Go to the documentation of this file.00001 #ifndef NFV2_H
00002 #define NFV2_H
00003
00004 #ifdef __cplusplus
00005 extern "C" {
00006 #endif
00007
00008 #include <inttypes.h>
00009 #include "../nfv2_config.h"
00010
00011
00012
00013
00014 #define NF_COMMAND_ReadDeviceStatus 0x02
00015 #define NF_COMMAND_ReadDeviceVitals 0x03
00016
00017 #define NF_COMMAND_SetDrivesMode 0x10
00018 #define NF_COMMAND_SetDrivesSpeed 0x11
00019 #define NF_COMMAND_SetDrivesCurrent 0x12
00020 #define NF_COMMAND_SetDrivesPosition 0x13
00021 #define NF_COMMAND_SetDrivesPWM 0x14
00022 #define NF_COMMAND_SetDrivesMaxCurrent 0x15
00023 #define NF_COMMAND_SetDrivesMaxSpeed 0x16
00024 #define NF_COMMAND_SetDrivesMinPosition 0x17
00025 #define NF_COMMAND_SetDrivesMaxPosition 0x18
00026
00027 #define NF_COMMAND_ReadDrivesPosition 0x1A
00028 #define NF_COMMAND_ReadDrivesCurrent 0x1B
00029 #define NF_COMMAND_ReadDrivesSpeed 0x1C
00030 #define NF_COMMAND_SetDrivesMisc 0x1E
00031 #define NF_COMMAND_ReadDrivesStatus 0x1F
00032
00033 #define NF_COMMAND_SetCurrentRegulator 0x40
00034 #define NF_COMMAND_SetSpeedRegulator 0x41
00035 #define NF_COMMAND_SetPositionRegulator 0x42
00036
00037 #define NF_COMMAND_SetServosMode 0x20
00038 #define NF_COMMAND_SetServosPosition 0x21
00039 #define NF_COMMAND_SetServosSpeed 0x22
00040 #define NF_COMMAND_SetServosMaxSpeed 0x26
00041 #define NF_COMMAND_SetServosMinPosition 0x27
00042 #define NF_COMMAND_SetServosMaxPosition 0x28
00043 #define NF_COMMAND_SetServosPositionAdj 0x29
00044
00045 #define NF_COMMAND_ReadServosPosition 0x2A
00046 #define NF_COMMAND_ReadServosCurrent 0x2B
00047 #define NF_COMMAND_SetServosMisc 0x2E
00048 #define NF_COMMAND_ReadServosStatus 0x2F
00049
00050 #define NF_COMMAND_ReadDigitalInputs 0x30
00051 #define NF_COMMAND_SetDigitalOutputs 0x31
00052
00053 #define NF_COMMAND_ReadAnalogInputs 0x3E
00054
00055 #define NF_COMMAND_ReadDistance 0x3D
00056
00057 #define NF_COMMAND_SetDisplayMode 0x50
00058 #define NF_COMMAND_SetDisplayText 0x51
00059 #define NF_COMMAND_SetDisplayBacklight 0x52
00060
00061 #define NF_DEFAULT_SetServosPosition 1500
00062 #define NF_DEFAULT_SetServosMinPosition 1300
00063 #define NF_DEFAULT_SetServosMaxPosition 1700
00064 #define NF_DEFAULT_SetServosPositionAdj 0
00065
00066
00067
00068
00069 #ifdef NF_BUFSZ_ReadDeviceStatus
00070 typedef struct{
00071 #define NF_DATABYTES_ReadDeviceStatus 2
00072 int16_t data[NF_BUFSZ_ReadDeviceStatus];
00073 uint8_t addr[NF_BUFSZ_ReadDeviceStatus];
00074 uint8_t updated;
00075 } NF_STRUCT_ReadDeviceStatus;
