Library of functions for SERIAL PORT communication with a qbMove. More...

#include <termios.h>
#include "commands.h"
#include <stdint.h>

Include dependency graph for qbmove_communications.h:

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Classes
struct	comm_settings

Macros
#define	BAUD_RATE_T_2000000 0

#define	BAUD_RATE_T_460800 1

#define	INVALID_HANDLE_VALUE -1

#define	MAX_WATCHDOG_TIME 500

#define	READ_TIMEOUT 4000

Typedefs
typedef struct comm_settings	comm_settings

Functions
Virtual COM (RS485) functions
int	RS485listPorts (char list_of_ports[10][255])
	This function is used to return a list of available serial ports. More...

void	openRS485 (comm_settings comm_settings_t, const char port_s, int BAUD_RATE=B2000000)
	This function is used to open a serial port for using with the qbMove or the qbHand. More...

void	closeRS485 (comm_settings *comm_settings_t)
	This function is used to close a serial port being used with the qbMove or an qbHand. More...

int	RS485read (comm_settings comm_settings_t, int id, char package)
	This function is used to read a package from the device. More...

int	RS485ListDevices (comm_settings *comm_settings_t, char list_of_ids[255])
	This function is used to list the number of devices connected to the serial port and get their relative IDs. More...

void	RS485GetInfo (comm_settings comm_settings_t, char buffer)
	This function is used to ping the serial port for a qbMove or a qbHand and to get information about the device. More...

qbAPI Commands
int	commPing (comm_settings *comm_settings_t, int id)
	This function is used to ping the qbMove or the qbHand. More...

void	commActivate (comm_settings *comm_settings_t, int id, char activate)
	This function activates or deactivates a qbMove or a qbHand connected to the serial port. More...

void	commSetBaudRate (comm_settings *comm_settings_t, int id, short int baudrate)
	This function sets the baudrate of communication. More...

void	commSetWatchDog (comm_settings *comm_settings_t, int id, short int wdt)
	This function sets watchdog timer of a qbMove or a qbHand. More...

void	commSetInputs (comm_settings *comm_settings_t, int id, short int inputs[])
	This function send reference inputs to a qbMove or a qbHand connected to the serial port. More...

int	commSetInputsAck (comm_settings *comm_settings_t, int id, short int inputs[])
	This function send reference inputs to a qbMove or a qbHand connected to the serial port and expects an acknowledgment reply from the device. More...

void	commSetPosStiff (comm_settings *comm_settings_t, int id, short int inputs[])
	This function send reference inputs to a qbMove connected to the serial port. More...

int	commGetInputs (comm_settings *comm_settings_t, int id, short int inputs[2])
	This function gets input references from a qbMove or a qbHand connected to the serial port. More...

int	commGetMeasurements (comm_settings *comm_settings_t, int id, short int measurements[3])
	This function gets position measurements from a qbMove or a qbHand connected to the serial port. More...

int	commGetCounters (comm_settings *comm_settings_t, int id, short unsigned int counters[20])
	This function gets counters values from a qbMove connected to the serial port. More...

int	commGetCurrents (comm_settings *comm_settings_t, int id, short int currents[2])
	This function gets currents from a qbMove or a qbHand connected to the serial port. More...

int	commGetCurrAndMeas (comm_settings comm_settings_t, int id, short int values)
	This function gets currents and position measurements from a qbMove or a qbHand connected to the serial port. More...

int	commGetEmg (comm_settings *comm_settings_t, int id, short int emg[2])
	This function gets measurements from electomyographics sensors connected to the qbHand. More...

int	commGetVelocities (comm_settings *comm_settings_t, int id, short int measurements[])
	This function gets velocities of the two motors and the shaft from a qbMove connected to a serial port or from the only shaft of the qbHand. More...

int	commGetAccelerations (comm_settings *comm_settings_t, int id, short int measurements[])
	This function gets the acceleration of the qbHand motor. More...

int	commGetActivate (comm_settings comm_settings_t, int id, char activate)
	This function gets the activation status of a qbMove or a qbHand connected to the serial port. More...

int	commGetInfo (comm_settings comm_settings_t, int id, short int info_type, char info)
	This function is used to ping the qbMove or the qbHand and get information about the device. More...

int	commBootloader (comm_settings *comm_settings_t, int id)
	This function sends the board in bootloader modality in order to update the firmware on the board. More...

