Ad van der Weiden
Program the control the fischertechnik robo interface or intelligent interface via tcp socket or via a java gui.
Diff: ROBO_TX_FW.h
- Revision:
- 1:2c9d412ad471
- Parent:
- 0:7f26f0680202
--- a/ROBO_TX_FW.h Fri Dec 31 14:01:14 2010 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,371 +0,0 @@
-//=============================================================================
-// Description | Header file with definition of the software interface
-// | to the ROBO TX Controller firmware.
-// | Can be used for building C-programs which can run
-// | under control of the ROBO TX Controller firmware in
-// | download (local) mode or for building PC-programs which
-// | can communicate with the ROBO TX Controller firmware in
-// | online mode.
-// |
-// Copyright | � 2009 MSC Vertriebs GmbH, Germany.
-// |
-// | This software 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.
-//=============================================================================
-
-#ifndef __ROBO_TX_FW_H__
-#define __ROBO_TX_FW_H__
-
-
-#define N_CNT 4 // number of counters
-#define N_PWM_CHAN 8 // number of PWM channels
-#define N_MOTOR 4 // number of motors
-#define N_UNI 8 // number of universal inputs
-
-// 5kOhm range
-#define R_MIN 10 // [Ohm]
-#define R_MAX 4999 // [Ohm]
-#define R_OVR 5000 // [Ohm] overload
-
-// 10V range
-#define U_MIN 0 // [mV]
-#define U_MAX 9999 // [mV]
-#define U_OVR 10000 // [mV] overload
-
-// Ultrasonic Sensor range
-#define ULTRASONIC_MIN 2 // [cm]
-#define ULTRASONIC_MAX 1023 // [cm]
-#define ULTRASONIC_OVR 1024 // [cm] overload
-#define NO_ULTRASONIC 4096 // not present
-
-// Motor outputs PWM values range
-#define DUTY_MIN 0
-#define DUTY_MAX 512
-
-// Length of strings
-#define DEV_NAME_LEN_MAX 16 // "ROBO TX-xxxxxxxx"
-#define BLUETOOTH_ADDR_LEN 17 // "xx:xx:xx:xx:xx:xx"
-#define DISPL_MSG_LEN_MAX 64 // max length of a pop-up display message
-
-
-// Identifiers of the Transfer Area
-enum ta_id_e
-{
- TA_LOCAL = 0, // Transfer Area for local Controller. Corresponds to the Controller
- // on which program is currently running in download (local) mode or
- // to the remotely controlled Controller (seen from controlled device,
- // not from controlling device) in online mode.
- TA_EXT_1, // Transfer Area for Extension 1 Controller
- TA_EXT_2, // Transfer Area for Extension 2 Controller
- TA_EXT_3, // Transfer Area for Extension 3 Controller
- TA_EXT_4, // Transfer Area for Extension 4 Controller
- TA_EXT_5, // Transfer Area for Extension 5 Controller
- TA_EXT_6, // Transfer Area for Extension 6 Controller
- TA_EXT_7, // Transfer Area for Extension 7 Controller
- TA_EXT_8, // Transfer Area for Extension 8 Controller
- TA_COUNT // Number of Transfer Areas in array = 9
-};
-
-#define N_EXT (TA_COUNT - 1) // Number of extension Controllers = 8
-
-
-// Device (Controller) functioning modes
-enum dev_mode_e
-{
- DEV_MODE_LOCAL = 0,
- DEV_MODE_ONLINE,
- DEV_MODE_INVALID
-};
-
-
-// State of connection to an extension device (Controller)
-enum ext_dev_connect_state_e
-{
- EXT_DEV_OFFLINE = 0,
- EXT_DEV_ONLINE,
- EXT_DEV_INVALID
-};
-
-
-// Modes of universal inputs
-enum input_mode_e
-{
- MODE_U = 0,
- MODE_R = 1,
- MODE_ULTRASONIC = 3,
- MODE_INVALID
-};
-
-
-// Program states
-enum pgm_state_e
-{
- PGM_STATE_INVALID = 0,
- PGM_STATE_RUN,
- PGM_STATE_STOP
-};
-
-
-// Timer units for GetSystemTime hook function
-enum TimerUnit
-{
- TIMER_UNIT_INVALID = 0,
- TIMER_UNIT_SECONDS = 2,
- TIMER_UNIT_MILLISECONDS = 3,
- TIMER_UNIT_MICROSECONDS = 4
-};
-
-
-//=============================================================================
-// Structures for Transfer Area (TA)
-//=============================================================================
-
-
-// Program information, 8 bytes
-typedef struct
-{
- char * name; // Name of a program with a full path, for example, "/ramdisk/Program_1"
- UINT8 state; // enum pgm_state_e
- char reserved[3];
-} PGM_INFO;
-
-
-// Display message, 36 bytes. Used to show pop-up message box on the boards display
-typedef struct
-{
