ProtocolCommands.h

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/*
 * Copyright (c) 2012 SCHUNK GmbH & Co. KG
 * Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef PROTOCOLCOMMANDS
#define PROTOCOLCOMMANDS

//***************************************************************************
//
//  Messages ID
//
//***************************************************************************

// 11Bit ID
#define MSGID_ACK                               0x0a0
#define MSGID_GET                               0x0c0
#define MSGID_SET                               0x0e0
#define MSGID_STATE                             0x060
#define MSGID_ALL                               0x100

#define MSGID_DLR_INIT_0                0x42e
#define MSGID_DLR_INIT_1                0x42c
#define MSGID_DLR_INIT_2                0x42c
#define MSGID_DLR_INIT_ACK              0x42b
#define MSGID_DLR_DATA_GET              0x42d
#define MSGID_DLR_DATA_ACK              0x3c5

#define MSGID_SCHUNK_SEND               0x300
#define MSGID_SCHUNK_RECV               0x200
#define MAX_SCHUNK      63

#define MSGID_EMS_START_ID              0x500
#define MSGID_EMS_CONFIG_ACK    0x7e4
#define MSGID_EMS_CONFIG                0x7e5

#define MSGID_MP55_SEND                 0x600
#define MSGID_MP55_RECV                 0x580
#define MAX_MP55        127

//***************************************************************************
//
//  Command ID (byte 0)
//
//***************************************************************************

#define CMDID_RESET                             0x00    // message all
#define CMDID_HOME                              0x01    // message all
#define CMDID_HALT                              0x02    // message all
#define CMDID_TOGGLEHOME                0x03
#define CMDID_INTERNAL                  0x04
#define CMDID_WATCHDOG                  0x07    // message all

#define CMDID_SETPARAM                  0x08
#define CMDID_RECALCPID                 0x09
#define CMDID_BAUDRATE                  0x09    // message all
#define CMDID_GETPARAM                  0x0a
#define CMDID_SETMOVE                           0x0b

#define CMDID_SAVEPOS                                   0x0e    // message all
#define CMDID_STARTMOVE                         0x0f    // message all
#define CMDID_SAVEPARAMS                        0x10

#define CMDID_DLR_DATA_GET              0x44
#define CMDID_DLR_DATA_ACK0             0x00
#define CMDID_DLR_DATA_ACK1             0x41
#define CMDID_DLR_DATA_ACK2             0x42
#define CMDID_DLR_DATA_ACK3             0x83

#define CMDID_SCHUNK_GET_FTI    0x4c
#define CMDID_SCHUNK_GET_TEI    0x4e
#define CMDID_SCHUNK_GET_TRI    0x56
#define CMDID_SCHUNK_SET_BAUDRATE       0x72
#define CMDID_SCHUNK_SET_MSGID  0x74
#define CMDID_SCHUNK_SET_NULL   0x7a

#define CMDID_EMS_SET_MSGID             0x80
#define CMDID_EMS_SET_STARTBIT  0x81

//***************************************************************************
//
//  Parameter ID (Byte 1)
//
//***************************************************************************

#define PARID_DLR_DATA_GET              0x31

#define PARID_MOVE_FRAMP                0x04
#define PARID_MOVE_FSTEP                0x06
#define PARID_MOVE_FVEL                 0x07
#define PARID_MOVE_FCUR                 0x08
#define PARID_MOVE_IRAMP                0x09
#define PARID_MOVE_ISTEP                0x0b
#define PARID_MOVE_IVEL                 0x0c
#define PARID_MOVE_ICUR                 0x0d
#define PARID_MOVE_FRAMP_EXT    0x0e
#define PARID_MOVE_FSTEP_EXT    0x10
#define PARID_MOVE_FVEL_EXT             0x11
#define PARID_MOVE_FCUR_EXT             0x12
#define PARID_MOVE_IRAMP_EXT    0x13
#define PARID_MOVE_ISTEP_EXT    0x15
#define PARID_MOVE_IVEL_EXT             0x16
#define PARID_MOVE_ICUR_EXT             0x17

