#include <wg0x.h>
Inheritance diagram for WG0X:
Public Member Functions | |
| virtual void | collectDiagnostics (EthercatCom *com) |
| void | construct (EtherCAT_SlaveHandler *sh, int &start_address) |
| < Construct EtherCAT device | |
| 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. | |
| virtual int | initialize (pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true) |
| void | packCommand (unsigned char *buffer, bool halt, bool reset) |
| bool | program (EthercatCom *com, const WG0XActuatorInfo &actutor_info) |
| Programs acutator and heating parameters into device EEPROM. | |
| bool | program (EthercatCom *com, const MotorHeatingModelParametersEepromConfig &heating_config) |
| Programs motor heating parameters into device EEPROM. | |
| bool | publishTrace (const string &reason, unsigned level, unsigned delay) |
| Asks device to publish (motor) trace. Only works for devices that support it. | |
| bool | readActuatorInfoFromEeprom (EthercatCom *com, WG0XActuatorInfo &actuator_info) |
| Reads actuator info from eeprom. | |
| bool | readMotorHeatingModelParametersFromEeprom (EthercatCom *com, MotorHeatingModelParametersEepromConfig &config) |
| Reads actuator info from eeprom. | |
| bool | unpackState (unsigned char *this_buffer, unsigned char *prev_buffer) |
| WG0X () | |
| virtual | ~WG0X () |
Static Public Member Functions | |
| static double | calcEncoderVelocity (int32_t new_position, uint32_t new_timestamp, int32_t old_position, uint32_t old_timestamp) |
| static double | convertRawTemperature (int16_t raw_temp) |
| Converts raw 16bit temperature value returned by device into value in degress Celcius. | |
| static int32_t | positionDiff (int32_t new_position, int32_t old_position) |
| static ros::Duration | timediffToDuration (int32_t timediff_usec) |
| static int32_t | timestampDiff (uint32_t new_timestamp, uint32_t old_timestamp) |
Protected Types | |
| 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) } |
| enum | { WG05_PRODUCT_CODE = 6805005, WG06_PRODUCT_CODE = 6805006, WG021_PRODUCT_CODE = 6805021 } |
| enum | { NO_CALIBRATION = 0, CONTROLLER_CALIBRATION = 1, SAVED_CALIBRATION = 2 } |
| 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) } |
| 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) } |
| enum | AppRamStatus { APP_RAM_PRESENT = 1, APP_RAM_MISSING = 2, APP_RAM_NOT_APPLICABLE = 3 } |
| Different possible states for application ram on device. More... | |
Protected Member Functions | |
| void | clearErrorFlags (void) |
| bool | initializeMotorHeatingModel (bool allow_unprogrammed) |
| 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) | |
| bool | lockWG0XDiagnostics () |
| void | publishGeneralDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d) |
| void | publishMailboxDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &d) |
| bool | readAppRam (EthercatCom *com, double &zero_offset) |
| int | readMailbox (EthercatCom *com, unsigned address, void *data, unsigned length) |
| Read data from WG0X local bus using mailbox communication. | |
| bool | tryLockWG0XDiagnostics () |
| void | unlockWG0XDiagnostics () |
| bool | verifyChecksum (const void *buffer, unsigned size) |
| bool | verifyState (WG0XStatus *this_status, WG0XStatus *prev_status) |
| bool | writeAppRam (EthercatCom *com, double zero_offset) |
| int | writeMailbox (EthercatCom *com, unsigned address, void const *data, unsigned length) |
| Write data to WG0X local bus using mailbox communication. | |
Static Protected Member Functions | |
| static void | copyActuatorInfo (ethercat_hardware::ActuatorInfo &out, const WG0XActuatorInfo &in) |
| Fills in ethercat_hardware::ActuatorInfo from WG0XActuatorInfo. | |
| static string | modeString (uint8_t mode) |
| static string | safetyDisableString (uint8_t status) |
| static bool | timestamp_jump (uint32_t timestamp, uint32_t last_timestamp, uint32_t amount) |
Protected Attributes | |
| enum WG0X:: { ... } | __attribute__ |
| pr2_hardware_interface::Actuator | actuator_ |
| WG0XActuatorInfo | actuator_info_ |
| ethercat_hardware::ActuatorInfo | actuator_info_msg_ |
| AppRamStatus | app_ram_status_ |
| uint8_t | board_major_ |
| Printed circuit board revision (for this value 0=='A', 1=='B') | |
| uint8_t | board_minor_ |
| Printed circuit assembly revision. | |
| double | cached_zero_offset_ |
| int | calibration_status_ |
| WG0XConfigInfo | config_info_ |