00076 #endif
00077
00078 #ifdef NF_BUFSZ_ReadDeviceVitals
00079 typedef struct{
00080 #define NF_DATABYTES_ReadDeviceVitals 2
00081 int16_t data[NF_BUFSZ_ReadDeviceVitals];
00082 uint8_t addr[NF_BUFSZ_ReadDeviceVitals];
00083 uint8_t updated;
00084 } NF_STRUCT_ReadDeviceVitals;
00085 #endif
00086
00087
00088
00089 #ifdef NF_BUFSZ_SetDrivesMode
00090 typedef struct{
00091 #define NF_DATABYTES_SetDrivesMode 1
00092 uint8_t data[NF_BUFSZ_SetDrivesMode];
00093 uint8_t addr[NF_BUFSZ_SetDrivesMode];
00094 uint8_t updated;
00095 } NF_STRUCT_SetDrivesMode;
00096
00097 #define NF_DrivesMode_ERROR 0x00
00098 #define NF_DrivesMode_MANUAL 0x01
00099 #define NF_DrivesMode_SPEED 0x02
00100 #define NF_DrivesMode_CURRENT 0x03
00101 #define NF_DrivesMode_POSITION 0x04
00102 #define NF_DrivesMode_PWM 0x05
00103 #define NF_DrivesMode_SYNC_PWM0 0x10
00104 #define NF_DrivesMode_SYNC_POS0 0x11
00105 #endif
00106
00107 #ifdef NF_BUFSZ_SetDrivesSpeed
00108 typedef struct{
00109 #define NF_DATABYTES_SetDrivesSpeed 4
00110 int32_t data[NF_BUFSZ_SetDrivesSpeed];
00111 uint8_t addr[NF_BUFSZ_SetDrivesSpeed];
00112 uint8_t updated;
00113 } NF_STRUCT_SetDrivesSpeed;
00114 #endif
00115
00116 #ifdef NF_BUFSZ_SetDrivesCurrent
00117 typedef struct{
00118 #define NF_DATABYTES_SetDrivesCurrent 2
00119 int16_t data[NF_BUFSZ_SetDrivesCurrent];
00120 uint8_t addr[NF_BUFSZ_SetDrivesCurrent];
00121 uint8_t updated;
00122 } NF_STRUCT_SetDrivesCurrent;
00123 #endif
00124
00125 #ifdef NF_BUFSZ_SetDrivesPosition
00126 typedef struct{
00127 #define NF_DATABYTES_SetDrivesPosition 4
00128 int32_t data[NF_BUFSZ_SetDrivesPosition];
00129 uint8_t addr[NF_BUFSZ_SetDrivesPosition];
00130 uint8_t updated;
00131 } NF_STRUCT_SetDrivesPosition;
00132 #endif
00133
00134 #ifdef NF_BUFSZ_SetDrivesPWM
00135 typedef struct{
00136 #define NF_DATABYTES_SetDrivesPWM 2
00137 int16_t data[NF_BUFSZ_SetDrivesPWM];
00138 uint8_t addr[NF_BUFSZ_SetDrivesPWM];
00139 uint8_t updated;
00140 } NF_STRUCT_SetDrivesPWM;
00141 #endif
00142
00143 #ifdef NF_BUFSZ_SetDrivesMaxCurrent
00144 typedef struct{
00145 #define NF_DATABYTES_SetDrivesMaxCurrent 2
00146 int16_t data[NF_BUFSZ_SetDrivesMaxCurrent];
00147 uint8_t addr[NF_BUFSZ_SetDrivesMaxCurrent];
00148 uint8_t updated;
00149 } NF_STRUCT_SetDrivesMaxCurrent;
00150 #endif
00151
00152 #ifdef NF_BUFSZ_SetDrivesMaxSpeed
00153 typedef struct{
00154 #define NF_DATABYTES_SetDrivesMaxSpeed 2
00155 int16_t data[NF_BUFSZ_SetDrivesMaxSpeed];
00156 uint8_t addr[NF_BUFSZ_SetDrivesMaxSpeed];
00157 uint8_t updated;
