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