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rflex-info.h

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00001 #ifndef RFLEX_INFO_H
00002 #define RFLEX_INFO_H
00003 
00004 #ifndef TRUE
00005 #define TRUE  1
00006 #endif
00007 
00008 #ifndef FALSE
00009 #define FALSE 0
00010 #endif
00011 
00012 #define MAX_NAME_LENGTH                256
00013 #define MAX_COMMAND_LENGTH             256
00014 #define MAX_ACMD_SIZE                   48
00015 #define MAX_NUM_LOOPS                   30
00016 #define MAX_BUFFER_LENGTH             4096
00017 
00018 #define EPSILON                     0.0001
00019 
00020 #define TIMEOUT                         -1
00021 #define WRONG                            0
00022 #define OK                               1
00023 
00024 #define B_STX                         0x02
00025 #define B_ETX                         0x03
00026 #define B_ESC                         0x1b
00027 
00028 #define STD_TRANS_TORQUE    30000
00029 #define STD_ROT_ACC         100000
00030 #define STD_ROT_TORQUE      35000
00031 
00032 #define SYS_PORT                 1
00033 #define MOT_PORT                 2
00034 #define JSTK_PORT                3
00035 #define SONAR_PORT               4
00036 #define DIO_PORT                 5
00037 #define IR_PORT                  6
00038 
00039 #define SYS_LCD_DUMP             0
00040 #define SYS_STATUS               1
00041 
00042 #define MOT_AXIS_GET_SYSTEM      0
00043 #define MOT_AXIS_GET_MODEL       1
00044 #define MOT_AXIS_GET_TARGET      2
00045 #define MOT_AXIS_SET_LIMITS      3
00046 #define MOT_AXIS_GET_LIMITS      4
00047 #define MOT_AXIS_SET_POS_LIMITS  5
00048 #define MOT_AXIS_GET_POS_LIMITS  6
00049 #define MOT_AXIS_SET_DIR         7
00050 #define MOT_AXIS_SET_POS         8
00051 #define MOT_AXIS_GET_MODE        9
00052 #define MOT_SET_DEFAULTS        10
00053 #define MOT_BRAKE_SET           11
00054 #define MOT_BRAKE_RELEASE       12
00055 #define MOT_SYSTEM_REPORT       33
00056 #define MOT_SYSTEM_REPORT_REQ   34
00057 #define MOT_GET_NAXES           65
00058 #define MOT_SET_GEARING         66
00059 #define MOT_GET_GEARING         67
00060 #define MOT_MOTOR_SET_MODE      68
00061 #define MOT_MOTOR_GET_MODE      69
00062 #define MOT_MOTOR_SET_PARMS     70
00063 #define MOT_MOTOR_GET_PARMS     71
00064 #define MOT_MOTOR_SET_LIMITS    72
00065 #define MOT_MOTOR_GET_LIMITS    73
00066 #define MOT_MOTOR_GET_DATA      74
00067 #define MOT_AXIS_SET_PARMS      75
00068 #define MOT_AXIS_GET_PARMS      76
00069 #define MOT_AXIS_SET_PWM_LIMIT  77
00070 #define MOT_AXIS_GET_PWM_LIMIT  78
00071 #define MOT_AXIS_SET_PWM        79
00072 #define MOT_AXIS_GET_PWM        80
00073 
00074 #define SONAR_RUN                0
00075 #define SONAR_GET_UPDATE         1
00076 #define SONAR_REPORT             2
00077 
00078 #define DIO_REPORTS_REQ          0
00079 #define DIO_REPORT               1
00080 #define DIO_GET_UPDATE           2
00081 #define DIO_UPDATE               3
00082 #define DIO_SET                  4
00083 
00084 #define IR_RUN                   0
00085 #define IR_REPORT                1
00086 
00087 #define JSTK_GET_STATE               0
00088 
00089 enum PARITY_TYPE   { N, E, O };
00090 
00091 typedef struct {
00092   char                       ttyport[MAX_NAME_LENGTH];
00093   int                        baud;
00094   enum PARITY_TYPE           parity;
00095   int                        fd;
00096   int                        databits;
00097   int                        stopbits;
00098   int                        hwf;
00099   int                        swf;
00100 } RFLEX_Device;
00101 
00102 #endif

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