- unsigned char id; // Should be increased by 1 each time a new pop-up message is to be shown
- char text[DISPL_MSG_LEN_MAX + 1];
- char reserved[2];
-} DISPLAY_MSG;
-
-
-// Display frame, 8 bytes. Used to refresh boards display with a bitmap image frame
-typedef struct
-{
- unsigned char * frame; // Contents of a frame as a 128x64 pixels bitmap
- UINT16 id; // Should be increased by 1 each time a new display frame is to be shown
- BOOL16 is_pgm_master_of_display; // ++ if program wants to have control over display,
- // i.e. image frame is displayed over firmware menus;
- // -- if program wants to return control over display
- // to the firmware menus
-} DISPLAY_FRAME;
-
-
-// Version structure definition, 4 bytes
-typedef union
-{
- unsigned long abcd;
- struct
- {
- unsigned char a;
- unsigned char b;
- unsigned char c;
- unsigned char d;
- } part;
-} FT_VER;
-
-
-// Versions of hardware and firmware components, 16 bytes
-typedef struct
-{
- FT_VER hardware; // Version of hardware (hardware.part.a = 'A' or 'B' or 'C')
- FT_VER firmware; // Version of firmware ("V %d.%02d, DLL %d", firmware.part.c,
- // firmware.part.d, firmware.part.b)
- FT_VER ta; // Version of transfer area ("V %d.%02d", ta.part.c, ta.part.d)
- char reserved[4];
-} FT_VERSION;
-
-
-// Info structure, 64 bytes
-typedef struct
-{
- char device_name[DEV_NAME_LEN_MAX + 1]; // Controller name
- char bt_addr[BLUETOOTH_ADDR_LEN + 1]; // Bluetooth address as a string
- char reserved;
- unsigned long ta_array_start_addr;
- unsigned long pgm_area_start_addr;
- unsigned long pgm_area_size;
- FT_VERSION version;
-} TA_INFO;
-
-
-// State structure, 36 bytes
-typedef struct
-{
- // Used by local program
- BOOL8 pgm_initialized;
- char reserved_1[7];
-
- // Public state info
- BOOL8 dev_mode; // enum dev_mode_e
- UCHAR8 id; // Should be increased by 1 each time something (except id fields)
- // is changed in this state structure
- UCHAR8 info_id; // Should be increased by 1 each time something is changed in info structure
- UCHAR8 config_id; // Should be increased by 1 each time something is changed in config structure
- BOOL8 ext_dev_connect_state[N_EXT]; // enum ext_dev_connect_state_e
- char reserved_2[8];
- PGM_INFO local_pgm; // Corresponds to the program currently being in the program memory
-} TA_STATE;
-
-
-// Universal inputs configuration, 4 bytes
-typedef struct
-{
- UINT8 mode; // enum input_mode_e
- BOOL8 digital; // FALSE = analog input, TRUE = digital input
- unsigned char reserved[2];
-} UNI_CONFIG;
-
-
-// Counter inputs configuration, 4 bytes
-typedef struct
-{
- UINT8 mode; // 0 = normal counter mode (change 0 -> 1 is counted)
- // 1 = inverse counter mode (change 1 -> 0 is counted)
- unsigned char reserved[3];
-} CNT_CONFIG;
-
-
-// Config structure, 88 bytes
-typedef struct
-{
- UINT8 pgm_state_req; // enum pgm_state_e, program state change request
- char reserved_1[3];
- BOOL8 motor[N_MOTOR]; // TRUE = corresponding outputs are used as a pair of motor outputs M1...M4,
- // FALSE = corresponding outputs are used as a pair of separate digital
- // PWM outputs O1...O8
- UNI_CONFIG uni[N_UNI];
- CNT_CONFIG cnt[N_CNT];
- char reserved_2[32];
-} TA_CONFIG;
-
-
-// Input structure, 44 bytes
-typedef struct
-{
- INT16 uni[N_UNI]; // Current values of the universal inputs
- INT16 cnt_in[N_CNT]; // Current levels (0 or 1) on the counter inputs according
- // to their configuration (normal or inverse)
- INT16 counter[N_CNT]; // Current values of the counter inputs
- INT16 display_button_left; // Number of milliseconds during which the left display button
- // is being kept pressed
- INT16 display_button_right; // Number of milliseconds during which the right display button
- // is being kept pressed
- INT16 motor_pos_reached[N_MOTOR]; // Set to 1 by motor control if target position
- // (distance from output structure) is reached
-} TA_INPUT;
-
-
-// Output structure, 36 bytes
-typedef struct
-{
- BOOL8 cnt_reset[N_CNT]; // Counter reset requests
- UINT8 master[N_MOTOR]; // If not 0, synchronize this channel with the given channel
- // (1:channel 0, ...)