00158 } NF_STRUCT_SetDrivesMaxSpeed;
00159 #endif
00160
00161 #ifdef NF_BUFSZ_SetDrivesMinPosition
00162 typedef struct{
00163 #define NF_DATABYTES_SetDrivesMinPosition 4
00164 int32_t data[NF_BUFSZ_SetDrivesMinPosition];
00165 uint8_t addr[NF_BUFSZ_SetDrivesMinPosition];
00166 uint8_t updated;
00167 } NF_STRUCT_SetDrivesMinPosition;
00168 #endif
00169
00170 #ifdef NF_BUFSZ_SetDrivesMaxPosition
00171 typedef struct{
00172 #define NF_DATABYTES_SetDrivesMaxPosition 4
00173 int32_t data[NF_BUFSZ_SetDrivesMaxPosition];
00174 uint8_t addr[NF_BUFSZ_SetDrivesMaxPosition];
00175 uint8_t updated;
00176 } NF_STRUCT_SetDrivesMaxPosition;
00177 #endif
00178
00179 #ifdef NF_BUFSZ_ReadDrivesPosition
00180 typedef struct{
00181 #define NF_DATABYTES_ReadDrivesPosition 4
00182 int32_t data[NF_BUFSZ_ReadDrivesPosition];
00183 uint8_t addr[NF_BUFSZ_ReadDrivesPosition];
00184 uint8_t updated;
00185 } NF_STRUCT_ReadDrivesPosition;
00186 #endif
00187
00188 #ifdef NF_BUFSZ_ReadDrivesCurrent
00189 typedef struct{
00190 #define NF_DATABYTES_ReadDrivesCurrent 2
00191 int16_t data[NF_BUFSZ_ReadDrivesCurrent];
00192 uint8_t addr[NF_BUFSZ_ReadDrivesCurrent];
00193 uint8_t updated;
00194 } NF_STRUCT_ReadDrivesCurrent;
00195 #endif
00196
00197 #ifdef NF_BUFSZ_ReadDrivesSpeed
00198 typedef struct{
00199 #define NF_DATABYTES_ReadDrivesSpeed 2
00200 int16_t data[NF_BUFSZ_ReadDrivesSpeed];
00201 uint8_t addr[NF_BUFSZ_ReadDrivesSpeed];
00202 uint8_t updated;
00203 } NF_STRUCT_ReadDrivesSpeed;
00204 #endif
00205
00206 #ifdef NF_BUFSZ_SetDrivesMisc
00207 typedef struct{
00208 #define NF_DATABYTES_SetDrivesMisc 4
00209 uint32_t data[NF_BUFSZ_SetDrivesMisc];
00210 uint8_t addr[NF_BUFSZ_SetDrivesMisc];
00211 uint8_t updated;
00212 } NF_STRUCT_SetDrivesMisc;
00213
00214 #define NF_DrivesMisc_SetSynchronized (1 << 0)
00215 #define NF_DrivesMisc_ResetSynchronized (1 << 1)
00216 #endif
00217
00218 #ifdef NF_BUFSZ_ReadDrivesStatus
00219 typedef struct{
00220 #define NF_DATABYTES_ReadDrivesStatus 2
00221 uint16_t data[NF_BUFSZ_ReadDrivesStatus];
00222 uint8_t addr[NF_BUFSZ_ReadDrivesStatus];
00223 uint8_t updated;
00224 } NF_STRUCT_ReadDrivesStatus;
00225
00226 #define NF_DrivesStatus_LimitSwitchUp (1 << 0)
00227 #define NF_DrivesStatus_LimitSwitchDown (1 << 1)
00228 #define NF_DrivesStatus_SynchroSwitch (1 << 2)
00229 #define NF_DrivesStatus_EncoderIndexSignal (1 << 3)
00230 #define NF_DrivesStatus_Synchronized (1 << 4)
00231 #define NF_DrivesStatus_PositionLimit (1 << 10)
00232 #define NF_DrivesStatus_SpeedLimit (1 << 11)