int	commCalibrate (comm_settings *comm_settings_t, int id)
	This function is used to calibrate the maximum stiffness value of the qbMove. More...

int	commHandCalibrate (comm_settings *comm_settings_t, int id, short int speed, short int repetitions)
	This function is used to make a series of opening and closures of the qbHand. More...

qbAPI Parameters
int	commSetZeros (comm_settings comm_settings_t, int id, void values, unsigned short num_of_values)
	This function sets the encoders's zero positon value that remains stored in the qbMove or qbHand memory. More...

int	commGetParamList (comm_settings comm_settings_t, int id, unsigned short index, void values, unsigned short value_size, unsigned short num_of_values, uint8_t *buffer)
	This function gets all the parameters that are stored in the qbMove or qbHand memory and sets one of them if requested. More...

int	commStoreParams (comm_settings *comm_settings_t, int id)
	This function stores all parameters that were set in the qbMove or the qbHand memory. More...

int	commStoreDefaultParams (comm_settings *comm_settings_t, int id)
	This function stores the factory default parameters. More...

int	commRestoreParams (comm_settings *comm_settings_t, int id)
	This function restores the factory default parameters. More...

int	commInitMem (comm_settings *comm_settings_t, int id)
	This function initialize the EEPROM memory of the board by loading the default factory parameters. More...

General Functions
long	timevaldiff (struct timeval starttime, struct timeval finishtime)
	This functions returns a difference between two timeval structures in order to obtain time elapsed between the two timeval;. More...

char	checksum (char *data_buffer, int data_length)
	This functions returns an 8 bit LCR checksum over the lenght of a buffer. More...

Functions for other devices
int	commExtDrive (comm_settings *comm_settings_t, int id, char ext_input)
	This function is used with the armslider device. More...

void	commSetCuffInputs (comm_settings *comm_settings_t, int id, int flag)
	This function send reference inputs to a qbMove board connected to the serial port. More...

int	commGetJoystick (comm_settings *comm_settings_t, int id, short int joystick[2])
	This function gets joystick measurementes from a softhand connected to the serial port. More...

Detailed Description

Library of functions for SERIAL PORT communication with a qbMove.

Function Prototypes.

This library contains all necessary functions for communicating with a qbMove when using a USB to RS485 connector that provides a Virtual COM interface.

Definition in file qbmove_communications.h.

Macro Definition Documentation

#define BAUD_RATE_T_2000000 0

Definition at line 79 of file qbmove_communications.h.

#define BAUD_RATE_T_460800 1

Definition at line 80 of file qbmove_communications.h.

#define INVALID_HANDLE_VALUE -1

Definition at line 72 of file qbmove_communications.h.

#define MAX_WATCHDOG_TIME 500

Definition at line 81 of file qbmove_communications.h.

#define READ_TIMEOUT 4000

Definition at line 82 of file qbmove_communications.h.

Typedef Documentation

typedef struct comm_settings comm_settings

Definition at line 92 of file qbmove_communications.h.

Function Documentation

char checksum	(	char *	data_buffer,
		int	data_length
	)

This functions returns an 8 bit LCR checksum over the lenght of a buffer.

Parameters

data_buffer	Buffer.
data_length	Buffer length.

Example: 1 char aux;
2 char buffer[5];
3
4 buffer = "abcde";
5 aux = checksum(buffer,5);
6 printf("Checksum: %d", (int) aux)

void closeRS485 ( comm_settings * comm_settings_t )

This function is used to close a serial port being used with the qbMove or an qbHand.

Parameters

comm_settings_t A comm_settings structure containing info about the communication settings.

Example: 1 comm_settings comm_settings_t;
2
3 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
4 closeRS485(&comm_settings_t);

void commActivate	(	comm_settings *	comm_settings_t,
		int	id,
		char	activate
	)

This function activates or deactivates a qbMove or a qbHand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
activate	TRUE to turn motors on. FALSE to turn motors off.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5 commActivate(&comm_settings_t, device_id, TRUE);
6 closeRS485(&comm_settings_t);

int commBootloader	(	comm_settings *	comm_settings_t,
		int	id
	)

This function sends the board in bootloader modality in order to update the firmware on the board.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.

