tactile_edc_ethercat_protocol.h

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//
// © 2010 Shadow Robot Company Limited.
//
// FileName:        tactile_edc_ethercat_protocol.h
// Dependencies:
// Processor:       PIC32
// Compiler:        MPLAB® C32
//
//  +------------------------------------------------------------------------+
//  | This file is part of The Shadow Robot PIC32 firmware code base.        |
//  |                                                                        |
//  | It is free software: you can redistribute it and/or modify             |
//  | it under the terms of the GNU General Public License as published by   |
//  | the Free Software Foundation, either version 3 of the License, or      |
//  | (at your option) any later version.                                    |
//  |                                                                        |
//  | It is distributed in the hope that it will be useful,                  |
//  | but WITHOUT ANY WARRANTY; without even the implied warranty of         |
//  | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          |
//  | GNU General Public License for more details.                           |
//  |                                                                        |
//  | You should have received a copy of the GNU General Public License      |
//  | along with this code repository. The text of the license can be found  |
//  | in Pic32/License/gpl.txt. If not, see <http://www.gnu.org/licenses/>.  |
//  +------------------------------------------------------------------------+
//
//
//
//  Doxygen
//  -------
//
//

#ifndef TACTILE_EDC_ETHERCAT_PROTOCOL_H_INCLUDED
#define TACTILE_EDC_ETHERCAT_PROTOCOL_H_INCLUDED



//      ---------------
//      TACTILE SENSORS
//      ---------------

#define TACTILE_DATA_LENGTH_BYTES_v1   16
#define TACTILE_DATA_LENGTH_WORDS_v1   (TACTILE_DATA_LENGTH_BYTES_v1/2)

typedef union
{
    int16u  word[TACTILE_DATA_LENGTH_WORDS_v1];                            
    char    string[TACTILE_DATA_LENGTH_BYTES_v1];
}TACTILE_SENSOR_STATUS_v1;

typedef enum                                                            
{
    TACTILE_SENSOR_TYPE_WHICH_SENSORS           = 0xFFF9,               
    TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ     = 0xFFFA,               
    TACTILE_SENSOR_TYPE_MANUFACTURER            = 0xFFFB,               
    TACTILE_SENSOR_TYPE_SERIAL_NUMBER           = 0xFFFC,               
    TACTILE_SENSOR_TYPE_SOFTWARE_VERSION        = 0xFFFD,               
    TACTILE_SENSOR_TYPE_PCB_VERSION             = 0xFFFE,               
    TACTILE_SENSOR_TYPE_RESET_COMMAND           = 0xFFFF                
}FROM_TACTILE_SENSOR_TYPE;


typedef enum                                                            
{
    TACTILE_SENSOR_PROTOCOL_TYPE_INVALID        = 0x0000,               
    TACTILE_SENSOR_PROTOCOL_TYPE_PST3           = 0x0001,               
    TACTILE_SENSOR_PROTOCOL_TYPE_BIOTAC_2_3     = 0x0002,               
    TACTILE_SENSOR_PROTOCOL_TYPE_UBI0           = 0x0003,               
    TACTILE_SENSOR_PROTOCOL_TYPE_CONFLICTING    = 0xFFFF                
}TACTILE_SENSOR_PROTOCOL_TYPE;


typedef enum                                                            
{
    AUX_SENSOR_PROTOCOL_TYPE_INVALID            = 0x0000,               
    AUX_SENSOR_PROTOCOL_TYPE_MCP3202            = 0x0001,               
    AUX_SENSOR_PROTOCOL_TYPE_MCP3204            = 0x0002,               
    AUX_SENSOR_PROTOCOL_TYPE_MCP3208            = 0x0003                

}AUX_SENSOR_PROTOCOL_TYPE;

typedef enum                                                            // Data you can request from PST3s
{
    TACTILE_SENSOR_TYPE_PST3_PRESSURE_TEMPERATURE       = 0x0000,       
    TACTILE_SENSOR_TYPE_PST3_PRESSURE_RAW_ZERO_TRACKING = 0x0002,       
    TACTILE_SENSOR_TYPE_PST3_DAC_VALUE                  = 0x0004        
}FROM_TACTILE_SENSOR_TYPE_PST3;

typedef enum                                                            // Data you can request from UBI0 tactiles
{
    TACTILE_SENSOR_TYPE_UBI0_INVALID                    = 0x0000,       
    TACTILE_SENSOR_TYPE_UBI0_TACTILE                    = 0x0001       
}FROM_TACTILE_SENSOR_TYPE_UBI0;

