Diff: Protocol/protocol.h

Revision:

21:8a98c6450e00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Protocol/protocol.h	Sat Jul 16 19:17:28 2016 +0000
@@ -0,0 +1,154 @@
+/**
+@file protocol.h
+@brief Protocol definitions.
+*/
+
+/*
+Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
+
+This file is part of piranha-ptc.
+
+This 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.
+
+This 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. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#ifndef __PIRANHA_PROTOCOL_H__
+#define __PIRANHA_PROTOCOL_H__
+
+//@{
+///PID parameters range.
+#define PID_PARAMS_MIN 0.0
+#define PID_PARAMS_MAX 100.0
+//@}
+
+//@{
+///Ground velocity range.
+#define GND_VEL_MIN -100.0
+#define GND_VEL_MAX 100.0
+//@}
+
+//@{
+///Angle reference range (in radians).
+#define PI 3.141593
+#define ABS_ANG_REF_MIN -PI
+#define ABS_ANG_REF_MAX PI
+//@}
+
+//@{
+///Angle reference from robot range (in radians).
+#define REL_ANG_REF_MIN -PI
+#define REL_ANG_REF_MAX PI
+//@}
+
+//@{
+///Angle reference from magnetometer range (in radians).
+#define MAG_ANG_REF_MIN -PI
+#define MAG_ANG_REF_MAX PI
+//@}
+
+//@{
+///Break intensity
+#define BRAKE_INTENSITY_MIN 0.0
+#define BRAKE_INTENSITY_MAX 100.0
+//@}
+
+//@{
+///Jogging speed ratio.
+#define BRAKE_PERIOD_MIN 0.0
+#define BRAKE_PERIOD_MAX 100.0
+//@}
+
+//@{
+///Jogging speed period (in seconds).
+#define JOG_VEL_PERIOD_MIN 0.0
+#define JOG_VEL_PERIOD_MAX 300.0
+//@}
+
+//@{
+///Jogging speed ratio.
+#define JOG_VEL_RATIO_MIN 0.0
+#define JOG_VEL_RATIO_MAX 1.0
+//@}
+
+//@{
+///Magnetometer calibration values.
+#define MAG_CALIB_MIN -750.0
+#define MAG_CALIB_MAX 750.0
+//@}
+
+///Messages to send via protocol.
+enum
+{
+	///Do nothing.
+	NONE,
+
+	///Brake the robot.
+	BRAKE,
+
+	///Reset gyroscope.
+	GYRO_ZERO,
+
+	///Set zero axis to current angle measure.
+	ANG_SET,
+
+	///Reset angle zero axis.
+	ANG_RST,
+
+	///Turn on leds
+	LED_ON,
+
+	///Turn off leds
+	LED_OFF,
+
+	///Set new angle reference relative to zero axis.
+	ABS_ANG_REF,
+
+	///Set new angle reference relative to robot axis.
+	REL_ANG_REF,
+
+	///Set new angle reference relative to north using magnetometer.
+	MAG_ANG_REF,
+
+	///Set new ground velocity for robot.
+	GND_VEL,
+
+	///Set new jogging speed for robot.
+	JOG_VEL,
+
+	///Magnetometer calibration (min_x, max_x, min_y, max_y).
+	MAG_CALIB,
+
+	///Send PID control parameters (P, I, D, N).
+	PID_PARAMS
+};
+
+#define MSG_HEADER_SIZE 1
+#define MSG_VAL_SIZE 2
+#define MSG_MAX_NUM_VALS 4
+#define MSG_BUF_LEN (MSG_HEADER_SIZE + MSG_VAL_SIZE*MSG_MAX_NUM_VALS)
+#define MSG_HEADER_IDX 0
+#define MSG_VALS_START_IDX (MSG_HEADER_IDX + 1)
+
+#define SENDER_PORT 7532
+#define SENDER_IFACE_ADDR "192.168.7.2"
+#define SENDER_NETMASK_ADDR "255.255.255.0"
+#define SENDER_GATEWAY_ADDR "0.0.0.0"
+
+#define RECEIVER_PORT 7533
+#define RECEIVER_IFACE_ADDR "192.168.7.3"
+#define RECEIVER_NETMASK_ADDR "255.255.255.0"
+#define RECEIVER_GATEWAY_ADDR "0.0.0.0"
+
+#endif
+