wg0x.h File Reference

#include "ethercat_hardware/ethercat_device.h"
#include "ethercat_hardware/motor_model.h"
#include "ethercat_hardware/motor_heating_model.h"
#include "realtime_tools/realtime_publisher.h"
#include "ethercat_hardware/wg_mailbox.h"
#include "ethercat_hardware/wg_eeprom.h"
#include <boost/shared_ptr.hpp>

Include dependency graph for wg0x.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	MbxDiagnostics
class	WG0X
struct	WG0XActuatorInfo
struct	WG0XCommand
struct	WG0XConfigInfo
struct	WG0XDiagnostics
struct	WG0XDiagnosticsInfo
struct	WG0XSafetyDisableCounters
struct	WG0XSafetyDisableStatus
struct	WG0XStatus
struct	WG0XUserConfigRam
Functions
struct WG0XSafetyDisableStatus	__attribute__ ((__packed__))
Variables
struct WG0XActuatorInfo	__attribute__
uint16_t	absolute_current_limit_
int16_t	adc_current_
static const unsigned	BASE_ADDR = 0xA1
uint8_t	board_over_temp_count_
uint16_t	board_temperature_
uint8_t	bridge_over_temp_count_
uint16_t	bridge_temperature_
uint8_t	calibration_reading_
uint8_t	checksum_
static const unsigned	CONFIG_INFO_BASE_ADDR = 0x0080
int16_t	config_offset_current_A_
int16_t	config_offset_current_B_
uint8_t	configuration_status_
uint32_t	crc32_
uint8_t	current_loop_ki_
uint8_t	current_loop_kp_
uint32_t	device_serial_number_
uint8_t	digital_out_
int32_t	encoder_count_
int32_t	encoder_index_pos_
uint8_t	encoder_status_
uint8_t	firmware_major_revision_
uint8_t	firmware_minor_revision_
uint8_t	highside_deadtime_
int32_t	last_calibration_falling_edge_
int32_t	last_calibration_rising_edge_
uint8_t	lowside_deadtime_
uint8_t	mbx_command_irq_count_
int16_t	measured_current_
uint8_t	mode_
int16_t	motor_voltage_
float	nominal_current_scale_
float	nominal_voltage_scale_
uint16_t	num_encoder_errors_
int16_t	offset_current_A_
int16_t	offset_current_B_
uint8_t	operate_disable_count_
uint8_t	over_current_count_
uint16_t	packet_count_
uint8_t	pad_ [8]
uint8_t	pca_revision_
uint8_t	pcb_revision_
uint8_t	pdi_checksum_error_count_
uint8_t	pdi_timeout_error_count_
uint8_t	pdo_command_irq_count_
uint32_t	product_id_
int16_t	programmed_current_
int16_t	programmed_pwm
int16_t	programmed_pwm_value_
uint32_t	revision_
uint8_t	safety_disable_count_
WG0XSafetyDisableCounters	safety_disable_counters_
uint8_t	safety_disable_status_
uint8_t	safety_disable_status_hold_
static const unsigned	SIZE = 44
uint16_t	supply_current_in_
uint16_t	supply_current_out_
uint16_t	supply_voltage_
uint32_t	timestamp_
uint8_t	undervoltage_count_
uint8_t	unused1 [2]
uint8_t	unused2 [14]
uint8_t	unused3
uint8_t	unused4
uint8_t	unused_ [3]
uint8_t	version_
uint16_t	voltage_ref_
uint8_t	watchdog_disable_count_
uint16_t	watchdog_limit_
double	zero_offset_

---

Function Documentation

struct WG0XSafetyDisableStatus __attribute__

(

(__packed__)

)

---

Variable Documentation

struct MbxDiagnostics __attribute__

uint16_t absolute_current_limit_

Definition at line 140 of file wg0x.h.

int16_t adc_current_

Definition at line 104 of file wg0x.h.

static const unsigned BASE_ADDR = 0xA1 [static]

Definition at line 60 of file wg0x.h.

uint8_t board_over_temp_count_

Definition at line 71 of file wg0x.h.

uint16_t board_temperature_

Definition at line 198 of file wg0x.h.

uint8_t bridge_over_temp_count_

Definition at line 72 of file wg0x.h.

uint16_t bridge_temperature_

Definition at line 199 of file wg0x.h.

uint8_t calibration_reading_

Definition at line 195 of file wg0x.h.

uint8_t checksum_

Definition at line 204 of file wg0x.h.

const unsigned CONFIG_INFO_BASE_ADDR = 0x0080 [static]

Definition at line 150 of file wg0x.h.

int16_t config_offset_current_A_

Definition at line 95 of file wg0x.h.

