00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2012, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 //\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC 00038 00039 #ifndef BOSCH_DRIVERS_COMMON_H_ 00040 #define BOSCH_DRIVERS_COMMON_H_ 00041 00042 #include <stdint.h> 00043 00044 00053 namespace bosch_drivers_common 00054 { 00058 enum Hardware_Interface { Sub20, Arduino, ArduinoROSSerial, Gumstix }; 00059 00060 00067 enum interface_protocol { I2C, SPI, GPIO, RS232, RS485, ETHERNET, ETHERCAT, CAN, JTAG, PROFIBUS, MODBUS, USB, PWM, ENCODER, ADCONVERTER }; 00068 00069 00070 00080 static const uint8_t SPI_MODE_0 = 0x00; 00081 static const uint8_t SPI_MODE_1 = 0x01; 00082 static const uint8_t SPI_MODE_2 = 0x02; 00083 static const uint8_t SPI_MODE_3 = 0x03; 00084 00085 static const uint8_t MSB_FIRST = 1; 00086 static const uint8_t LSB_FIRST = 0; 00087 00088 static const uint8_t SPI_CLOCK_DIV_2 = 0x04; 00089 static const uint8_t SPI_CLOCK_DIV_4 = 0x00; 00090 static const uint8_t SPI_CLOCK_DIV_8 = 0x05; 00091 static const uint8_t SPI_CLOCK_DIV_16 = 0x01; 00092 static const uint8_t SPI_CLOCK_DIV_32 = 0x06; 00093 static const uint8_t SPI_CLOCK_DIV_64 = 0x02; 00094 static const uint8_t SPI_CLOCK_DIV_128 = 0x03; 00095 //static const uint8_t SPI_CLOCK_DIV64 0x07; 00096 00097 00109 static const uint8_t SPI_READ_FLAG = 7; 00110 static const uint8_t SPI_WRITE_FLAG = 7; 00111 00112 00113 // \brief This constant is used to specify an SPI device with no chip select. 00114 static const uint8_t NULL_DEVICE = 0xFF; 00115 00120 enum gpio_input_mode { FLOATING, PULLUP, PULLDOWN }; 00121 00126 enum motor_drive_mode { DRIVE, FREE_RUNNING, BRAKE }; 00127 00132 enum encoder_control { CREATE, DESTROY, SET_POSITION }; 00133 } 00134 #endif // BOSCH_DRIVERS_COMMON_H_