| int | consecutive_drops_ |
| pr2_hardware_interface::DigitalOut | digital_out_ |
| bool | disable_motor_model_checking_ |
| int | drops_ |
| ethercat_hardware::WGEeprom | eeprom_ |
| Access to device eeprom. | |
| bool | encoder_errors_detected_ |
| bool | fpga_internal_reset_detected_ |
| uint8_t | fw_major_ |
| uint8_t | fw_minor_ |
| bool | has_error_ |
| bool | in_lockout_ |
| uint32_t | last_last_timestamp_ |
| uint32_t | last_timestamp_ |
| ethercat_hardware::WGMailbox | mailbox_ |
| Mailbox access to device. | |
| uint16_t | max_board_temperature_ |
| uint16_t | max_bridge_temperature_ |
| int | max_consecutive_drops_ |
| double | max_current_ |
| min(board current limit, actuator current limit) | |
| boost::shared_ptr < ethercat_hardware::MotorHeatingModel > | motor_heating_model_ |
| MotorModel * | motor_model_ |
| ethercat_hardware::MotorTraceSample | motor_trace_sample_ |
| pr2_hardware_interface::DigitalOut | publish_motor_trace_ |
| bool | resetting_ |
| ros::Duration | sample_timestamp_ |
| bool | status_checksum_error_ |
| bool | timestamp_jump_detected_ |
| bool | too_many_dropped_packets_ |
| WG0XDiagnostics | wg0x_collect_diagnostics_ |
| pthread_mutex_t | wg0x_diagnostics_lock_ |
| WG0XDiagnostics | wg0x_publish_diagnostics_ |
Static Protected Attributes | |
| static const unsigned | ACTUATOR_INFO_PAGE = 4095 |
| static const unsigned | COMMAND_PHY_ADDR = 0x1000 |
| static boost::shared_ptr < ethercat_hardware::MotorHeatingModelCommon > | motor_heating_model_common_ |
| static const unsigned | PDO_COMMAND_SYNCMAN_NUM = 0 |
| static const unsigned | PDO_STATUS_SYNCMAN_NUM = 1 |
| static const int | PWM_MAX = 0x4000 |
| static const unsigned | STATUS_PHY_ADDR = 0x2000 |
Detailed Description
Member Enumeration Documentation
anonymous enum [protected] |
anonymous enum [protected] |
anonymous enum [protected] |
anonymous enum [protected] |
anonymous enum [protected] |
enum WG0X::AppRamStatus [protected] |
Constructor & Destructor Documentation
| WG0X::WG0X | ( | ) |
| WG0X::~WG0X | ( | ) | [virtual] |
Member Function Documentation
| double WG0X::calcEncoderVelocity | ( | int32_t | new_position, |
| uint32_t | new_timestamp, | ||
| int32_t | old_position, | ||
| uint32_t | old_timestamp | ||
| ) | [static] |
| void WG0X::clearErrorFlags | ( | void | ) | [protected] |
| void WG0X::collectDiagnostics | ( | EthercatCom * | com | ) | [virtual] |
Reimplemented from EthercatDevice.
| void WG0X::construct | ( | EtherCAT_SlaveHandler * | sh, |
| int & | start_address | ||
| ) | [virtual] |
| double WG0X::convertRawTemperature | ( | int16_t | raw_temp | ) | [static] |
| void WG0X::copyActuatorInfo | ( | ethercat_hardware::ActuatorInfo & | out, |
| const WG0XActuatorInfo & | in | ||
| ) | [static, protected] |
Fills in ethercat_hardware::ActuatorInfo from WG0XActuatorInfo.
WG0XAcuatorInfo is a packed structure that comes directly from the device EEPROM. ethercat_hardware::ActuatorInfo is a ROS message type that is used by both motor model and motor heating model.
| void WG0X::diagnostics | ( | diagnostic_updater::DiagnosticStatusWrapper & | d, |
| unsigned char * | buffer | ||
| ) | [virtual] |
For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
- Parameters:
-
d Diagnostics status wrapper. buffer Pointer to slave process data.
Reimplemented from EthercatDevice.
Reimplemented in WG021.
| int WG0X::initialize | ( | pr2_hardware_interface::HardwareInterface * | hw, |
| bool | allow_unprogrammed = true |
||
| ) | [virtual] |
| bool WG0X::initializeMotorHeatingModel | ( | bool | allow_unprogrammed | ) | [protected] |
| bool WG0X::initializeMotorModel | ( | pr2_hardware_interface::HardwareInterface * | hw, |
| const string & | device_description, | ||
| double | max_pwm_ratio, | ||
| double | board_resistance, | ||
| bool | poor_measured_motor_voltage | ||
| ) | [protected] |
| bool WG0X::lockWG0XDiagnostics | ( | ) | [protected] |
| string WG0X::modeString | ( | uint8_t | mode | ) | [static, protected] |
| void WG0X::packCommand | ( | unsigned char * | buffer, |
| bool | halt, | ||
| bool | reset | ||
| ) | [virtual] |
| int32_t WG0X::positionDiff | ( | int32_t | new_position, |
| int32_t | old_position | ||
| ) | [static] |
| bool WG0X::program | ( | EthercatCom * | com, |
| const WG0XActuatorInfo & | actutor_info | ||
| ) |
Programs acutator and heating parameters into device EEPROM.