typedef enum                                                            // Data you can request from BioTacs
{
    TACTILE_SENSOR_TYPE_BIOTAC_INVALID         = 0x0000,
    TACTILE_SENSOR_TYPE_BIOTAC_PDC             = 0x0001,
    TACTILE_SENSOR_TYPE_BIOTAC_TAC             = 0x0002,
    TACTILE_SENSOR_TYPE_BIOTAC_TDC             = 0x0003,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_1     = 0x0004,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_2     = 0x0005,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_3     = 0x0006,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_4     = 0x0007,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_5     = 0x0008,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_6     = 0x0009,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_7     = 0x000A, 
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_8     = 0x000B,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_9     = 0x000C,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_10    = 0x000D,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_11    = 0x000E,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_12    = 0x000F,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_13    = 0x0010,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_14    = 0x0011,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_15    = 0x0012,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_16    = 0x0013,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_17    = 0x0014,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_18    = 0x0015,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_19    = 0x0016,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_20    = 0x0017,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_21    = 0x0018,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_22    = 0x0019,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_23    = 0x001A,
    TACTILE_SENSOR_TYPE_BIOTAC_ELECTRODE_24    = 0x001B,

    FROM_TACTILE_SENSOR_TYPE_BIOTAC_NUM_VALUES = 0x001C
}FROM_TACTILE_SENSOR_TYPE_BIOTAC;


typedef enum                                                   // Data you can request from MCP320x ADC
{
    TACTILE_SENSOR_TYPE_MCP320x_INVALID        = 0x0000,       
    TACTILE_SENSOR_TYPE_MCP320x_TACTILE        = 0x0001       
} FROM_TACTILE_SENSOR_TYPE_MCP320x;


typedef struct
{
    int16u  Pac[2];
    int16u  other_sensor_0;
    //int16u  other_sensor_1;                               #ERROR NO! Do not place this here

    struct
    {
        int8u Pac0           : 1;
        int8u Pac1           : 1;
        int8u other_sensor_0 : 1;
        int8u other_sensor_1 : 1;
    }data_valid;

    int16u  other_sensor_1;                                 // This is placed here to make this struct backwards compatible
                                                            // with older versions of the host side driver.
    
    int16u  nothing[TACTILE_DATA_LENGTH_WORDS_v1 - 5];
}TACTILE_SENSOR_BIOTAC_DATA_CONTENTS;


// Length for Univ. Bielefeld tactile sensors

#define TACTILE_DATA_LENGTH_BYTES_v2   32
#define TACTILE_DATA_LENGTH_WORDS_v2   (TACTILE_DATA_LENGTH_BYTES_v2/2)


typedef union
{
    int16u  word[TACTILE_DATA_LENGTH_WORDS_v2];                            
    char    string[TACTILE_DATA_LENGTH_BYTES_v2];
}TACTILE_SENSOR_STATUS_v2;

typedef struct
{
    int16u  distal[TACTILE_DATA_LENGTH_WORDS_v2];
    int16u  misc;
}TACTILE_SENSOR_UNIBI_DATA_CONTENTS;

typedef union
{
    struct
    {
        int16u    middle[4];
        int16u  proximal[4];
    }named;

    int16u integers[8];
}TACTILE_SENSOR_MID_PROX;

typedef enum
{
    MID_0   = 0,
    MID_1   = 1,
    MID_2   = 2,
    MID_3   = 3,

    PROX_0   = 4,
    PROX_1   = 5,
    PROX_2   = 6,
    PROX_3   = 7
}TACTILE_MID_PROX_SENSOR_NUMBERS;


typedef struct
{
    int16u  sensor[16];
}TACTILE_SENSOR_PALM;


typedef struct
{
    int16u  sensor[16];
}AUX_SPI_SENSOR;



/*
#ifndef NO_STRINGS

    static const char* tactile_sensor_shadow_type_strings[4]  = {   "None",
                                                                    "Pressure Sensor Tactile",
                                                                    "6 Axis"};

    static const char* tactile_sensor_syntouch_type_strings[4] = {  "None",
                                                                    "BioTac 2.3"};



    static const char* tactile_sensor_manufacturer_strings[4] = {   "None",
                                                                    "Shadow Robot Company Ltd.",
                                                                    "Syntouch",
                                                                    "Bielefeld University"};

    static const char* tactile_sensor_generic_info_strings[7] = {   "Invalid",
                                                                    "SVN revision",
                                                                    "Revision is modified",
                                                                    "SVN revision on server at build time",
                                                                    "PCB version",
                                                                    "Part serial number low",
                                                                    "Part serial number high"};

#endif
*/



#endif