- INT16 duty[N_PWM_CHAN]; // Selected motor outputs PWM values
- UINT16 distance[N_MOTOR]; // Selected distance (counter value) at which motor shall stop
- char reserved[4];
-} TA_OUTPUT;
-
-
-// Display structure, 44 bytes
-typedef struct
-{
- DISPLAY_MSG display_msg;
- DISPLAY_FRAME display_frame;
-} TA_DISPLAY;
-
-
-// Change structure (only for ftMscLib), 8 bytes
-typedef struct
-{
- char reserved_1[2];
- UINT8 ChangeStatus; // TRUE = there was a change in any of the following fields
- UINT8 ChangeUni; // There was a change of the input value (bit 0 = I1, bit 1 = I2, ...)
- UINT8 ChangeCntIn; // There was a change of the counter level (bit 0 = C1, bit 1 = C2, ...)
- UINT8 ChangeCounter; // There was a change of the counter value (bit 0 = C1, bit 1 = C2, ...)
- char reserved_2[2];
-} TA_CHANGE;
-
-
-// 16-bit timers, 12 bytes
-typedef struct
-{
- UINT16 Timer1ms;
- UINT16 Timer10ms;
- UINT16 Timer100ms;
- UINT16 Timer1s;
- UINT16 Timer10s;
- UINT16 Timer1min;
-} TA_TIMER;
-
-
-struct ta_s;
-
-// Hook table with pointers to the firmware functions,
-// that can be called by local program, 16 bytes
-typedef struct
-{
- // Informs the calling program if it can still run (return TRUE) or should
- // immediately return to the firmware in order not to destroy the multitasking
- // mechanism of the firmware (return FALSE).
- BOOL32 (*IsRunAllowed) (void);
- // Returns system time in seconds, milliseconds or microseconds depending on the
- // parameter unit.
- UINT32 (*GetSystemTime) (enum TimerUnit unit);
- // Display pop-up message on the display of the ROBO TX Controller. If p_msg
- // is NULL, then all pop-up messages are removed from the display and its cache,
- // and the main frame is displayed.
- void (*DisplayMsg) (struct ta_s * p_ta, char * p_msg);
- // Returns TRUE if display is currently being refreshed. A program should in such a
- // case wait until the display finishes its refreshing before sending new output to it.
- BOOL32 (*IsDisplayBeingRefreshed) (struct ta_s * p_ta);
-} TA_HOOK_TABLE;
-
-
-
-// ============================================================================
-// Transfer Area (TA) of ROBO TX Controller (one element of TA array)
-// ============================================================================
-#define RESERVED_1_SIZE 4
-#define RESERVED_2_SIZE 28
-#define RESERVED_3_SIZE \
- (512 - ( \
- sizeof(TA_INFO) + \
- sizeof(TA_STATE) + \
- sizeof(TA_CONFIG) + \
- sizeof(TA_INPUT) + \
- sizeof(TA_OUTPUT) + \
- sizeof(TA_DISPLAY) + \
- RESERVED_1_SIZE + \
- sizeof(TA_CHANGE) + \
- sizeof(TA_TIMER) + \
- RESERVED_2_SIZE + \
- sizeof(TA_HOOK_TABLE) \
- ))
-
-
-typedef struct ta_s
-{
- TA_INFO info; // info structure
- TA_STATE state; // state structure
- TA_CONFIG config; // config structure
- TA_INPUT input; // input structure
- TA_OUTPUT output; // output structure
- TA_DISPLAY display; // display structure
-
- char reserved_1[RESERVED_1_SIZE];
-
- TA_CHANGE change; // change structure
- TA_TIMER timer; // 16-bit timers
-
- char reserved_2[RESERVED_2_SIZE];
-
- TA_HOOK_TABLE hook_table; // hook table with functions pointers
-
- char reserved_3[RESERVED_3_SIZE];
-} TA;
-
-
-#endif // __ROBO_TX_FW_H__