bosch_drivers_common.hpp
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00036 
00037 //\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC
00038 
00039 #ifndef BOSCH_DRIVERS_COMMON_H_
00040 #define BOSCH_DRIVERS_COMMON_H_
00041 
00042 #include <stdint.h>
00043 
00044 
00053 namespace bosch_drivers_common
00054 {
00058   enum Hardware_Interface { Sub20, Arduino, ArduinoROSSerial, Gumstix };
00059         
00060 
00067   enum interface_protocol { I2C, SPI, GPIO, RS232, RS485, ETHERNET, ETHERCAT, CAN, JTAG, PROFIBUS, MODBUS, USB, PWM, ENCODER, ADCONVERTER };
00068   
00069 
00070         
00080   static const uint8_t SPI_MODE_0 = 0x00;
00081   static const uint8_t SPI_MODE_1 = 0x01;
00082   static const uint8_t SPI_MODE_2 = 0x02;
00083   static const uint8_t SPI_MODE_3 = 0x03;
00084   
00085   static const uint8_t MSB_FIRST = 1;
00086   static const uint8_t LSB_FIRST = 0;
00087 
00088   static const uint8_t SPI_CLOCK_DIV_2   = 0x04;  
00089   static const uint8_t SPI_CLOCK_DIV_4   = 0x00;
00090   static const uint8_t SPI_CLOCK_DIV_8   = 0x05;
00091   static const uint8_t SPI_CLOCK_DIV_16  = 0x01;
00092   static const uint8_t SPI_CLOCK_DIV_32  = 0x06;
00093   static const uint8_t SPI_CLOCK_DIV_64  = 0x02;
00094   static const uint8_t SPI_CLOCK_DIV_128 = 0x03;
00095   //static const uint8_t SPI_CLOCK_DIV64 0x07;
00096 
00097   
00109   static const uint8_t SPI_READ_FLAG = 7;
00110   static const uint8_t SPI_WRITE_FLAG = 7;
00111   
00112   
00113   // \brief This constant is used to specify an SPI device with no chip select.
00114   static const uint8_t NULL_DEVICE = 0xFF;
00115 
00120   enum gpio_input_mode { FLOATING, PULLUP, PULLDOWN };
00121 
00126   enum motor_drive_mode { DRIVE, FREE_RUNNING, BRAKE };
00127 
00132   enum encoder_control { CREATE, DESTROY, SET_POSITION };
00133 }
00134 #endif // BOSCH_DRIVERS_COMMON_H_


bosch_drivers_common
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Sat Dec 28 2013 16:48:48