#include <ros/ros.h>
#include <stdio.h>
#include <string>
#include <vector>
#include <boost/thread/thread.hpp>
#include "osal.h"

Include dependency graph for tmc_coe_interpreter.h:

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Classes
struct	PACKED

struct	PACKED

class	TmcCoeInterpreter

Typedefs
typedef struct PACKED	input_pdo_t

typedef struct PACKED	output_pdo_t

Enumerations
enum	control_word_state_t { SHUTDOWN = 6, SWITCH_ON = 7, ENABLE_OPERATION = 15, FAULT_RESET = 128 }

enum	fsa_state_t { NOT_READY_TO_SWITCH_ON = 0, SWITCH_ON_DISABLE, READY_TO_SWITCH_ON, SWITCHED_ON, OPERATION_ENABLED, QUICK_STOP_ACTIVE, FAULT_REACTION_ACTIVE, FAULT, SET_POINT_ACK_IN_PROCESS }

enum	nmt_state_t { INIT = 1, PRE_OP = 2, SAFE_OP = 4, OPERATIONAL = 8, SAFE_OP_ERROR = 20, SAFE_OP_ERROR_ACK = 20 }

enum	status_word_val_t { NOT_READY_TO_SWITCH_ON_VAL = 0, SWITCH_ON_DISABLE_VAL = 64, READY_TO_SWITCH_ON_VAL = 33, SWITCHED_ON_VAL = 35, OPERATION_ENABLED_VAL = 39, QUICK_STOP_ACTIVE_VAL = 7, FAULT_REACTION_ACTIVE_VAL = 15, FAULT_VAL = 8, SET_POINT_ACK_IN_PROCESS_VAL = 4096 }

enum	statusword_pos_t { RTSO_BIT = 0, SO_BIT, OE_BIT, F_BIT, VE_BIT, QS_BIT, SOD_BIT, SPA_BIT = 12 }

Variables
const int8_t	CONTROL_WORD_FAIL = 0

const int8_t	CONTROL_WORD_SUCCESS = 1

const int8_t	CONTROL_WORD_TIMEOUT = -1

const uint8_t	DEBUG_PERIOD = 1

const uint16_t	ERROR_CHECK_DELAY = 10000

const uint32_t	IOMAP_SIZE = 4096

const uint16_t	PROCESS_DATA_DELAY = 1000

std::vector< int >	state_coding_val_

std::vector< int >	status_state_mask_

const uint8_t	TOTAL_WORK_COUNTER_PER_SLAVE = 3

Typedef Documentation

◆ input_pdo_t

typedef struct PACKED input_pdo_t

◆ output_pdo_t

typedef struct PACKED output_pdo_t

Enumeration Type Documentation

◆ control_word_state_t

enum control_word_state_t

Enumerator
SHUTDOWN
SWITCH_ON
ENABLE_OPERATION
FAULT_RESET

Definition at line 28 of file tmc_coe_interpreter.h.

◆ fsa_state_t

enum fsa_state_t

Enumerator
NOT_READY_TO_SWITCH_ON
SWITCH_ON_DISABLE
READY_TO_SWITCH_ON
SWITCHED_ON
OPERATION_ENABLED
QUICK_STOP_ACTIVE
FAULT_REACTION_ACTIVE
FAULT
SET_POINT_ACK_IN_PROCESS

Definition at line 50 of file tmc_coe_interpreter.h.

◆ nmt_state_t

enum nmt_state_t

Enumerator
INIT
PRE_OP
SAFE_OP
OPERATIONAL
SAFE_OP_ERROR
SAFE_OP_ERROR_ACK

Definition at line 17 of file tmc_coe_interpreter.h.

◆ status_word_val_t

enum status_word_val_t

Enumerator
NOT_READY_TO_SWITCH_ON_VAL
SWITCH_ON_DISABLE_VAL
READY_TO_SWITCH_ON_VAL
SWITCHED_ON_VAL
OPERATION_ENABLED_VAL
QUICK_STOP_ACTIVE_VAL
FAULT_REACTION_ACTIVE_VAL
FAULT_VAL
SET_POINT_ACK_IN_PROCESS_VAL

Definition at line 64 of file tmc_coe_interpreter.h.

◆ statusword_pos_t

enum statusword_pos_t

Enumerator
RTSO_BIT
SO_BIT
OE_BIT
F_BIT
VE_BIT
QS_BIT
SOD_BIT
SPA_BIT

Definition at line 88 of file tmc_coe_interpreter.h.

Variable Documentation

◆ CONTROL_WORD_FAIL

const int8_t CONTROL_WORD_FAIL = 0

Definition at line 140 of file tmc_coe_interpreter.h.

◆ CONTROL_WORD_SUCCESS

const int8_t CONTROL_WORD_SUCCESS = 1

Definition at line 141 of file tmc_coe_interpreter.h.

◆ CONTROL_WORD_TIMEOUT

const int8_t CONTROL_WORD_TIMEOUT = -1

Definition at line 142 of file tmc_coe_interpreter.h.

◆ DEBUG_PERIOD

const uint8_t DEBUG_PERIOD = 1

Definition at line 146 of file tmc_coe_interpreter.h.

◆ ERROR_CHECK_DELAY

const uint16_t ERROR_CHECK_DELAY = 10000

Definition at line 144 of file tmc_coe_interpreter.h.

◆ IOMAP_SIZE

const uint32_t IOMAP_SIZE = 4096

Definition at line 139 of file tmc_coe_interpreter.h.

◆ PROCESS_DATA_DELAY

const uint16_t PROCESS_DATA_DELAY = 1000

Definition at line 143 of file tmc_coe_interpreter.h.

◆ state_coding_val_

std::vector<int> state_coding_val_

Initial value:

= {NOT_READY_TO_SWITCH_ON_VAL, 
                                      SWITCH_ON_DISABLE_VAL,
                                      READY_TO_SWITCH_ON_VAL,
                                      SWITCHED_ON_VAL,
                                      OPERATION_ENABLED_VAL,
                                      QUICK_STOP_ACTIVE_VAL,
                                      FAULT_REACTION_ACTIVE_VAL,
                                      FAULT_VAL,
                                      SET_POINT_ACK_IN_PROCESS_VAL}

Definition at line 77 of file tmc_coe_interpreter.h.

◆ status_state_mask_

std::vector<int> status_state_mask_