00233 #define NF_DrivesStatus_CurrentLimit (1 << 12)
00234 #define NF_DrivesStatus_Overcurrent (1 << 13)
00235 #define NF_DrivesStatus_PowerStageFault (1 << 14)
00236 #define NF_DrivesStatus_Error (1 << 15)
00237 #endif
00238
00239
00240
00241
00242 typedef struct{
00243 #define NF_DATABYTES_Regulator 8
00244 uint16_t p;
00245 uint16_t i;
00246 uint16_t d;
00247 uint16_t t;
00248 } NF_STRUCT_Regulator;
00249
00250 #ifdef NF_BUFSZ_SetCurrentRegulator
00251 typedef struct{
00252 #define NF_DATABYTES_SetCurrentRegulator 8
00253 NF_STRUCT_Regulator data[NF_BUFSZ_SetCurrentRegulator];
00254 uint8_t addr[NF_BUFSZ_SetCurrentRegulator];
00255 uint8_t updated;
00256 } NF_STRUCT_SetCurrentRegulator;
00257 #endif
00258 #ifdef NF_BUFSZ_SetSpeedRegulator
00259 typedef struct{
00260 #define NF_DATABYTES_SetSpeedRegulator 8
00261 NF_STRUCT_Regulator data[NF_BUFSZ_SetSpeedRegulator];
00262 uint8_t addr[NF_BUFSZ_SetSpeedRegulator];
00263 uint8_t updated;
00264 } NF_STRUCT_SetSpeedRegulator;
00265 #endif
00266 #ifdef NF_BUFSZ_SetPositionRegulator
00267 typedef struct{
00268 #define NF_DATABYTES_SetPositionRegulator 8
00269 NF_STRUCT_Regulator data[NF_BUFSZ_SetPositionRegulator];
00270 uint8_t addr[NF_BUFSZ_SetPositionRegulator];
00271 uint8_t updated;
00272 } NF_STRUCT_SetPositionRegulator;
00273 #endif
00274
00275
00276
00277 #ifdef NF_BUFSZ_SetServosMode
00278 typedef struct{
00279 #define NF_DATABYTES_SetServosMode 1
00280 uint8_t data[NF_BUFSZ_SetServosMode];
00281 uint8_t addr[NF_BUFSZ_SetServosMode];
00282 uint8_t updated;
00283 } NF_STRUCT_SetServosMode;
00284 #endif
00285
00286 #ifdef NF_BUFSZ_SetServosPosition
00287 typedef struct{
00288 #define NF_DATABYTES_SetServosPosition 2
00289 int16_t data[NF_BUFSZ_SetServosPosition];
00290 uint8_t addr[NF_BUFSZ_SetServosPosition];
00291 uint8_t updated;
00292 } NF_STRUCT_SetServosPosition;
00293 #endif
00294
00295 #ifdef NF_BUFSZ_SetServosSpeed
00296 typedef struct{
00297 #define NF_DATABYTES_SetServosSpeed 2
00298 int16_t data[NF_BUFSZ_SetServosSpeed];
00299 uint8_t addr[NF_BUFSZ_SetServosSpeed];
00300 uint8_t updated;
00301 } NF_STRUCT_SetServosSpeed;
00302 #endif
00303
00304 #ifdef NF_BUFSZ_SetServosMaxSpeed
00305 typedef struct{
00306 #define NF_DATABYTES_SetServosMaxSpeed 2
00307 int16_t data[NF_BUFSZ_SetServosMaxSpeed];
00308 uint8_t addr[NF_BUFSZ_SetServosMaxSpeed];
00309 uint8_t updated;
00310 } NF_STRUCT_SetServosMaxSpeed;
00311 #endif
00312
00313 #ifdef NF_BUFSZ_SetServosMinPosition
00314 typedef struct{