Returns: Return 0 on success, -1 otherwise

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5 commBootloader(&comm_settings_t, device_id);
6 closeRS485(&comm_settings_t);

int commCalibrate	(	comm_settings *	comm_settings_t,
		int	id
	)

This function is used to calibrate the maximum stiffness value of the qbMove.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.

Returns: Returns 0 on success, -1 otherwise

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5 commCalibrate(&comm_settings_t, device_id);
6 closeRS485(&comm_settings_t);

int commExtDrive	(	comm_settings *	comm_settings_t,
		int	id,
		char	ext_input
	)

This function is used with the armslider device.

Is used to drive another board with the inputs of the first one

Parameters

comm_settings_t	A comm_settings structure containing info about the comunication settings.
id	The id of the board drive.
ext_input	A flag used to activate the external drive functionality of the board.

Returns: A negative value if something went wrong, a zero if everything went fine.

int commGetAccelerations	(	comm_settings *	comm_settings_t,
		int	id,
		short int	measurements[]
	)

This function gets the acceleration of the qbHand motor.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
measurements	Velocity measurements.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int acc_measurements[3];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetAccelerations(&comm_settings_t, device_id, acc_measurements))
8 printf("Measurements: %d\t%d\t%d\n", acc_measurements[0], acc_measurements[1], acc_measurements[2]);
9 else
10 puts("Couldn't retrieve accelerations.");
11
12 closeRS485(&comm_settings_t);

int commGetActivate	(	comm_settings *	comm_settings_t,
		int	id,
		char *	activate
	)

This function gets the activation status of a qbMove or a qbHand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
activation	Activation status.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 char activation_status;
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetActivate(&comm_settings_t, DEVICE_ID, activation_status))
8 printf("Activation status: %d\n", &activation_status);
9 else
10 puts("Couldn't retrieve activation status.");
11
12 closeRS485(&comm_settings_t);

int commGetCounters	(	comm_settings *	comm_settings_t,
		int	id,
		short unsigned int	counters[20]
	)

This function gets counters values from a qbMove connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
counters	Counters

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short unsigned int counters[20];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetCounters(&comm_settings_t, DEVICE_ID, counters))
8 printf("Counters: %d\t%d\t {...} %d\n", counters[0], counters[1], {...}, counters[20]);
9 else
10 puts("Couldn't retrieve counters.");
11
12 closeRS485(&comm_settings_t);

int commGetCurrAndMeas	(	comm_settings *	comm_settings_t,
		int	id,
		short int *	values
	)

This function gets currents and position measurements from a qbMove or a qbHand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
values	Current and position measurements. Currents are in first two positions

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int values[5];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetCurrAndMeas(&comm_settings_t, device_id, currents)){
8 printf("Currents: %d\t%d\t%d\n",values[0], values[1]);
9 printf("Measurements: %d\t%d\t%d\n", values[2], values[3], values[4]);
10 }
11 else
12 puts("Couldn't retrieve currents.");
13
14 closeRS485(&comm_settings_t);

int commGetCurrents	(	comm_settings *	comm_settings_t,
		int	id,
		short int	currents[2]
	)

This function gets currents from a qbMove or a qbHand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
currents	Currents.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int currents[2];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetCurrents(&comm_settings_t, device_id, currents))
8 printf("Measurements: %d\t%d\t%d\n",currents[0], currents[1]);
9 else
10 puts("Couldn't retrieve currents.");
11
12 closeRS485(&comm_settings_t);

int commGetEmg	(	comm_settings *	comm_settings_t,
		int	id,
		short int	emg[2]
	)

This function gets measurements from electomyographics sensors connected to the qbHand.

IS USED ONLY WHEN THE BOARD IS USED FOR A QBHAND

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
values	Emg sensors measurements.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int values[2];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetEmg(&comm_settings_t, device_id, values));
8 printf("Measurements: %d\t%d\t%d\n", values[0], values[1]);
9 else
10 puts("Couldn't retrieve emg values.");
11
12 closeRS485(&comm_settings_t);

int commGetInfo	(	comm_settings *	comm_settings_t,
		int	id,
		short int	info_type,
		char *	info
	)

This function is used to ping the qbMove or the qbHand and get information about the device.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
buffer	Buffer that stores a string with information about the device. BUFFER SIZE MUST BE AT LEAST 500.
info_type	Information to be retrieved.

