Classes | Defines
CDxlCom.h File Reference
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <sys/time.h>
#include <threemxl/platform/hardware/serial/LxSerial.h>
#include "CDxlPacket.hpp"
#include <threemxl/platform/io/logging/Log2.h>
Include dependency graph for CDxlCom.h:
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Go to the source code of this file.

Classes

class  CDxlCom
 Generic base class for CDxlGeneric and CDxlGroup. More...

Defines

#define DXL_ALREADY_INITIALIZED   -9006
#define DXL_CHECKSUM_ERROR   0x10
#define DXL_ERROR   -1
#define DXL_INVALID_PARAMETER   -9009
#define DXL_NO_SERIAL_PORT   -9008
#define DXL_NOT_INITIALIZED   -9007
#define DXL_PKT_RECV_CHECKSUM_ERR   -9002
#define DXL_PKT_RECV_ERROR   -9001
#define DXL_PKT_RECV_ID_ERR   -9004
#define DXL_PKT_RECV_LENGTH_ERR   -9003
#define DXL_PKT_RECV_TIMEOUT   (-ETIMEDOUT)
#define DXL_PKT_RECV_WAIT_TIME_SEC   0
#define DXL_PKT_RECV_WAIT_TIME_USEC   100000
#define DXL_PKT_SEND_ERROR   -9101
#define DXL_PKT_SEND_LENGTH_ERR   -9102
#define DXL_SUCCESS   0
#define INST_ACTION   0x05
#define INST_DIGITAL_RESET   0x07
#define INST_PING   0x01
#define INST_READ   0x02
#define INST_REG_WRITE   0x04
#define INST_RESET   0x06
#define INST_SYNC_REG_WRITE   0x84
#define INST_SYNC_WRITE   0x83
#define INST_SYSTEM_READ   0x0C
#define INST_SYSTEM_WRITE   0x0D
#define INST_WRITE   0x03
#define M3XL_ANGLE_LIMIT_ERROR   0b00000010
#define M3XL_CHECKSUM_ERROR   0b00010000
#define M3XL_INPUT_VOLTAGE_ERROR   0b00000001
#define M3XL_INSTRUCTION_ERROR   0b01000000
#define M3XL_NO_ERROR   0b00000000
#define M3XL_OVERHEATING_ERROR   0b00000100
#define M3XL_OVERLOAD_ERROR   0b00100000
#define M3XL_RANGE_ERROR   0b00001000
#define M3XL_STATUS_EEPROM_ERROR   0x80
#define M3XL_STATUS_EM_STOP_ERROR   0x82
#define M3XL_STATUS_INIT_TIME_OUT_ERROR   0x83
#define M3XL_STATUS_JOINT_STUCK_ERROR   0x88
#define M3XL_STATUS_MAX_CURRENT_ERROR   0x86
#define M3XL_STATUS_MAX_POS_ERROR   0x84
#define M3XL_STATUS_MAX_TORQUE_ERROR   0x85
#define M3XL_STATUS_MOTOR_STUCK_ERROR   0x87
#define M3XL_STATUS_NOT_INITIALIZED   0x81
#define M3XL_STATUS_PROTOCOL_TIME_OUT_ERROR   0x89
#define MAX_NUM_DYNAMIXELS   254
 In any case, no more than 254 dynamixels may reside on one bus (IDs 0-253)
#define RECEIVE_RETRY_FACTOR   0
 the number of times we want to retry a receive if it fails
#define SEND_RETRY_FACTOR   1
 the number of times we want to retry a send if it fails

Define Documentation

#define DXL_ALREADY_INITIALIZED   -9006

Definition at line 38 of file CDxlCom.h.

#define DXL_CHECKSUM_ERROR   0x10

Definition at line 46 of file CDxlCom.h.

#define DXL_ERROR   -1

Definition at line 32 of file CDxlCom.h.

#define DXL_INVALID_PARAMETER   -9009

Definition at line 41 of file CDxlCom.h.

#define DXL_NO_SERIAL_PORT   -9008

Definition at line 40 of file CDxlCom.h.

#define DXL_NOT_INITIALIZED   -9007

Definition at line 39 of file CDxlCom.h.

#define DXL_PKT_RECV_CHECKSUM_ERR   -9002

Definition at line 34 of file CDxlCom.h.

#define DXL_PKT_RECV_ERROR   -9001

Definition at line 33 of file CDxlCom.h.