00315 #define NF_DATABYTES_SetServosMinPosition 2
00316 int16_t data[NF_BUFSZ_SetServosMinPosition];
00317 uint8_t addr[NF_BUFSZ_SetServosMinPosition];
00318 uint8_t updated;
00319 } NF_STRUCT_SetServosMinPosition;
00320 #endif
00321
00322 #ifdef NF_BUFSZ_SetServosMaxPosition
00323 typedef struct{
00324 #define NF_DATABYTES_SetServosMaxPosition 2
00325 int16_t data[NF_BUFSZ_SetServosMaxPosition];
00326 uint8_t addr[NF_BUFSZ_SetServosMaxPosition];
00327 uint8_t updated;
00328 } NF_STRUCT_SetServosMaxPosition;
00329 #endif
00330
00331 #ifdef NF_BUFSZ_SetServosPositionAdj
00332 typedef struct{
00333 #define NF_DATABYTES_SetServosPositionAdj 2
00334 int16_t data[NF_BUFSZ_SetServosPositionAdj];
00335 uint8_t addr[NF_BUFSZ_SetServosPositionAdj];
00336 uint8_t updated;
00337 } NF_STRUCT_SetServosPositionAdj;
00338 #endif
00339
00340 #ifdef NF_BUFSZ_ReadServosPosition
00341 typedef struct{
00342 #define NF_DATABYTES_ReadServosPosition 2
00343 int16_t data[NF_BUFSZ_ReadServosPosition];
00344 uint8_t addr[NF_BUFSZ_ReadServosPosition];
00345 uint8_t updated;
00346 } NF_STRUCT_ReadServosPosition;
00347 #endif
00348
00349 #ifdef NF_BUFSZ_ReadServosCurrent
00350 typedef struct{
00351 #define NF_DATABYTES_ReadServosCurrent 2
00352 int16_t data[NF_BUFSZ_ReadServosCurrent];
00353 uint8_t addr[NF_BUFSZ_ReadServosCurrent];
00354 uint8_t updated;
00355 } NF_STRUCT_ReadServosCurrent;
00356 #endif
00357
00358 #ifdef NF_BUFSZ_SetServosMisc
00359 typedef struct{
00360 #define NF_DATABYTES_SetServosMisc 4
00361 uint32_t data[NF_BUFSZ_SetServosMisc];
00362 uint8_t addr[NF_BUFSZ_SetServosMisc];
00363 uint8_t updated;
00364 } NF_STRUCT_SetServosMisc;
00365
00366 #define NF_ServosMisc_LearnMinPosition (1 << 0)
00367 #define NF_ServosMisc_LearnMaxPosition (1 << 1)
00368 #endif
00369
00370 #ifdef NF_BUFSZ_ReadServosStatus
00371 typedef struct{
00372 #define NF_DATABYTES_ReadServosStatus 2
00373 uint16_t data[NF_BUFSZ_ReadServosStatus];
00374 uint8_t addr[NF_BUFSZ_ReadServosStatus];
00375 uint8_t updated;
00376 } NF_STRUCT_ReadServosStatus;
00377
00378 #define NF_ServosStatus_PositionLimit (1 << 10)
00379 #define NF_ServosStatus_Error (1 << 15)
00380 #endif
00381
00382
00383
00384 #ifdef NF_BUFSZ_ReadDigitalInputs
00385 typedef struct{
00386 #define NF_DATABYTES_ReadDigitalInputs 1
00387 int16_t data[NF_BUFSZ_ReadDigitalInputs];
00388 uint8_t addr[NF_BUFSZ_ReadDigitalInputs];
00389 } NF_STRUCT_ReadDigitalInputs;
00390 #endif
00391
00392 #ifdef NF_BUFSZ_SetDigitalOutputs
00393 typedef struct{
00394 #define NF_DATABYTES_SetDigitalOutputs 1