#define PARID_DEF_FHOMEOFFSET                   0x00    // read
#define PARID_DEF_FGEARRATIO                    0x01    // read
#define PARID_DEF_FLINEARRATIO                  0x02    // read
#define PARID_DEF_FMINPOS                               0x03    // read
#define PARID_DEF_FMAXPOS                               0x04    // read
#define PARID_DEF_FMAXDELTAPOS                  0x05    // read
#define PARID_DEF_FCUROFFSET                    0x07    // read
#define PARID_DEF_FCURRATIO                             0x08    // read
#define PARID_DEF_FMAXVEL                               0x0a    // read
#define PARID_DEF_FMAXACC                               0x0c    // read
#define PARID_DEF_FMAXCUR                               0x0e    // read
#define PARID_DEF_FHOMEVEL                              0x0f    // read
#define PARID_DEF_FHOMEACC                              0x10    // read
#define PARID_DEF_DIODATA                               0x19    // read
#define PARID_DEF_SERIALNO                              0x1a    // read
#define PARID_DEF_CONFIG                                0x1b    // read
#define PARID_DEF_INCPERTURN                    0x1c    // read
#define PARID_DEF_VERSION                               0x1d    // read
#define PARID_DEF_BRAKETIMEOUT                  0x1f    // read
#define PARID_DEF_ADDRESS                                       0x20    // read
#define PARID_DEF_CANBAUDRATE                   0x22    // read/write
#define PARID_DEF_RSBAUDRATE                    0x23    // read/write
#define PARID_ACT_IPOSCOUNT                             0x24    // read
#define PARID_ACT_DIODATA                               0x26    // read/write
#define PARID_ACT_STATE                                 0x27    // read
#define PARID_ACT_IRAMPVEL                              0x29    // write
#define PARID_ACT_IRAMPACC                              0x2a    // write
#define PARID_ACT_IHOMEOFFSET                   0x2c    // read/write
#define PARID_ACT_ICUR                                  0x35    // read
#define PARID_ACT_CONFIG                                0x39    // read/write
#define PARID_ACT_FINCRATIO                             0x3b    // read/write
#define PARID_ACT_FPOS                                  0x3c    // read
#define PARID_ACT_FDELTAPOS                             0x3f    // read
#define PARID_ACT_FMAXDELTAPOS                  0x40    // read/write
#define PARID_ACT_FVEL                                  0x41    // read
#define PARID_ACT_FIPOLVEL                              0x42    // read
#define PARID_ACT_FMINPOS                               0x45    // read/write
#define PARID_ACT_FMAXPOS                               0x46    // read/write
#define PARID_ACT_FMAXVEL                               0x48    // read/write
#define PARID_ACT_FMAXACC                               0x4a    // read/write
#define PARID_ACT_FMAXCUR                               0x4c    // read/write
#define PARID_ACT_FCUR                                  0x4d    // read
#define PARID_ACT_FRAMPVEL                              0x4f    // write
#define PARID_ACT_FRAMPACC                              0x50    // write
#define PARID_DEF_C0                                    0x51    // read
#define PARID_DEF_DAMP                                  0x52    // read
#define PARID_DEF_A0                                    0x53    // read
#define PARID_ACT_C0                                    0x54    // read/write
#define PARID_ACT_DAMP                                  0x55    // read/write
#define PARID_ACT_A0                                    0x56    // read/write
#define PARID_DEF_BURNCOUNT                             0x57    // read
#define PARID_DEF_SETUP                                 0x58    // read
#define PARID_ACT_FHOMEOFFSET                   0x59    // read/write
#define PARID_ACT_IPOS                                  0x5a    // read
#define PARID_ACT_IMAXDELTAPOS                  0x5b    // read/write
#define PARID_ACT_IMINPOS                               0x5c    // read/write
#define PARID_ACT_IMAXPOS                               0x5d    // read/write
#define PARID_ACT_IMAXVEL                               0x5e    // read/write
#define PARID_ACT_IMAXACC                               0x5f    // read/write
#define PARID_ACT_IVEL                                  0x60    // read
#define PARID_ACT_IDELTAPOS                             0x61    // read
#define PARID_ACT_FPOSSTATEDIO                  0x62    // read
#define PARID_ACT_FSAVEPOS                              0x63    // read
#define PARID_ACT_FHOMEVEL                              0x64    // read
#define PARID_ACT_IHOMEVEL                              0x65    // read
#define PARID_ACT_SYNCTIME                              0x66    // read/write
#define PARID_ACT_LOADLIMIT                             0x67    // read/write
#define PARID_ACT_MAXLOADGRADIENT       0x68    // read/write
#define PARID_ACT_LOADDELTATIME         0x69    // read/write

#define PARID_ACT_RAWMOTCUR                             0x6C    // read
#define PARID_ACT_RAWMOTSUPPLY          0x6D    // read
#define PARID_ACT_RAWTEMP                                       0x6E    // read
#define PARID_ACT_RAWLOGICSUPPLY        0x6F    // read
#define PARID_ACT_FMOTCUR                                       0x70    // read
#define PARID_ACT_FMOTSUPPLY                    0x71    // read
#define PARID_ACT_FTEMP                                         0x72    // read
#define PARID_ACT_FLOGICSUPPLY          0x73    // read

#define PARID_ACT_MINLOGIC                                      0x74
#define PARID_ACT_MAXLOGIC                                      0x75
#define PARID_ACT_MINMOTOR                                      0x76
#define PARID_ACT_MAXMOTOR                                      0x77
#define PARID_ACT_NOMCUR                                                0x78
#define PARID_ACT_HMAXCUR                                               0x79
#define PARID_ACT_LOGICUNDERSHOOT               0x7A
#define PARID_ACT_LOGICOVERSHOOT                0x7B
#define PARID_ACT_MOTORUNDERSHOOT               0x7C
#define PARID_ACT_MOTOROVERSHOOT                0x7D
#define PARID_ACT_NOMCUROVERSHOOT               0x7E
#define PARID_ACT_HMAXCUROVERSHOOT      0x7F

#define PARID_ACT_KP_PWMLIM                                     0x80
#define PARID_ACT_CURRENTLIMIT                  0x81
#define PARID_ACT_MAXPWMOUTPUT                  0x82

#endif