WG0X devices store configuaration info in EEPROM. This configuration information contains information such as device name, motor parameters, and encoder parameters.
Originally, devices only stored ActuatorInfo in EEPROM. However, later we discovered that in extreme cases, certain motors may overheat. To prevent motor overheating, a model is used to estimate motor winding temperature and stop motor if temperature gets too high. However, the new motor heating model needs more motor parameters than were originally stored in eeprom.
- Parameters:
-
com EtherCAT communication class used for communicating with device actutor_info Actuator information to be stored in device EEPROM actutor_info Motor heating motor information to be stored in device EEPROM
- Returns:
- true if there is success, false if there is an error
| bool WG0X::program | ( | EthercatCom * | com, |
| const MotorHeatingModelParametersEepromConfig & | heating_config | ||
| ) |
Programs motor heating parameters into device EEPROM.
Originally, devices only stored ActuatorInfo in EEPROM. However, later we discovered that in extreme cases, certain motors may overheat. To prevent motor overheating, a model is used to estimate motor winding temperature and stop motor if temperature gets too high. However, the new motor heating model needs more motor parameters than were originally stored in eeprom.
- Parameters:
-
com EtherCAT communication class used for communicating with device heating_config Motor heating model parameters to be stored in device EEPROM
- Returns:
- true if there is success, false if there is an error
| void WG0X::publishGeneralDiagnostics | ( | diagnostic_updater::DiagnosticStatusWrapper & | d | ) | [protected] |
| void WG0X::publishMailboxDiagnostics | ( | diagnostic_updater::DiagnosticStatusWrapper & | d | ) | [protected] |
| bool WG0X::publishTrace | ( | const string & | reason, |
| unsigned | level, | ||
| unsigned | delay | ||
| ) | [virtual] |
Asks device to publish (motor) trace. Only works for devices that support it.
- Parameters:
-
reason Message to put in trace as reason. level Level to put in trace (aka ERROR=2, WARN=1, OK=0) delay Publish trace after delay cyles. For 1kHz realtime loop 1cycle = 1ms.
- Returns:
- Return true if device support publishing trace. False, if not.
Reimplemented from EthercatDevice.
| bool WG0X::readActuatorInfoFromEeprom | ( | EthercatCom * | com, |
| WG0XActuatorInfo & | actuator_info | ||
| ) |
| bool WG0X::readAppRam | ( | EthercatCom * | com, |
| double & | zero_offset | ||
| ) | [protected] |
| int WG0X::readMailbox | ( | EthercatCom * | com, |
| unsigned | address, | ||
| void * | data, | ||
| unsigned | length | ||
| ) | [protected] |
Read data from WG0X local bus using mailbox communication.
Internally a localbus read is done in two parts. First, a mailbox write of a command header that include local bus address and length. Second, a mailbox read of the result.
- Parameters:
-
com used to perform communication with device address WG0X (FPGA) local bus address to read from data pointer to buffer where read data can be stored, must be at least length in size length amount of data to read, limited at 511 bytes.
- Returns:
- returns zero for success, non-zero for failure
| bool WG0X::readMotorHeatingModelParametersFromEeprom | ( | EthercatCom * | com, |
| MotorHeatingModelParametersEepromConfig & | config | ||
| ) |
| string WG0X::safetyDisableString | ( | uint8_t | status | ) | [static, protected] |
| ros::Duration WG0X::timediffToDuration | ( | int32_t | timediff_usec | ) | [static] |
Convert timestamp difference to ros::Duration. Timestamp is assumed to be in microseconds
It is assumed that each timestamps is exactly 32bit and can wrap around from 0xFFFFFFFF back to 0. In this case 1 - 4294967295 should equal 2 not -4294967294. (Note : 0xFFFFFFFF = 4294967295)
| bool WG0X::timestamp_jump | ( | uint32_t | timestamp, |
| uint32_t | last_timestamp, | ||
| uint32_t | amount | ||
| ) | [static, protected] |
| int32_t WG0X::timestampDiff | ( | uint32_t | new_timestamp, |
| uint32_t | old_timestamp | ||
| ) | [static] |
Returns (new_timestamp - old_timestamp). Accounts for wrapping of timestamp values.
