qbmove_communications.h

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// BSD 3-Clause License

// Copyright (c) 2015-2018, qbrobotics®
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:

// * Redistributions of source code must retain the above copyright notice, this
//   list of conditions and the following disclaimer.

// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.

// * Neither the name of the copyright holder nor the names of its
//   contributors may be used to endorse or promote products derived from
//   this software without specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef QBMOVE_SERIALPORT_H_INCLUDED
#define QBMOVE_SERIALPORT_H_INCLUDED

#if (defined(_WIN32) || defined(_WIN64))
    #include <windows.h>
#else
    #define INVALID_HANDLE_VALUE    -1
#endif

#if !(defined(_WIN32) || defined(_WIN64)) && !(defined(__APPLE__)) //only for linux
    #include <termios.h>
#endif

#define BAUD_RATE_T_2000000     0           //< Define to identify 2M baudrate
#define BAUD_RATE_T_460800      1           //< Define to identify 460.8k baudrate
#define MAX_WATCHDOG_TIME       500         //< Maximum watchdog timer time
#define READ_TIMEOUT            4000        //< Timeout on readings

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


//==============================================================================
//                                                              structures/enums
//==============================================================================

typedef struct comm_settings comm_settings;

struct comm_settings
{
#if (defined(_WIN32) || defined(_WIN64))
    HANDLE file_handle;
#else
    int file_handle;
#endif
};


//==============================================================================
//                                                          function definitions
//==============================================================================

//===========================================================     RS485listPorts

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

//================================================================     openRS485

#if !(defined(_WIN32) || defined(_WIN64)) && !(defined(__APPLE__)) //only for linux
    void openRS485( comm_settings *comm_settings_t, const char *port_s, int BAUD_RATE = B2000000);
#elif !(defined(_WIN32) || defined(_WIN64)) && (defined(__APPLE__)) //only for mac
    void openRS485( comm_settings *comm_settings_t, const char *port_s, int BAUD_RATE = 2000000);
#else
    void openRS485( comm_settings *comm_settings_t, const char *port_s, int BAUD_RATE = 2000000);
#endif


//===============================================================     closeRS485


void closeRS485( comm_settings *comm_settings_t );

//================================================================     RS485read

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

//=========================================================     RS485ListDevices

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

//=============================================================     RS485GetInfo

void RS485GetInfo( comm_settings *comm_settings_t, char *buffer );

//================================================================     commPing

int commPing( comm_settings *comm_settings_t, int id );

//=============================================================     commActivate

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

//============================================================     commSetBaudRate

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

//============================================================     commSetWatchDog

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

//============================================================     commSetInputs

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

//============================================================     commSetInputsAck

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

//============================================================     commSetPosStiff

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

//============================================================     commGetInputs

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

//======================================================     commGetMeasurements

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

//======================================================     commGetCounters

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

//======================================================     commGetCurrents

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

//=======================================================     commGetCurrAndMeas

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

//===============================================================     commGetEmg

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

//========================================================     commGetVelocities

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


//========================================================     commGetAccelerations

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

//==========================================================     commGetActivate

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


//==============================================================     commGetInfo

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


//==============================================================     commBootloader

int commBootloader(comm_settings *comm_settings_t, int id);


//==============================================================     commCalibrate

int commCalibrate(comm_settings *comm_settings_t, int id);

//==============================================================     commHandCalibrate

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

//============================================================     commSetZeros

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

//============================================================     commGetParamList

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);

//============================================================     commStoreParams

int commStoreParams( comm_settings *comm_settings_t, int id);

//==========================================================     commStoreDefaultParams

int commStoreDefaultParams( comm_settings *comm_settings_t, int id);

//==========================================================     commRestoreParams


int commRestoreParams( comm_settings *comm_settings_t, int id );

//==========================================================     commInitMem


int commInitMem(comm_settings *comm_settings_t, int id);

//==========================================================     timevaldiff

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


//=================================================================     checksum


char checksum ( char * data_buffer, int data_length );

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

//============================================================     commSetCuffInputs

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

//======================================================     commGetJoystick

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


// ----------------------------------------------------------------------------
#endif

/* [] END OF FILE */