USBHIDProtocol.h

00001 #ifndef USBHIDPROTOCOL_H_
00002 #define USBHIDPROTOCOL_H_
00003 /* Command list */
00004 // Devices verifies with same CMD and optional data
00005 
00006 // System commands
00007     #define CMD_SYS_CHECK       0x00    // Args: version
00008     #define CMD_SYS_RESET       0xFF    // Args: bool softreset
00009 
00010 // Miscellaneous
00011     #define CMD_LED_OFF         0x10    // On board led on
00012     #define CMD_LED_ON          0x11    // On board led off
00013     #define CMD_LED_BLINK       0x12    // On board led blink
00014     #define CMD_LED_BREATH      0x13    // Not implemented
00015     #define CMD_GET_BUTTON      0x14    // Returns button history word with 20 ms interval per bit
00016 
00017 // SMC commands
00018     /* Motor has 3 states :
00019         Locked  -   Current flowing, motor is powered
00020         Brake   -   Motor terminals short circuit
00021         Free    -   Motor terminals open
00022     */
00023     #define CMD_SMC_STEP        0x20    // Args, int number of steps, bool direction, finish this in .. (ms), bool free motor (or keep locked)
00024     #define CMD_SMC_STATE       0x21    // Returns remaining steps, negative if paused
00025 
00026     #define CMD_SMC_STOP        0x22    // Aborts all motor control
00027     #define CMD_SMC_PAUSE       0x23    // Pauzes motor control, keeps locked (overheating!)
00028     #define CMD_SMC_CONTINUE    0x24    // Continues motor control
00029 
00030     // Motor States (ineffective if stepping)
00031     #define CMD_SMC_FREE        0x25    // Free motor
00032     #define CMD_SMC_BRAKE       0x26    // Brake motor (different from lock)
00033 
00034 // AUX channel
00035     #define CMD_AUX_OFF         0x30    // Auxilary channel ON  (discards pwm)
00036     #define CMD_AUX_ON          0x31    // Auxilary channel OFF (discards pwm)
00037     #define CMD_AUX_PWM         0x32    // Auxilary channel PWM. Args: duty cycle, period, timer prescaler (from 48 MHz)
00038     
00039 #endif //USBHIDPROTOCOL_H_
00040