It is assumed that each timestamps is exactly 32bit and can wrap around from 0xFFFFFFFF back to 0. In this case 1 - 4294967295 should equal 2 not -4294967294. (Note : 0xFFFFFFFF = 4294967295)
| bool WG0X::tryLockWG0XDiagnostics | ( | ) | [protected] |
| void WG0X::unlockWG0XDiagnostics | ( | ) | [protected] |
| bool WG0X::unpackState | ( | unsigned char * | this_buffer, |
| unsigned char * | prev_buffer | ||
| ) | [virtual] |
| bool WG0X::verifyChecksum | ( | const void * | buffer, |
| unsigned | size | ||
| ) | [protected] |
| bool WG0X::verifyState | ( | WG0XStatus * | this_status, |
| WG0XStatus * | prev_status | ||
| ) | [protected] |
| bool WG0X::writeAppRam | ( | EthercatCom * | com, |
| double | zero_offset | ||
| ) | [protected] |
| int WG0X::writeMailbox | ( | EthercatCom * | com, |
| unsigned | address, | ||
| void const * | data, | ||
| unsigned | length | ||
| ) | [protected] |
Write data to WG0X local bus using mailbox communication.
First, this puts a command header that include local bus address and length in write mailbox. Second it waits until device actually empties write mailbox.
- Parameters:
-
com used to perform communication with device address WG0X (FPGA) local bus address to write data to data pointer to buffer where write data is stored, must be at least length in size length amount of data to write, limited at 507 bytes
- Returns:
- returns zero for success, non-zero for failure
Member Data Documentation
enum { ... } WG0X::__attribute__ [protected] |
Reimplemented from EthercatDevice.
pr2_hardware_interface::Actuator WG0X::actuator_ [protected] |
WG0XActuatorInfo WG0X::actuator_info_ [protected] |
const unsigned WG0X::ACTUATOR_INFO_PAGE = 4095 [static, protected] |
AppRamStatus WG0X::app_ram_status_ [protected] |
uint8_t WG0X::board_major_ [protected] |
uint8_t WG0X::board_minor_ [protected] |
double WG0X::cached_zero_offset_ [protected] |
int WG0X::calibration_status_ [protected] |
const unsigned WG0X::COMMAND_PHY_ADDR = 0x1000 [static, protected] |
WG0XConfigInfo WG0X::config_info_ [protected] |
int WG0X::consecutive_drops_ [protected] |
pr2_hardware_interface::DigitalOut WG0X::digital_out_ [protected] |
bool WG0X::disable_motor_model_checking_ [protected] |
int WG0X::drops_ [protected] |
ethercat_hardware::WGEeprom WG0X::eeprom_ [protected] |
bool WG0X::encoder_errors_detected_ [protected] |
bool WG0X::fpga_internal_reset_detected_ [protected] |
uint8_t WG0X::fw_major_ [protected] |
uint8_t WG0X::fw_minor_ [protected] |
bool WG0X::has_error_ [protected] |
bool WG0X::in_lockout_ [protected] |
uint32_t WG0X::last_last_timestamp_ [protected] |
uint32_t WG0X::last_timestamp_ [protected] |
ethercat_hardware::WGMailbox WG0X::mailbox_ [protected] |
uint16_t WG0X::max_board_temperature_ [protected] |
uint16_t WG0X::max_bridge_temperature_ [protected] |
int WG0X::max_consecutive_drops_ [protected] |
double WG0X::max_current_ [protected] |
boost::shared_ptr<ethercat_hardware::MotorHeatingModel> WG0X::motor_heating_model_ [protected] |
boost::shared_ptr< ethercat_hardware::MotorHeatingModelCommon > WG0X::motor_heating_model_common_ [static, protected] |
MotorModel* WG0X::motor_model_ [protected] |
const unsigned WG0X::PDO_COMMAND_SYNCMAN_NUM = 0 [static, protected] |
const unsigned WG0X::PDO_STATUS_SYNCMAN_NUM = 1 [static, protected] |
const int WG0X::PWM_MAX = 0x4000 [static, protected] |
bool WG0X::resetting_ [protected] |
ros::Duration WG0X::sample_timestamp_ [protected] |
The ros::Duration timestamp measures the time since the ethercat process started. It is generated by accumulating diffs between 32bit device timestamps. Device timestamps are assumed to be in microseconds, so 32bit timestamp will overflow every 72 minutes, ros::Duration (int32_t secs, int32_t nsecs) should overflow will overflow after 68 years
bool WG0X::status_checksum_error_ [protected] |
const unsigned WG0X::STATUS_PHY_ADDR = 0x2000 [static, protected] |
bool WG0X::timestamp_jump_detected_ [protected] |
bool WG0X::too_many_dropped_packets_ [protected] |
WG0XDiagnostics WG0X::wg0x_collect_diagnostics_ [protected] |
pthread_mutex_t WG0X::wg0x_diagnostics_lock_ [protected] |
WG0XDiagnostics WG0X::wg0x_publish_diagnostics_ [protected] |
The documentation for this class was generated from the following files: