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void | construct (EtherCAT_SlaveHandler *sh, int &start_address) |
| < Construct EtherCAT device More...
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void | diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *) |
| For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used. More...
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int | initialize (pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true) |
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void | packCommand (unsigned char *buffer, bool halt, bool reset) |
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bool | unpackState (unsigned char *this_buffer, unsigned char *prev_buffer) |
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| WG021 () |
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virtual void | collectDiagnostics (EthercatCom *com) |
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void | construct (EtherCAT_SlaveHandler *sh, int &start_address) |
| < Construct EtherCAT device More...
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void | diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *) |
| For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used. More...
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void | packCommand (unsigned char *buffer, bool halt, bool reset) |
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bool | program (EthercatCom *com, const MotorHeatingModelParametersEepromConfig &heating_config) |
| Programs motor heating parameters into device EEPROM. More...
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bool | program (EthercatCom *com, const WG0XActuatorInfo &actutor_info) |
| Programs acutator and heating parameters into device EEPROM. More...
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bool | publishTrace (const string &reason, unsigned level, unsigned delay) |
| Asks device to publish (motor) trace. Only works for devices that support it. More...
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bool | readActuatorInfoFromEeprom (EthercatCom *com, WG0XActuatorInfo &actuator_info) |
| Reads actuator info from eeprom.
More...
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bool | readMotorHeatingModelParametersFromEeprom (EthercatCom *com, MotorHeatingModelParametersEepromConfig &config) |
| Reads actuator info from eeprom.
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bool | unpackState (unsigned char *this_buffer, unsigned char *prev_buffer) |
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| WG0X () |
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virtual | ~WG0X () |
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virtual void | construct (ros::NodeHandle &nh) |
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| EthercatDevice () |
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void | ethercatDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned numPorts) |
| Adds diagnostic information for EtherCAT ports. More...
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virtual void | multiDiagnostics (vector< diagnostic_msgs::DiagnosticStatus > &vec, unsigned char *buffer) |
| For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used. More...
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int | readData (EthercatCom *com, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode) |
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int | readWriteData (EthercatCom *com, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode) |
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int | writeData (EthercatCom *com, EC_UINT address, void const *buffer, EC_UINT length, AddrMode addrMode) |
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virtual | ~EthercatDevice () |
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static double | calcEncoderVelocity (int32_t new_position, uint32_t new_timestamp, int32_t old_position, uint32_t old_timestamp) |
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static double | convertRawTemperature (int16_t raw_temp) |
| Converts raw 16bit temperature value returned by device into value in degress Celcius. More...
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static int32_t | positionDiff (int32_t new_position, int32_t old_position) |
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static ros::Duration | timediffToDuration (int32_t timediff_usec) |
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static int32_t | timestampDiff (uint32_t new_timestamp, uint32_t old_timestamp) |
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static int | readData (EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode) |
| Read data from device ESC. More...
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static int | readWriteData (EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void *buffer, EC_UINT length, AddrMode addrMode) |
| Read then write data to ESC. More...
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static int | writeData (EthercatCom *com, EtherCAT_SlaveHandler *sh, EC_UINT address, void const *buffer, EC_UINT length, AddrMode addrMode) |
| Write data to device ESC. More...
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enum EthercatDevice::AddrMode | __attribute__ |
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unsigned int | command_size_ |
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EthercatDeviceDiagnostics | deviceDiagnostics [2] |
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diagnostic_updater::DiagnosticStatusWrapper | diagnostic_status_ |
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pthread_mutex_t | diagnosticsLock_ |
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unsigned | newDiagnosticsIndex_ |
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pthread_mutex_t | newDiagnosticsIndexLock_ |
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EtherCAT_SlaveHandler * | sh_ |
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unsigned int | status_size_ |
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bool | use_ros_ |
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enum | {
MODE_OFF = 0x00,
MODE_ENABLE = (1 << 0),
MODE_CURRENT = (1 << 1),
MODE_SAFETY_RESET = (1 << 4),
MODE_SAFETY_LOCKOUT = (1 << 5),
MODE_UNDERVOLTAGE = (1 << 6),
MODE_RESET = (1 << 7)
} |
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enum | { WG05_PRODUCT_CODE = 6805005,
WG06_PRODUCT_CODE = 6805006,
WG021_PRODUCT_CODE = 6805021
} |
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enum | { NO_CALIBRATION =0,
CONTROLLER_CALIBRATION =1,
SAVED_CALIBRATION =2
} |
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enum | { LIMIT_SENSOR_0_STATE = (1 << 0),
LIMIT_SENSOR_1_STATE = (1 << 1),
LIMIT_ON_TO_OFF = (1 << 2),
LIMIT_OFF_TO_ON = (1 << 3)
} |
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enum | {
SAFETY_DISABLED = (1 << 0),
SAFETY_UNDERVOLTAGE = (1 << 1),
SAFETY_OVER_CURRENT = (1 << 2),
SAFETY_BOARD_OVER_TEMP = (1 << 3),
SAFETY_HBRIDGE_OVER_TEMP = (1 << 4),
SAFETY_OPERATIONAL = (1 << 5),
SAFETY_WATCHDOG = (1 << 6)
} |
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enum | AppRamStatus { APP_RAM_PRESENT =1,
APP_RAM_MISSING =2,
APP_RAM_NOT_APPLICABLE =3
} |
| Different possible states for application ram on device. More...