#define DXL_PKT_RECV_ID_ERR   -9004

Definition at line 36 of file CDxlCom.h.

#define DXL_PKT_RECV_LENGTH_ERR   -9003

Definition at line 35 of file CDxlCom.h.

#define DXL_PKT_RECV_TIMEOUT   (-ETIMEDOUT)

Definition at line 37 of file CDxlCom.h.

Definition at line 71 of file CDxlCom.h.

#define DXL_PKT_RECV_WAIT_TIME_USEC   100000

Definition at line 70 of file CDxlCom.h.

#define DXL_PKT_SEND_ERROR   -9101

Definition at line 43 of file CDxlCom.h.

#define DXL_PKT_SEND_LENGTH_ERR   -9102

Definition at line 44 of file CDxlCom.h.

#define DXL_SUCCESS   0

Definition at line 31 of file CDxlCom.h.

#define INST_ACTION   0x05

Definition at line 78 of file CDxlCom.h.

#define INST_DIGITAL_RESET   0x07

Definition at line 80 of file CDxlCom.h.

#define INST_PING   0x01

Definition at line 74 of file CDxlCom.h.

#define INST_READ   0x02

Definition at line 75 of file CDxlCom.h.

#define INST_REG_WRITE   0x04

Definition at line 77 of file CDxlCom.h.

#define INST_RESET   0x06

Definition at line 79 of file CDxlCom.h.

#define INST_SYNC_REG_WRITE   0x84

Definition at line 84 of file CDxlCom.h.

#define INST_SYNC_WRITE   0x83

Definition at line 83 of file CDxlCom.h.

#define INST_SYSTEM_READ   0x0C

Definition at line 81 of file CDxlCom.h.

#define INST_SYSTEM_WRITE   0x0D

Definition at line 82 of file CDxlCom.h.

#define INST_WRITE   0x03

Definition at line 76 of file CDxlCom.h.

#define M3XL_ANGLE_LIMIT_ERROR   0b00000010

Definition at line 55 of file CDxlCom.h.

#define M3XL_CHECKSUM_ERROR   0b00010000

Definition at line 52 of file CDxlCom.h.

#define M3XL_INPUT_VOLTAGE_ERROR   0b00000001

Definition at line 56 of file CDxlCom.h.

#define M3XL_INSTRUCTION_ERROR   0b01000000

Definition at line 50 of file CDxlCom.h.

#define M3XL_NO_ERROR   0b00000000

Definition at line 49 of file CDxlCom.h.

#define M3XL_OVERHEATING_ERROR   0b00000100

Definition at line 54 of file CDxlCom.h.

#define M3XL_OVERLOAD_ERROR   0b00100000

Definition at line 51 of file CDxlCom.h.

#define M3XL_RANGE_ERROR   0b00001000

Definition at line 53 of file CDxlCom.h.

#define M3XL_STATUS_EEPROM_ERROR   0x80

Definition at line 58 of file CDxlCom.h.

#define M3XL_STATUS_EM_STOP_ERROR   0x82

Definition at line 60 of file CDxlCom.h.

Definition at line 61 of file CDxlCom.h.

#define M3XL_STATUS_JOINT_STUCK_ERROR   0x88

Definition at line 66 of file CDxlCom.h.

#define M3XL_STATUS_MAX_CURRENT_ERROR   0x86

Definition at line 64 of file CDxlCom.h.

#define M3XL_STATUS_MAX_POS_ERROR   0x84

Definition at line 62 of file CDxlCom.h.

#define M3XL_STATUS_MAX_TORQUE_ERROR   0x85

Definition at line 63 of file CDxlCom.h.

#define M3XL_STATUS_MOTOR_STUCK_ERROR   0x87

Definition at line 65 of file CDxlCom.h.

#define M3XL_STATUS_NOT_INITIALIZED   0x81

Definition at line 59 of file CDxlCom.h.

Definition at line 67 of file CDxlCom.h.

#define MAX_NUM_DYNAMIXELS   254

In any case, no more than 254 dynamixels may reside on one bus (IDs 0-253)

Definition at line 28 of file CDxlCom.h.

#define RECEIVE_RETRY_FACTOR   0

the number of times we want to retry a receive if it fails

Definition at line 26 of file CDxlCom.h.

#define SEND_RETRY_FACTOR   1

the number of times we want to retry a send if it fails

Definition at line 25 of file CDxlCom.h.



threemxl
Author(s):
autogenerated on Fri Aug 28 2015 13:21:08