00395 int8_t data[NF_BUFSZ_SetDigitalOutputs];
00396 uint8_t addr[NF_BUFSZ_SetDigitalOutputs];
00397 uint8_t updated;
00398 } NF_STRUCT_SetDigitalOutputs;
00399 #endif
00400
00401
00402
00403 #ifdef NF_BUFSZ_ReadAnalogInputs
00404 typedef struct{
00405 #define NF_DATABYTES_ReadAnalogInputs 2
00406 int16_t data[NF_BUFSZ_ReadAnalogInputs];
00407 uint8_t addr[NF_BUFSZ_ReadAnalogInputs];
00408 uint8_t updated;
00409 } NF_STRUCT_ReadAnalogInputs;
00410 #endif
00411
00412
00413
00414 #ifdef NF_BUFSZ_ReadDistance
00415 typedef struct{
00416 #define NF_DATABYTES_ReadDistance 2
00417 uint16_t data[NF_BUFSZ_ReadDistance];
00418 uint8_t addr[NF_BUFSZ_ReadDistance];
00419 uint8_t updated;
00420 } NF_STRUCT_ReadDistance;
00421 #endif
00422
00423
00424
00425 #ifdef NF_BUFSZ_SetDisplayMode
00426 typedef struct{
00427 #define NF_DATABYTES_SetDisplayMode 1
00428 uint8_t data[NF_BUFSZ_SetDisplayMode];
00429 uint8_t addr[NF_BUFSZ_SetDisplayMode];
00430 uint8_t updated;
00431 } NF_STRUCT_SetDisplayMode;
00432 #endif
00433
00434 #ifdef NF_BUFSZ_SetDisplayText
00435 typedef struct{
00436 #define NF_DATABYTES_SetDisplayText 1
00437 uint8_t data[NF_BUFSZ_SetDisplayText];
00438 uint8_t addr[NF_BUFSZ_SetDisplayText];
00439 uint8_t updated;
00440 } NF_STRUCT_SetDisplayText;
00441 #endif
00442
00443 #ifdef NF_BUFSZ_SetDisplayBacklight
00444 typedef struct{
00445 #define NF_DATABYTES_SetDisplayBacklight 1
00446 uint8_t data[NF_BUFSZ_SetDisplayBacklight];
00447 uint8_t addr[NF_BUFSZ_SetDisplayBacklight];
00448 uint8_t updated;
00449 } NF_STRUCT_SetDisplayBacklight;
00450 #endif
00451
00452 typedef struct{
00453
00454
00455 #ifdef NF_BUFSZ_ReadDeviceStatus
00456 NF_STRUCT_ReadDeviceStatus ReadDeviceStatus;
00457 #endif
00458
00459 #ifdef NF_BUFSZ_ReadDeviceVitals
00460 NF_STRUCT_ReadDeviceVitals ReadDeviceVitals;
00461 #endif
00462
00463
00464
00465 #ifdef NF_BUFSZ_SetDrivesMode
00466 NF_STRUCT_SetDrivesMode SetDrivesMode;
00467 #endif
00468
00469 #ifdef NF_BUFSZ_SetDrivesSpeed
00470 NF_STRUCT_SetDrivesSpeed SetDrivesSpeed;
00471 #endif
00472
00473 #ifdef NF_BUFSZ_SetDrivesCurrent
00474 NF_STRUCT_SetDrivesCurrent SetDrivesCurrent;
00475 #endif
00476
00477 #ifdef NF_BUFSZ_SetDrivesPosition
00478 NF_STRUCT_SetDrivesPosition SetDrivesPosition;
00479 #endif
00480
00481 #ifdef NF_BUFSZ_SetDrivesPWM
00482 NF_STRUCT_SetDrivesPWM SetDrivesPWM;
00483 #endif
00484
00485 #ifdef NF_BUFSZ_SetDrivesMaxCurrent
00486 NF_STRUCT_SetDrivesMaxCurrent SetDrivesMaxCurrent;
00487 #endif
00488
00489 #ifdef NF_BUFSZ_SetDrivesMaxSpeed
