0240_palm_edc_IMU_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_0240_ETHERCAT_PROTOCOL_H_INCLUDED
#define PALM_EDC_0240_ETHERCAT_PROTOCOL_H_INCLUDED

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

#define  IMU_COMMAND_NONE        0
#define  IMU_COMMAND_SET_SCALE   1

typedef struct
{
  int16u command;
  int8u  argument[2];
} IMU_COMMAND_TYPE;

typedef struct
{
    EDC_COMMAND                 EDC_command;                        

        int16u                                      sensors[SENSORS_NUM_0220+1];

    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];              

    int32u                      tactile_data_type;
    int16u                      tactile_data_valid;                 
    TACTILE_SENSOR_STATUS_v1    tactile[5];                         //

    int16u                      idle_time_us;                       

} __attribute__((packed)) ETHERCAT_DATA_STRUCTURE_0240_PALM_EDC_STATUS;


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;
    int16s                      motor_data[NUM_MOTORS];             

    int32u                      tactile_data_type;                  
    IMU_COMMAND_TYPE            imu_command;                        // Command to configure the IMU

} __attribute__((packed)) ETHERCAT_DATA_STRUCTURE_0240_PALM_EDC_COMMAND;

/*
#define ETHERCAT_COMMAND_HEADER_SIZE  (  sizeof(EDC_COMMAND)           \       //!< What's the minimum amount of
                                       + sizeof(FROM_MOTOR_DATA_TYPE)   \
                                       + sizeof(int16s)  )
*/

#define PALM_0240_ETHERCAT_COMMAND_HEADER_SIZE  (  sizeof(EDC_COMMAND) + sizeof(FROM_MOTOR_DATA_TYPE) + sizeof(int16s)  )

#define PALM_0240_ETHERCAT_STATUS_DATA_SIZE       sizeof(ETHERCAT_DATA_STRUCTURE_0240_PALM_EDC_STATUS)
#define PALM_0240_ETHERCAT_COMMAND_DATA_SIZE      sizeof(ETHERCAT_DATA_STRUCTURE_0240_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_0240_AGREED_SIZE     232     
#define ETHERCAT_COMMAND_0240_AGREED_SIZE    74      




#define PALM_0240_ETHERCAT_COMMAND_DATA_ADDRESS               0x1000
#define PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS    (PALM_0240_ETHERCAT_COMMAND_DATA_ADDRESS            + PALM_0240_ETHERCAT_COMMAND_DATA_SIZE)

#define PALM_0240_ETHERCAT_STATUS_DATA_ADDRESS                (PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_COMMAND_ADDRESS + ETHERCAT_CAN_BRIDGE_DATA_SIZE)
#define PALM_0240_ETHERCAT_CAN_BRIDGE_DATA_STATUS_ADDRESS     (PALM_0240_ETHERCAT_STATUS_DATA_ADDRESS             + PALM_0240_ETHERCAT_STATUS_DATA_SIZE)

//#define NUM_CONFIGS_REQUIRED 5


#endif