Example: 1 comm_settings comm_settings_t;
2 char auxstring[500];
3 int device_id = 65;
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6 commGetInfo(&comm_settings_t, device_id, INFO_ALL, auxstring);
7 puts(auxstring);
8 closeRS485(&comm_settings_t);

int commGetInputs	(	comm_settings *	comm_settings_t,
		int	id,
		short int	inputs[2]
	)

This function gets input references from a qbMove or a qbHand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
inputs	Input references.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int inputs[2];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetInputs(&comm_settings_t, DEVICE_ID, inputs))
8 printf("Inputs: %d\t%d\n",inputs[0], inputs[1]);
9 else
10 puts("Couldn't retrieve device inputs.");
11
12 closeRS485(&comm_settings_t);

int commGetJoystick	(	comm_settings *	comm_settings_t,
		int	id,
		short int	joystick[2]
	)

This function gets joystick measurementes from a softhand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
joystick	Joystick analog measurements.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int joystick[2];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetJoystick(&comm_settings_t, device_id, joystick))
8 printf("Measurements: %d\t%d\t%d\n",joystick[0], joystick[1]);
9 else
10 puts("Couldn't retrieve joystick measurements.");
11
12 closeRS485(&comm_settings_t);

int commGetMeasurements	(	comm_settings *	comm_settings_t,
		int	id,
		short int	measurements[3]
	)

This function gets position measurements from a qbMove or a qbHand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
measurements	Measurements.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int measurements[3];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetMeasurements(&comm_settings_t, DEVICE_ID, measurements))
8 printf("Measurements: %d\t%d\t%d\n",measurements[0], measurements[1], measurements[2]);
9 else
10 puts("Couldn't retrieve measurements.");
11
12 closeRS485(&comm_settings_t);

int commGetParamList	(	comm_settings *	comm_settings_t,
		int	id,
		unsigned short	index,
		void *	values,
		unsigned short	value_size,
		unsigned short	num_of_values,
		uint8_t *	buffer
	)

This function gets all the parameters that are stored in the qbMove or qbHand memory and sets one of them if requested.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
index	The index relative to the parameter to be get.
values	An array with the parameter values.
value_size	The byte size of the parameter to be get
num_of_values	The size of the array of the parameter to be get
buffer	The array where the parameters' values and descriptions are saved

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 unsigned char aux_string[2000];
4 int index = 0;
5 int value_size = 0;
6 int num_of_values = 0;
7
8 // Get parameters
9 commGetParamList(&comm_settings_t, device_id, index, NULL, value_size, num_of_values, aux_string);
10 string_unpacking_and_printing(aux_string);
11
12 // Set parameters
13
14 float pid[3];
15 pid[0] = 0.1;
16 pid[1] = 0.2;
17 pid[2] = 0.3;
18 index = 2;
19 value_size = 4;
20 num_of_values = 3;
21 commGetParamList(&comm_settings_t, device_id, index, pid, value_size, num_of_values, NULL);

int commGetVelocities	(	comm_settings *	comm_settings_t,
		int	id,
		short int	measurements[]
	)

This function gets velocities of the two motors and the shaft from a qbMove connected to a serial port or from the only shaft of the qbHand.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
measurements	Velocity measurements.

Returns: Returns 0 if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int vel_measurements[3];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 if(!commGetVelocities(&comm_settings_t, device_id, vel_measurements))
8 printf("Measurements: %d\t%d\t%d\n", vel_measurements[0], vel_measurements[1], vel_measurements[2]);
9 else
10 puts("Couldn't retrieve velocities.");
11
12 closeRS485(&comm_settings_t);

int commHandCalibrate	(	comm_settings *	comm_settings_t,
		int	id,
		short int	speed,
		short int	repetitions
	)

This function is used to make a series of opening and closures of the qbHand.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
speed	The speed of hand closure and opening [0 - 200]
repetitions	The nnumber of closures needed to be done [0 - 32767]

Example: 1 comm_settings comm_settings_t;
2 int speed = 200
3 int repetitions = 400;
4 int device_id = 65;
5
6 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
7 commHandCalibrate(&comm_settings_t, device_id, speed, repetitions);
8 closeRS485(&comm_settings_t);

int commInitMem	(	comm_settings *	comm_settings_t,
		int	id
	)

This function initialize the EEPROM memory of the board by loading the default factory parameters.

