sdh_command_codes.h
Go to the documentation of this file.00001 //====================================================================== 00032 //====================================================================== 00033 00034 00035 #ifndef _SDH_COMMAND_CODES 00036 #define _SDH_COMMAND_CODES 00037 00038 //---------------------------------------------------------------------- 00039 // System Includes - include with <> 00040 //---------------------------------------------------------------------- 00041 00042 00043 //---------------------------------------------------------------------- 00044 // Project Includes - include with "" 00045 //---------------------------------------------------------------------- 00046 00047 //---------------------------------------------------------------------- 00048 // Defines, enums, unions, structs 00049 //---------------------------------------------------------------------- 00050 00051 #define USE_CMD_TEST 0 00052 00053 00054 // since this file is included by other compilers which dont understand 00055 // attributes we can only use it if SDH__attribute__ is not yet defined 00056 #ifndef SDH__attribute__ 00057 # define SDH__attribute__( ... ) __attribute__(__VA_ARGS__) 00058 #endif 00059 00060 #ifndef SDH_USE_VCC 00061 # define SDH_USE_VCC 0 00062 #endif 00063 00064 00065 #if SDH_USE_VCC 00066 #pragma pack(push,1) // for VCC (MS Visual Studio) we have to set the necessary 1 byte packing with this pragma 00067 #endif 00068 00079 enum eCommandCodeEnum 00080 { 00081 // Movement commands: 00082 CMDC_V = 128, // assign a value so that non ASCII codes are used 00083 00084 CMDC_VEL, 00085 //130: 00086 CMDC_RVEL, 00087 CMDC_POS, 00088 CMDC_STATE, 00089 CMDC_P, 00090 CMDC_A, 00091 CMDC_M, 00092 CMDC_STOP, 00093 CMDC_VP, 00094 CMDC_CON, 00095 CMDC_TPAP, 00096 //140: 00097 CMDC_TVAV, 00098 00099 // Diagnostic and identification commands: 00100 CMDC_VLIM, 00101 CMDC_ALIM, 00102 CMDC_POS_SAVE, 00103 CMDC_REF, 00104 CMDC_TEMP, 00105 CMDC_ID, 00106 CMDC_SN, 00107 CMDC_VER, 00108 CMDC_VER_DATE, 00109 //150: 00110 CMDC_SOC, 00111 CMDC_SOC_DATE, 00112 CMDC_NUMAXIS, 00113 CMDC_P_MIN, 00114 CMDC_P_MAX, 00115 CMDC_P_OFFSET, 00116 CMDC_GET_DURATION, 00117 00118 // Grip commands: 00119 CMDC_IGRIP, 00120 CMDC_IHOLD, 00121 CMDC_SELGRIP, 00122 //160: 00123 CMDC_GRIP, 00124 00125 // Setup and configuration commands: 00126 CMDC_PID, 00127 CMDC_KV, 00128 CMDC_ILIM, 00129 CMDC_POWER, 00130 00131 // Misc. commands: 00132 CMDC_DEMO, 00133 CMDC_USER_ERRORS, 00134 CMDC_TERMINAL, 00135 CMDC_DEBUG, 00136 CMDC_USE_FIXED_LENGTH, 00137 //170: 00138 CMDC_CHANGE_RS232, 00139 CMDC_CHANGE_CHANNEL, 00140 00141 #if USE_CMD_TEST 00142 00143 CMDC_TEST, 00144 #endif 00145 } SDH__attribute__((packed)); 00146 00148 typedef enum eCommandCodeEnum eCommandCode; 00149 00150 #if SDH_USE_VCC 00151 #pragma pack(pop) // for VCC (MS Visual Studio) restore normal packing 00152 #endif 00153 00154 //---------------------------------------------------------------------- 00155 // Global variables (declarations) 00156 //---------------------------------------------------------------------- 00157 00158 //---------------------------------------------------------------------- 00159 // External functions (function declarations) 00160 //---------------------------------------------------------------------- 00161 00162 //---------------------------------------------------------------------- 00163 // Function prototypes (function declarations) 00164 //---------------------------------------------------------------------- 00165 00166 00167 #endif 00168 00169 00170 //====================================================================== 00171 /* 00172 Here are some settings for the emacs/xemacs editor (and can be safely ignored): 00173 (e.g. to explicitely set C++ mode for *.h header files) 00174 00175 Local Variables: 00176 mode:C 00177 mode:ELSE 00178 End: 00179 */ 00180 //======================================================================