ3
RFJ4
LFJ1
LFJ2
LFJ3
LFJ4
LFJ5
THJ1
THJ2
THJ3
THJ4
THJ5A
THJ5B
WRJ1A
WRJ1B
WRJ2
ACCX
ACCY
ACCZ
GYRX
GYRY
GYRZ
ANA0
ANA1
ANA2
ANA3
IGNORE

Definition at line 144 of file common_edc_ethercat_protocol.h.

Variable Documentation

◆ joint_names

const char* joint_names[JOINTS_NUM_0X20]

static

Initial value:

= {  "FFJ0", "FFJ1", "FFJ2", "FFJ3", "FFJ4",
                                                         "MFJ0", "MFJ1", "MFJ2", "MFJ3", "MFJ4",
                                                         "RFJ0", "RFJ1", "RFJ2", "RFJ3", "RFJ4",
                                                         "LFJ0", "LFJ1", "LFJ2", "LFJ3", "LFJ4","LFJ5",
                                                         "THJ1", "THJ2", "THJ3", "THJ4", "THJ5",
                                                         "WRJ1", "WRJ2"
                                                      }

This needs to be a #define for symmetry with SENSORS_NUM.

Definition at line 119 of file common_edc_ethercat_protocol.h.

◆ sensor_names

const char* sensor_names[SENSORS_NUM_0X20]

static

Initial value:

= {"FFJ1",  "FFJ2",  "FFJ3", "FFJ4",                         
                                                         "MFJ1",  "MFJ2",  "MFJ3", "MFJ4",                       
                                                         "RFJ1",  "RFJ2",  "RFJ3", "RFJ4",                       
                                                         "LFJ1",  "LFJ2",  "LFJ3", "LFJ4", "LFJ5",               
                                                         "THJ1",  "THJ2",  "THJ3", "THJ4", "THJ5A", "THJ5B",     
                                                         "WRJ1A", "WRJ1B", "WRJ2",                               
                                                         "ACCX",  "ACCY",  "ACCZ",                               
                                                         "GYRX",  "GYRY",  "GYRZ",                               
                                                         "AN0",   "AN1",   "AN2",  "AN3"                         
                                                       }

This array defines the names of the joints. The names and order should match the enum SENSOR_NAMES_ENUM.

Definition at line 130 of file common_edc_ethercat_protocol.h.

◆ slow_data_types

const char* slow_data_types[17]

static

Initial value:

= {  "Invalid",                                  
                                                "SVN revision",                             
                                                "SVN revision on server at build time",     
                                                "Modified from SVN revision",               
                                                "Serial number low",                        
                                                "Serial number high",                       
                                                "Motor gear ratio",                         
                                                "Assembly date year",                       
                                                "Assembly date month, day",                 
                                                "Controller F",                             
                                                "Controller P",                             
                                                "Controller I",                             
                                                "Controller Imax",                          
                                                "Controller D",                             
                                                "Controller deadband and sign",             
                                                "Controller loop frequency Hz"              
                                               }

Definition at line 63 of file common_edc_ethercat_protocol.h.

Macros

Enumerations

Variables

Detailed Description

Macro Definition Documentation

◆ INSERT_CRC_CALCULATION_HERE

◆ JOINTS_NUM_0X20

◆ MESSAGE_ID_ACK_BIT

◆ MESSAGE_ID_DIRECTION_BITS

◆ MESSAGE_ID_DIRECTION_SHIFT_POS

◆ MESSAGE_ID_MOTOR_ID_BITS

◆ MESSAGE_ID_TYPE_BITS

◆ SENSORS_NUM_0X20

Enumeration Type Documentation

◆ EDC_COMMAND

◆ HARD_CONFIGURATION_INFORMATION

◆ MESSAGE_DIRECTION

◆ SENSOR_NAME_ENUM

Variable Documentation

◆ joint_names

◆ sensor_names

◆ slow_data_types