After the initialization a flag is set.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5
6 commInitMem(&comm_settings_t, device_id)
7
8 closeRS485(&comm_settings_t);

int commPing	(	comm_settings *	comm_settings_t,
		int	id
	)

This function is used to ping the qbMove or the qbHand.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
buffer	Buffer that stores a string with information about the device. BUFFER SIZE MUST BE AT LEAST 500.

Returns: Returns 0 if ping was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5 if ( commPing(&comm_settings_t, device_id) )
6 puts("Device exists.");
7 else
8 puts("Device does not exist.");
9
10 closeRS485(&comm_settings_t);

int commRestoreParams	(	comm_settings *	comm_settings_t,
		int	id
	)

This function restores the factory default parameters.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5
6 commRestoreParams(&comm_settings_t, device_id)
7
8 closeRS485(&comm_settings_t);

void commSetBaudRate	(	comm_settings *	comm_settings_t,
		int	id,
		short int	baudrate
	)

This function sets the baudrate of communication.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
baudrate	BaudRate requested 0 = 2M baudrate, 1 = 460.8k baudrate

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int baudrate = 0;
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6 commSetBaudRate(&comm_settings_t, global_args.device_id, baudrate);
7 closeRS485(&comm_settings_t);

void commSetCuffInputs	(	comm_settings *	comm_settings_t,
		int	id,
		int	flag
	)

This function send reference inputs to a qbMove board connected to the serial port.

Is used only when the device is a Cuff.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
flag	A flag that indicates used to activate the cuff driving functionality of the board.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int cuff_inputs[2];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 int flag = 1;
8 commSetCuffInputs(&comm_settings_t, device_id, flag);
9 closeRS485(&comm_settings_t);

void commSetInputs	(	comm_settings *	comm_settings_t,
		int	id,
		short int	inputs[]
	)

This function send reference inputs to a qbMove or a qbHand connected to the serial port.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
inputs	Input references.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int inputs[2];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 inputs[0] = 1000;
8 inputs[1] = -1000;
9 commSetInputs(&comm_settings_t, device_id, inputs);
10 closeRS485(&comm_settings_t);

int commSetInputsAck	(	comm_settings *	comm_settings_t,
		int	id,
		short int	inputs[]
	)

This function send reference inputs to a qbMove or a qbHand connected to the serial port and expects an acknowledgment reply from the device.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
inputs	Input references.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int inputs[2];
4 char package_in[2];
5
6 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
7
8 inputs[0] = 1000;
9 inputs[1] = -1000;
10 commSetInputsAck(&comm_settings_t, device_id, inputs);
11 RS485Read(&comm_settings_t, device_id, package_in);
12 closeRS485(&comm_settings_t);

void commSetPosStiff	(	comm_settings *	comm_settings_t,
		int	id,
		short int	inputs[]
	)

This function send reference inputs to a qbMove connected to the serial port.

The reference is in shaft position and stiffness preset. IS VALID ONLY WHEN USED FOR THE qbMove, NOT FOR THE qbHand

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
inputs	Input references.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int inputs[2];
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
6
7 inputs[0] = 100; //Degrees
8 inputs[1] = 30; //stiffness preset
9 commSetPosStiff(&comm_settings_t, device_id, inputs);
10 closeRS485(&comm_settings_t);

void commSetWatchDog	(	comm_settings *	comm_settings_t,
		int	id,
		short int	wdt
	)

This function sets watchdog timer of a qbMove or a qbHand.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
wdt	Watchdog timer in [csec], max value: 500 [cs] / min value: 0 (disable) [cs]

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int wdt = 60;
4
5 openRS485(&comm_settings_t,"/dev/tty.usbserial-128);
6 commSetWatchDog(&comm_settings_t, global_args.device_id, wdt);
7 closeRS485(&comm_settings_t);

int commSetZeros	(	comm_settings *	comm_settings_t,
		int	id,
		void *	values,
		unsigned short	num_of_values
	)

This function sets the encoders's zero positon value that remains stored in the qbMove or qbHand memory.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
value	An array with the encoder readings values.
num_of_values	The size of the values array, equal to the sensor number.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 short int measurements[3];
4
5
6 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
7 commGetMeasurements(comm_settings_t, device_id, measurements)
8 for(i = 0; i<3; i++)
9 measurements[i] = -measurements[i];
10 commSetZeros(&comm_settings_t, global_args.device_id, measurements, 3);
11 closeRS485(&comm_settings_t);

int commStoreDefaultParams	(	comm_settings *	comm_settings_t,
		int	id
	)