int16_t config_offset_current_B_

Definition at line 96 of file wg0x.h.

uint8_t configuration_status_

Definition at line 144 of file wg0x.h.

uint32_t crc32_

Definition at line 138 of file wg0x.h.

uint8_t current_loop_ki_

Definition at line 139 of file wg0x.h.

uint8_t current_loop_kp_

Definition at line 138 of file wg0x.h.

uint32_t device_serial_number_

Definition at line 137 of file wg0x.h.

uint8_t digital_out_

Definition at line 186 of file wg0x.h.

int32_t encoder_count_

Definition at line 191 of file wg0x.h.

int32_t encoder_index_pos_

Definition at line 192 of file wg0x.h.

uint8_t encoder_status_

Definition at line 194 of file wg0x.h.

uint8_t firmware_major_revision_

Definition at line 110 of file wg0x.h.

uint8_t firmware_minor_revision_

Definition at line 109 of file wg0x.h.

uint8_t highside_deadtime_

Definition at line 107 of file wg0x.h.

int32_t last_calibration_falling_edge_

Definition at line 197 of file wg0x.h.

int32_t last_calibration_rising_edge_

Definition at line 196 of file wg0x.h.

uint8_t lowside_deadtime_

Definition at line 106 of file wg0x.h.

uint8_t mbx_command_irq_count_

Definition at line 110 of file wg0x.h.

int16_t measured_current_

Definition at line 189 of file wg0x.h.

uint8_t mode_

Definition at line 185 of file wg0x.h.

int16_t motor_voltage_

Definition at line 201 of file wg0x.h.

float nominal_current_scale_

Definition at line 141 of file wg0x.h.

float nominal_voltage_scale_

Definition at line 142 of file wg0x.h.

uint16_t num_encoder_errors_

Definition at line 193 of file wg0x.h.

int16_t offset_current_A_

Definition at line 102 of file wg0x.h.

int16_t offset_current_B_

Definition at line 103 of file wg0x.h.

uint8_t operate_disable_count_

Definition at line 73 of file wg0x.h.

uint8_t over_current_count_

Definition at line 70 of file wg0x.h.

uint16_t packet_count_

Definition at line 202 of file wg0x.h.

uint8_t pad_

Definition at line 143 of file wg0x.h.

uint8_t pca_revision_

Definition at line 111 of file wg0x.h.

uint8_t pcb_revision_

Definition at line 112 of file wg0x.h.

uint8_t pdi_checksum_error_count_

Definition at line 115 of file wg0x.h.

uint8_t pdi_timeout_error_count_

Definition at line 114 of file wg0x.h.

uint8_t pdo_command_irq_count_

Definition at line 109 of file wg0x.h.

uint32_t product_id_

Definition at line 125 of file wg0x.h.

int16_t programmed_current_

Definition at line 188 of file wg0x.h.

int16_t programmed_pwm

Definition at line 198 of file wg0x.h.

int16_t programmed_pwm_value_

Definition at line 187 of file wg0x.h.

uint32_t revision_

Definition at line 110 of file wg0x.h.

uint8_t safety_disable_count_

Definition at line 59 of file wg0x.h.

WG0XSafetyDisableCounters safety_disable_counters_

Definition at line 112 of file wg0x.h.

uint8_t safety_disable_status_

Definition at line 57 of file wg0x.h.

uint8_t safety_disable_status_hold_

Definition at line 58 of file wg0x.h.

const unsigned SIZE = 44 [static]

Definition at line 206 of file wg0x.h.

uint16_t supply_current_in_

Definition at line 97 of file wg0x.h.

uint16_t supply_current_out_

Definition at line 79 of file wg0x.h.

uint16_t supply_voltage_

Definition at line 200 of file wg0x.h.

uint32_t timestamp_

Definition at line 190 of file wg0x.h.

uint8_t undervoltage_count_

Definition at line 69 of file wg0x.h.

uint8_t unused1[2]

Definition at line 105 of file wg0x.h.

uint8_t unused2[14]

Definition at line 108 of file wg0x.h.

uint8_t unused3

Definition at line 111 of file wg0x.h.

uint8_t unused4

Definition at line 113 of file wg0x.h.

uint8_t unused_[3]

Definition at line 136 of file wg0x.h.

uint8_t version_

Definition at line 135 of file wg0x.h.

uint16_t voltage_ref_

Definition at line 80 of file wg0x.h.

uint8_t watchdog_disable_count_

Definition at line 74 of file wg0x.h.

uint16_t watchdog_limit_

Definition at line 148 of file wg0x.h.

double zero_offset_

Definition at line 137 of file wg0x.h.