SVHSerialPacket.h File Reference

#include <icl_comm/ByteOrderConversion.h>

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Classes
struct	driver_svh::SVHSerialPacket
	The SerialPacket holds the (non generated) header and data of one message to the SVH-Hardware. More...
Namespaces
namespace	driver_svh
Functions
icl_comm::ArrayBuilder &	driver_svh::operator<< (icl_comm::ArrayBuilder &ab, const SVHSerialPacket &data)
	overload stream operator to easily serialize raw packet data
std::ostream &	driver_svh::operator<< (std::ostream &o, const SVHSerialPacket &sp)
	Output Stream operator for easy printing of packet data.
icl_comm::ArrayBuilder &	driver_svh::operator>> (icl_comm::ArrayBuilder &ab, SVHSerialPacket &data)
	overload stream operator to easily deserialize raw packet data
Variables
const size_t	driver_svh::cDEFAULT_PACKET_SIZE = 48
	Default packet payload size in bytes.
const size_t	driver_svh::cPACKET_APPENDIX_SIZE = 8
	The packet overhead size in bytes.
const uint8_t	driver_svh::PACKET_HEADER1 = 0x4C
	Header sync byte 1.
const uint8_t	driver_svh::PACKET_HEADER2 = 0xAA
	Header sync byte 2.
const uint8_t	driver_svh::SVH_GET_CONTROL_FEEDBACK = 0x00
	Request the position and current of a channel to be sent.
const uint8_t	driver_svh::SVH_GET_CONTROL_FEEDBACK_ALL = 0x02
	Requests the positions and currents of ALL channels.
const uint8_t	driver_svh::SVH_GET_CONTROLLER_STATE = 0x08
	Requests the state of the controller (active,faults,enabled channels)
const uint8_t	driver_svh::SVH_GET_CURRENT_SETTINGS = 0x06
	Requests the active settings of the current controller.
const uint8_t	driver_svh::SVH_GET_ENCODER_VALUES = 0x0A
	Request the current encoder scalings.
const uint8_t	driver_svh::SVH_GET_FIRMWARE_INFO = 0x0C
	Request the firmware info to be transmitted.
const uint8_t	driver_svh::SVH_GET_POSITION_SETTINGS = 0x04
	Requests the active settings of the position controller.
const uint8_t	driver_svh::SVH_SET_CONTROL_COMMAND = 0x01
	Sets the target position of a channel.
const uint8_t	driver_svh::SVH_SET_CONTROL_COMMAND_ALL = 0x03
	Sends the target position to ALL the channels.
const uint8_t	driver_svh::SVH_SET_CONTROLLER_STATE = 0x09
	Sets new controller states (enable channels, clear faults)
const uint8_t	driver_svh::SVH_SET_CURRENT_SETTINGS = 0x07
	Sets new settings for the current controller.
const uint8_t	driver_svh::SVH_SET_ENCODER_VALUES = 0x0B
	Set new encoder scalings.
const uint8_t	driver_svh::SVH_SET_POSITION_SETTINGS = 0x05
	Sets new settings for the position controller.

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Detailed Description

Author:

Georg Heppner

Date:

2014-02-03

2014-07-16

This file contains the SVHSerialPacket data structure that is used to send and receive everything from an to the actual hardware. The serial packet is used to wrap up the payload data for convenient handling. By wrapping everything in the same packet structure it can be handled quite neatly

Definition in file SVHSerialPacket.h.