This function stores the factory default parameters.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5 commStoreDefaultParams(&comm_settings_t, device_id)
6 closeRS485(&comm_settings_t);

int commStoreParams	(	comm_settings *	comm_settings_t,
		int	id
	)

This function stores all parameters that were set in the qbMove or the qbHand memory.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5
6 commStoreParams(&comm_settings_t, device_id)
7
8 closeRS485(&comm_settings_t);

void openRS485	(	comm_settings *	comm_settings_t,
		const char *	port_s,
		int	BAUD_RATE = `B2000000`
	)

This function is used to open a serial port for using with the qbMove or the qbHand.

Parameters

comm_settings	A comm_settings structure containing info about the communication settings.
port_s	The string to the serial port path.
BAUD_RATE	The default baud rate value of the serial port

Returns: Returns the file descriptor associated to the serial port.

Example: 1 comm_settings comm_settings_t;
2
3 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
4 if(comm_settings_t.file_handle == INVALID_HANDLE_VALUE)
5 {
6 // ERROR
7 }

void RS485GetInfo	(	comm_settings *	comm_settings_t,
		char *	buffer
	)

This function is used to ping the serial port for a qbMove or a qbHand and to get information about the device.

ONLY USE WHEN ONE DEVICE IS CONNECTED ONLY.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
buffer	Buffer that stores a string with information about the device. BUFFER SIZE MUST BE AT LEAST 500.

Example: 1 comm_settings comm_settings_t;
2 char auxstring[500];
3
4 openRS485(&comm_settings_t,"/dev/tty.usbserial-128");
5 RS485GetInfo(&comm_settings_t, auxstring);
6 puts(auxstring);
7 closeRS485(&comm_settings_t);

int RS485ListDevices	(	comm_settings *	comm_settings_t,
		char	list_of_ids[255]
	)

This function is used to list the number of devices connected to the serial port and get their relative IDs.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
list_of_ids[255]	Buffer that stores a list of IDs to ping, in order to see which of those IDs is connected. Is then filled with the IDs connected to the serial port.

Returns: Returns the number of devices connected

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 int device_num;
4 char list_of_ids[255];
5
6 openRS485(&comm_settings_t, device_id);
7 device_num = RS485ListDevices(&comm_settings_t, &list_of_ids);
8 closeRS485(&comm_settings_t);
9 printf("Number of devices connected: %d", i);

int RS485listPorts ( char list_of_ports[10][255] )

This function is used to return a list of available serial ports.

A maximum of 10 ports are found.

Parameters

list_of_ports An array of strings with the serial ports paths.

Returns: Returns the number of serial ports found.

Example: 1 int i, num_ports;
2 char list_of_ports[10][255];
3
4 num_ports = RS485listPorts(ports);
5
6 for(i = 0; i < num_ports; ++i)
7 {
8 puts(ports[i]);
9 }

int RS485read	(	comm_settings *	comm_settings_t,
		int	id,
		char *	package
	)

This function is used to read a package from the device.

Parameters

comm_settings_t	A comm_settings structure containing info about the communication settings.
id	The device's id number.
package	Package will be stored here.

Returns: Returns package length if communication was ok, -1 otherwise.

Example: 1 comm_settings comm_settings_t;
2 int device_id = 65;
3 char data_read[1000];
4
5 openRS485(&comm_settings_t, "/dev/tty.usbserial-128");
6 commPing(&comm_settings_t, device_id);
7 RS485read(&comm_settings_t, device_id, data_read);
8 closeRS485(&comm_settings_t);
9
10 printf(data_read);

long timevaldiff	(	struct timeval *	starttime,
		struct timeval *	finishtime
	)

This functions returns a difference between two timeval structures in order to obtain time elapsed between the two timeval;.

Parameters

starttime	The timeval structure containing the start time
finishtime	The timeval structure containing the finish time

Returns: Returns the elapsed time between the two timeval structures.

Example: 1 struct timeval start, finish;
2 gettimeofday(&start, NULL);
3 // other instructions
4 gettimeofday(&now, NULL);
5 long diff = timevaldiff(&start, &now);
6
7 printf(Time elapsed: %ld, diff);

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