sdh_command_codes.h

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//======================================================================
//======================================================================
 
 
#ifndef _SDH_COMMAND_CODES
#define _SDH_COMMAND_CODES
 
//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------
 
 
//----------------------------------------------------------------------
// Project Includes - include with ""
//----------------------------------------------------------------------
 
//----------------------------------------------------------------------
// Defines, enums, unions, structs
//----------------------------------------------------------------------
 
#define USE_CMD_TEST 0
 
 
// since this file is included by other compilers which dont understand
// attributes we can only use it if SDH__attribute__ is not yet defined
#ifndef SDH__attribute__
# define SDH__attribute__( ... ) __attribute__(__VA_ARGS__)
#endif
 
#ifndef SDH_USE_VCC
# define SDH_USE_VCC 0
#endif
 
 
#if SDH_USE_VCC
#pragma pack(push,1)  // for VCC (MS Visual Studio) we have to set the necessary 1 byte packing with this pragma
#endif
 
enum eCommandCodeEnum
{
    // Movement commands:
    CMDC_V = 128,   // assign a value so that non ASCII codes are used
 
    CMDC_VEL,
    //130:
    CMDC_RVEL,
    CMDC_POS,
    CMDC_STATE,
    CMDC_P,
    CMDC_A,
    CMDC_M,
    CMDC_STOP,
    CMDC_VP,
    CMDC_CON,
    CMDC_TPAP,
    //140:
    CMDC_TVAV,
 
    // Diagnostic and identification commands:
    CMDC_VLIM,
    CMDC_ALIM,
    CMDC_POS_SAVE,
    CMDC_REF,
    CMDC_TEMP,
    CMDC_ID,
    CMDC_SN,
    CMDC_VER,
    CMDC_VER_DATE,
    //150:
    CMDC_SOC,
    CMDC_SOC_DATE,
    CMDC_NUMAXIS,
    CMDC_P_MIN,
    CMDC_P_MAX,
    CMDC_P_OFFSET,
    CMDC_GET_DURATION,
 
    // Grip commands:
    CMDC_IGRIP,
    CMDC_IHOLD,
    CMDC_SELGRIP,
    //160:
    CMDC_GRIP,
 
    // Setup and configuration commands:
    CMDC_PID,
    CMDC_KV,
    CMDC_ILIM,
    CMDC_POWER,
 
    // Misc. commands:
    CMDC_DEMO,
    CMDC_USER_ERRORS,
    CMDC_TERMINAL,
    CMDC_DEBUG,
    CMDC_USE_FIXED_LENGTH,
    //170:
    CMDC_CHANGE_RS232,
    CMDC_CHANGE_CHANNEL,
 
#if USE_CMD_TEST
 
    CMDC_TEST,
#endif
} SDH__attribute__((packed));
 
typedef enum eCommandCodeEnum eCommandCode;
 
#if SDH_USE_VCC
#pragma pack(pop)   // for VCC (MS Visual Studio) restore normal packing
#endif
 
//----------------------------------------------------------------------
// Global variables (declarations)
//----------------------------------------------------------------------
 
//----------------------------------------------------------------------
// External functions (function declarations)
//----------------------------------------------------------------------
 
//----------------------------------------------------------------------
// Function prototypes (function declarations)
//----------------------------------------------------------------------
 
 
#endif
 
 
//======================================================================
/*
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  (e.g. to explicitely set C++ mode for *.h header files)
 
  Local Variables:
  mode:C
  mode:ELSE
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*/
//======================================================================