nucho
/
RTno_MotorControl
Diff: RTno/Packet.h
- Revision:
- 0:3c49891bc39d
diff -r 000000000000 -r 3c49891bc39d RTno/Packet.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RTno/Packet.h Fri Jul 29 11:23:44 2011 +0000 @@ -0,0 +1,74 @@ +/******************************************* + * Packet.h + * @author Yuki Suga + * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. + * @license LGPLv3 + *****************************************/ + +#ifndef PACKET_HEADER_INCLUDED +#define PACKET_HEADER_INCLUDED + +// Return Values +#define TIMEOUT 1 +#define DATA_TIMEOUT 2 +#define CHECKSUM_ERROR 3 + +#define INVALID_PACKET_INTERFACE 65 +#define INVALID_PACKET_DATASIZE 66 + +// Packet Settings +#define PACKET_HEADER_SIZE 2 +#define INTERFACE 0 +#define DATA_LENGTH 1 +#define DATA_START_ADDR 2 + +// Protocol +// Interface +#define INITIALIZE 'I' +#define ACTIVATE 'A' +#define DEACTIVATE 'D' +#define EXECUTE 'E' +#define ONERROR 'C' +#define RESET 'R' +#define GET_STATUS 'X' + +#define ADD_INPORT 'P' +#define ADD_OUTPORT 'Q' + +#define INPORT_ISNEW 'N' +#define INPORT_READ 'J' + +#define RTNO_OK '@' +#define RTNO_ERROR 'x' + + +#define OUTPORT_WRITE 'W' + +// Communication Settings +#define PACKET_WAITING_TIME 50 // ms +#define PACKET_WAITING_DELAY 100 //us +#define PACKET_WAITING_COUNT (PACKET_WAITING_TIME*1000/PACKET_WAITING_DELAY) + + +#define TYPECODE_TIMED_BOOLEAN 'b' +#define TYPECODE_TIMED_CHAR 'c' +#define TYPECODE_TIMED_OCTET 'o' + + +#define TYPECODE_TIMED_LONG 'l' +#define TYPECODE_TIMED_FLOAT 'f' +#define TYPECODE_TIMED_DOUBLE 'd' + +#define TYPECODE_TIMED_BOOLEAN_SEQ 'B' +#define TYPECODE_TIMED_CHAR_SEQ 'C' +#define TYPECODE_TIMED_OCTET_SEQ 'O' + + +#define TYPECODE_TIMED_LONG_SEQ 'L' +#define TYPECODE_TIMED_FLOAT_SEQ 'F' +#define TYPECODE_TIMED_DOUBLE_SEQ 'D' + +#define MAX_PACKET_SIZE 64 + + +#endif