gamma_ctrl.h

00001 #ifndef GAMMA_CTRL_H_
00002 #define GAMMA_CTRL_H_
00003 
00004 #include "ctrl_serial.h"
00005 
00006 class gamma_ctrl : public ctrl_serial
00007 {
00008     public:
00009         gamma_ctrl(int baudrate_g);
00010         void get_data();
00011         
00012         union gamma_packet
00013         {
00014             char all_data[GAMMA_DATA_SIZE];
00015             struct 
00016             {
00017                 unsigned char start_byte:8;
00018                 signed int rx :8;
00019                 signed int ry :8;
00020                 signed int lx :8;
00021                 unsigned int r_sw1 :1;
00022                 unsigned int r_sw2 :1;
00023                 unsigned int r_sw3 :1;
00024                 unsigned int r_sw4 :1;
00025                 unsigned int r_s_sw1 :1;
00026                 unsigned int r_s_sw2 :1;
00027                 unsigned int l_sw1 :1;
00028                 unsigned int l_sw2 :1;
00029                 unsigned int l_sw3 :1;
00030                 unsigned int l_sw4 :1;
00031                 unsigned int l_s_sw1 :1;
00032                 unsigned int l_s_sw2 :1;
00033                 unsigned int mode1 :1;
00034                 unsigned int mode2 :1;
00035                 unsigned int r_srd :2;
00036                 unsigned int l_srd :2;
00037                 unsigned int no_data :6;
00038                 unsigned char phecksum:8;
00039                 unsigned char stop_byte :8;
00040             }data;
00041         };
00042         
00043         gamma_packet pack;
00044 
00045 };
00046 
00047 #endif