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void | clearErrorFlags (void) |
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bool | initializeMotorHeatingModel (bool allow_unprogrammed) |
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bool | initializeMotorModel (pr2_hardware_interface::HardwareInterface *hw, const string &device_description, double max_pwm_ratio, double board_resistance, bool poor_measured_motor_voltage) |
| Allocates and initialized motor trace for WG0X devices than use it (WG006, WG005) More...
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bool | lockWG0XDiagnostics () |
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void | publishGeneralDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d) |
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void | publishMailboxDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d) |
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bool | readAppRam (EthercatCom *com, double &zero_offset) |
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int | readMailbox (EthercatCom *com, unsigned address, void *data, unsigned length) |
| Read data from WG0X local bus using mailbox communication. More...
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bool | tryLockWG0XDiagnostics () |
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void | unlockWG0XDiagnostics () |
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bool | verifyChecksum (const void *buffer, unsigned size) |
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bool | verifyState (WG0XStatus *this_status, WG0XStatus *prev_status) |
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bool | writeAppRam (EthercatCom *com, double zero_offset) |
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int | writeMailbox (EthercatCom *com, unsigned address, void const *data, unsigned length) |
| Write data to WG0X local bus using mailbox communication. More...
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static void | copyActuatorInfo (ethercat_hardware::ActuatorInfo &out, const WG0XActuatorInfo &in) |
| Fills in ethercat_hardware::ActuatorInfo from WG0XActuatorInfo. More...
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static string | modeString (uint8_t mode) |
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static string | safetyDisableString (uint8_t status) |
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static bool | timestamp_jump (uint32_t timestamp, uint32_t last_timestamp, uint32_t amount) |
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enum WG0X:: { ... } | __attribute__ |
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pr2_hardware_interface::Actuator | actuator_ |
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WG0XActuatorInfo | actuator_info_ |
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ethercat_hardware::ActuatorInfo | actuator_info_msg_ |
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AppRamStatus | app_ram_status_ |
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uint8_t | board_major_ |
| Printed circuit board revision (for this value 0=='A', 1=='B') More...
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uint8_t | board_minor_ |
| Printed circuit assembly revision. More...
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double | cached_zero_offset_ |
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int | calibration_status_ |
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WG0XConfigInfo | config_info_ |
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int | consecutive_drops_ |
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pr2_hardware_interface::DigitalOut | digital_out_ |
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bool | disable_motor_model_checking_ |
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int | drops_ |
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ethercat_hardware::WGEeprom | eeprom_ |
| Access to device eeprom. More...
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bool | encoder_errors_detected_ |
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bool | fpga_internal_reset_detected_ |
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uint8_t | fw_major_ |
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uint8_t | fw_minor_ |
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bool | has_error_ |
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bool | in_lockout_ |
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uint32_t | last_last_timestamp_ |
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uint32_t | last_timestamp_ |
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ethercat_hardware::WGMailbox | mailbox_ |
| Mailbox access to device. More...
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uint16_t | max_board_temperature_ |
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uint16_t | max_bridge_temperature_ |
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int | max_consecutive_drops_ |
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double | max_current_ |
| min(board current limit, actuator current limit) More...
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boost::shared_ptr< ethercat_hardware::MotorHeatingModel > | motor_heating_model_ |
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MotorModel * | motor_model_ |
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ethercat_hardware::MotorTraceSample | motor_trace_sample_ |
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pr2_hardware_interface::DigitalOut | publish_motor_trace_ |
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bool | resetting_ |
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ros::Duration | sample_timestamp_ |
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bool | status_checksum_error_ |
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bool | timestamp_jump_detected_ |
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bool | too_many_dropped_packets_ |
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WG0XDiagnostics | wg0x_collect_diagnostics_ |
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pthread_mutex_t | wg0x_diagnostics_lock_ |
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WG0XDiagnostics | wg0x_publish_diagnostics_ |
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static const unsigned | ACTUATOR_INFO_PAGE = 4095 |
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static const unsigned | COMMAND_PHY_ADDR = 0x1000 |
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static boost::shared_ptr< ethercat_hardware::MotorHeatingModelCommon > | motor_heating_model_common_ |
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static const unsigned | PDO_COMMAND_SYNCMAN_NUM = 0 |
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static const unsigned | PDO_STATUS_SYNCMAN_NUM = 1 |
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static const int | PWM_MAX = 0x4000 |
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static const unsigned | STATUS_PHY_ADDR = 0x2000 |
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Definition at line 85 of file wg021.h.