Classes | Macros
0230_palm_edc_ethercat_protocol.h File Reference
#include "../0220_palm_edc/0220_palm_edc_ethercat_protocol.h"
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Classes

struct  __attribute__
 This needs to be a #define for symmetry with SENSORS_NUM. More...
 
struct  __attribute__
 This needs to be a #define for symmetry with SENSORS_NUM. More...
 

Macros

#define ETHERCAT_COMMAND_0230_AGREED_SIZE   62
 
#define ETHERCAT_STATUS_0230_AGREED_SIZE   416
 
#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_CAN_BRIDGE_DATA_STATUS_ADDRESS   (PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0230_ETHERCAT_STATUS_DATA_SIZE)
 
#define PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS   0x1000
 
#define PALM_0230_ETHERCAT_COMMAND_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND)
 
#define PALM_0230_ETHERCAT_COMMAND_HEADER_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_STATUS_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS)
 
#define STATUS_AUX_LENGTH   (STATUS_MOTOR_START - STATUS_AUX_START)
 
#define STATUS_AUX_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, aux_spi_data_type))
 
#define STATUS_HEADER_START   0
 
#define STATUS_IDLETIME_LENGTH   (STATUS_TOTAL_LENGTH - STATUS_IDLETIME_START)
 
#define STATUS_IDLETIME_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, idle_time_us))
 
#define STATUS_JOINTS_LENGTH   (STATUS_TACTILE_START - STATUS_HEADER_START)
 
#define STATUS_MOTOR_LENGTH   (STATUS_IDLETIME_START - STATUS_MOTOR_START)
 
#define STATUS_MOTOR_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, motor_data_type))
 
#define STATUS_TACTILE_LENGTH   (STATUS_AUX_START - STATUS_TACTILE_START)
 
#define STATUS_TACTILE_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, tactile_data_type))
 
#define STATUS_TOTAL_LENGTH   (sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS))
 

Detailed Description

The term "Command" means data going from the ROS PC to the Node on the robot Previously known as "Incoming"

The term "Status" means data going from Node on the robot the to the ROS PC Previously known as "Outgoing"

Definition in file 0230_palm_edc_ethercat_protocol.h.

Macro Definition Documentation

#define ETHERCAT_COMMAND_0230_AGREED_SIZE   62

Definition at line 145 of file 0230_palm_edc_ethercat_protocol.h.

#define ETHERCAT_STATUS_0230_AGREED_SIZE   416

Definition at line 144 of file 0230_palm_edc_ethercat_protocol.h.

#define PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS   (PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS + PALM_0230_ETHERCAT_COMMAND_DATA_SIZE)

Definition at line 162 of file 0230_palm_edc_ethercat_protocol.h.

#define PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS   (PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS + PALM_0230_ETHERCAT_STATUS_DATA_SIZE)

Definition at line 165 of file 0230_palm_edc_ethercat_protocol.h.

#define PALM_0230_ETHERCAT_COMMAND_DATA_ADDRESS   0x1000

| ETHERCAT_COMMAND_DATA | ETHERCAT_CAN_BRIDGE_DATA_COMMAND | ETHERCAT_STATUS_DATA | ETHERCAT_CAN_BRIDGE_DATA_STATUS | | | | | | | | ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS | | | | | ETHERCAT_STATUS_DATA_ADDRESS | | | ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS | ETHERCAT_COMMAND_DATA_ADDRESS

Definition at line 161 of file 0230_palm_edc_ethercat_protocol.h.

#define PALM_0230_ETHERCAT_COMMAND_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND)

Definition at line 137 of file 0230_palm_edc_ethercat_protocol.h.

#define PALM_0230_ETHERCAT_COMMAND_HEADER_SIZE
Value:
( sizeof(EDC_COMMAND) + \
sizeof(int16s) + \
sizeof(TO_MOTOR_DATA_TYPE) + \
sizeof(int32u) )
unsigned int int32u
EDC_COMMAND
The host can request different types of data from the palm.
signed short int16s

Definition at line 130 of file 0230_palm_edc_ethercat_protocol.h.

#define PALM_0230_ETHERCAT_STATUS_DATA_ADDRESS   (PALM_0230_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)

Definition at line 164 of file 0230_palm_edc_ethercat_protocol.h.

#define PALM_0230_ETHERCAT_STATUS_DATA_SIZE   sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS)

Definition at line 136 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_AUX_LENGTH   (STATUS_MOTOR_START - STATUS_AUX_START)

Definition at line 104 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_AUX_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, aux_spi_data_type))

Definition at line 97 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_HEADER_START   0

Definition at line 95 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_IDLETIME_LENGTH   (STATUS_TOTAL_LENGTH - STATUS_IDLETIME_START)

Definition at line 106 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_IDLETIME_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, idle_time_us))

Definition at line 99 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_JOINTS_LENGTH   (STATUS_TACTILE_START - STATUS_HEADER_START)

Definition at line 102 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_MOTOR_LENGTH   (STATUS_IDLETIME_START - STATUS_MOTOR_START)

Definition at line 105 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_MOTOR_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, motor_data_type))

Definition at line 98 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_TACTILE_LENGTH   (STATUS_AUX_START - STATUS_TACTILE_START)

Definition at line 103 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_TACTILE_START   (offsetof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS, tactile_data_type))

Definition at line 96 of file 0230_palm_edc_ethercat_protocol.h.

#define STATUS_TOTAL_LENGTH   (sizeof(ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_STATUS))

Definition at line 101 of file 0230_palm_edc_ethercat_protocol.h.



sr_external_dependencies
Author(s): Ugo Cupcic
autogenerated on Tue Oct 13 2020 04:01:56