0230_palm_edc_ethercat_protocol.h

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//
// © 2010 Shadow Robot Company Limited.
//
// FileName:        this_node.h
// Dependencies:
// Processor:       PIC32
// Compiler:        MPLAB® C32
//
//  +------------------------------------------------------------------------+
//  | This file is part of The Shadow Robot PIC32 firmware code base.        |
//  |                                                                        |
//  | It is free software: you can redistribute it and/or modify             |
//  | it under the terms of the GNU General Public License as published by   |
//  | the Free Software Foundation, either version 3 of the License, or      |
//  | (at your option) any later version.                                    |
//  |                                                                        |
//  | It is distributed in the hope that it will be useful,                  |
//  | but WITHOUT ANY WARRANTY; without even the implied warranty of         |
//  | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          |
//  | GNU General Public License for more details.                           |
//  |                                                                        |
//  | You should have received a copy of the GNU General Public License      |
//  | along with this code repository. The text of the license can be found  |
//  | in Pic32/License/gpl.txt. If not, see <http://www.gnu.org/licenses/>.  |
//  +------------------------------------------------------------------------+
//
//
//
//  Doxygen
//  -------
//
//

#ifndef PALM_EDC_0230_ETHERCAT_PROTOCOL_H_INCLUDED
#define PALM_EDC_0230_ETHERCAT_PROTOCOL_H_INCLUDED

#include "../0220_palm_edc/0220_palm_edc_ethercat_protocol.h"

typedef struct
{
    EDC_COMMAND                 EDC_command;                        

    //  Joint data & Mid/Prox Tactile data  //
    int16u                                          sensors[SENSORS_NUM_0220+1];        
    TACTILE_SENSOR_MID_PROX     tactile_mid_prox[5];                

    //  Fingertip Tactile data  //
    int32u                      tactile_data_type;                  
    int16u                      tactile_data_valid;                 
    TACTILE_SENSOR_STATUS_v2    tactile[5];                         

    //  Aux SPI port data  //
    int32u                      aux_spi_data_type;                  
    AUX_SPI_SENSOR              aux_spi_sensor;                     


    //  Motor data  //
    FROM_MOTOR_DATA_TYPE        motor_data_type;                    
    int16s                      which_motors;                       

    int32u                      which_motor_data_arrived;           
    int32u                      which_motor_data_had_errors;        

    MOTOR_DATA_PACKET           motor_data_packet[10];              
                                                                    //  TOTAL MOTOR DATA = 54 bytes


    int16u                      idle_time_us;                       

} __attribute__((packed)) ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS;

#define STATUS_HEADER_START     0
#define STATUS_TACTILE_START    (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, tactile_data_type))
#define STATUS_AUX_START        (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, aux_spi_data_type))
#define STATUS_MOTOR_START      (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS,   motor_data_type))
#define STATUS_IDLETIME_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS,      idle_time_us))

#define STATUS_TOTAL_LENGTH     (sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS))
#define STATUS_JOINTS_LENGTH    (STATUS_TACTILE_START  - STATUS_HEADER_START)
#define STATUS_TACTILE_LENGTH   (STATUS_AUX_START      - STATUS_TACTILE_START)
#define STATUS_AUX_LENGTH       (STATUS_MOTOR_START    - STATUS_AUX_START)
#define STATUS_MOTOR_LENGTH     (STATUS_IDLETIME_START - STATUS_MOTOR_START)
#define STATUS_IDLETIME_LENGTH  (STATUS_TOTAL_LENGTH   - STATUS_IDLETIME_START)



typedef struct
{
    EDC_COMMAND             EDC_command;                        

    FROM_MOTOR_DATA_TYPE    from_motor_data_type;               
    int16s                  which_motors;                       

    TO_MOTOR_DATA_TYPE      to_motor_data_type;                 
    int32u                   tactile_data_type;                 
    int32u                       aux_data_type;                 

    
    int16s                  motor_data[NUM_MOTORS];             

} __attribute__((packed)) ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND;


#define PALM_0230_ETHERCAT_COMMAND_HEADER_SIZE  (  sizeof(EDC_COMMAND)          +   \
                                                   sizeof(FROM_MOTOR_DATA_TYPE) +   \
                                                   sizeof(int16s)               +   \
                                                   sizeof(TO_MOTOR_DATA_TYPE)   +   \
                                                   sizeof(int32u)               )

#define PALM_0230_ETHERCAT_STATUS_DATA_SIZE       sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS)
#define PALM_0230_ETHERCAT_COMMAND_DATA_SIZE      sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND)

                                                    //  Now we need to be *sure* that the Host and the Slave definitely
                                                    //  agree on the size of the EtherCAT packets, even if the host is a
                                                    //  64-bit machine or something. So we have these calculated sizes.
                                                    //  The host and slave can ASSERT that the sizeof() the packets
                                                    //  matches the agreed sizes.
#define ETHERCAT_STATUS_0230_AGREED_SIZE     416    
#define ETHERCAT_COMMAND_0230_AGREED_SIZE    62     




#define PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS               0x1000
#define PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS    (PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS            + PALM_0230_ETHERCAT_COMMAND_DATA_SIZE)

#define PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS                (PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)
#define PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS     (PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS             + PALM_0230_ETHERCAT_STATUS_DATA_SIZE)



#endif