00490 NF_STRUCT_SetDrivesMaxSpeed SetDrivesMaxSpeed;
00491 #endif
00492
00493 #ifdef NF_BUFSZ_SetDrivesMinPosition
00494 NF_STRUCT_SetDrivesMinPosition SetDrivesMinPosition;
00495 #endif
00496
00497 #ifdef NF_BUFSZ_SetDrivesMaxPosition
00498 NF_STRUCT_SetDrivesMaxPosition SetDrivesMaxPosition;
00499 #endif
00500
00501 #ifdef NF_BUFSZ_ReadDrivesPosition
00502 NF_STRUCT_ReadDrivesPosition ReadDrivesPosition;
00503 #endif
00504
00505 #ifdef NF_BUFSZ_ReadDrivesCurrent
00506 NF_STRUCT_ReadDrivesCurrent ReadDrivesCurrent;
00507 #endif
00508
00509 #ifdef NF_BUFSZ_ReadDrivesSpeed
00510 NF_STRUCT_ReadDrivesSpeed ReadDrivesSpeed;
00511 #endif
00512
00513 #ifdef NF_BUFSZ_SetDrivesMisc
00514 NF_STRUCT_SetDrivesMisc SetDrivesMisc;
00515 #endif
00516
00517 #ifdef NF_BUFSZ_ReadDrivesStatus
00518 NF_STRUCT_ReadDrivesStatus ReadDrivesStatus;
00519 #endif
00520
00521
00522
00523 #ifdef NF_BUFSZ_SetCurrentRegulator
00524 NF_STRUCT_SetCurrentRegulator SetCurrentRegulator;
00525 #endif
00526
00527 #ifdef NF_BUFSZ_SetSpeedRegulator
00528 NF_STRUCT_SetSpeedRegulator SetSpeedRegulator;
00529 #endif
00530
00531 #ifdef NF_BUFSZ_SetPositionRegulator
00532 NF_STRUCT_SetPositionRegulator SetPositionRegulator;
00533 #endif
00534
00535
00536
00537 #ifdef NF_BUFSZ_SetServosMode
00538 NF_STRUCT_SetServosMode SetServosMode;
00539 #endif
00540
00541 #ifdef NF_BUFSZ_SetServosPosition
00542 NF_STRUCT_SetServosPosition SetServosPosition;
00543 #endif
00544
00545 #ifdef NF_BUFSZ_SetServosSpeed
00546 NF_STRUCT_SetServosSpeed SetServosSpeed;
00547 #endif
00548
00549 #ifdef NF_BUFSZ_SetServosMaxSpeed
00550 NF_STRUCT_SetServosMaxSpeed SetServosMaxSpeed;
00551 #endif
00552
00553 #ifdef NF_BUFSZ_SetServosMinPosition
00554 NF_STRUCT_SetServosMinPosition SetServosMinPosition;
00555 #endif
00556
00557 #ifdef NF_BUFSZ_SetServosMaxPosition
00558 NF_STRUCT_SetServosMaxPosition SetServosMaxPosition;
00559 #endif
00560
00561 #ifdef NF_BUFSZ_SetServosPositionAdj
00562 NF_STRUCT_SetServosPositionAdj SetServosPositionAdj;
00563 #endif
00564
00565 #ifdef NF_BUFSZ_ReadServosPosition
00566 NF_STRUCT_ReadServosPosition ReadServosPosition;
00567 #endif
00568
00569 #ifdef NF_BUFSZ_ReadServosCurrent
00570 NF_STRUCT_ReadServosCurrent ReadServosCurrent;
00571 #endif
00572
00573 #ifdef NF_BUFSZ_SetServosMisc
00574 NF_STRUCT_SetServosMisc SetServosMisc;
00575 #endif
00576
00577 #ifdef NF_BUFSZ_ReadServosStatus
00578 NF_STRUCT_ReadServosStatus ReadServosStatus;
00579 #endif
00580
00581
00582
00583 #ifdef NF_BUFSZ_ReadDigitalInputs
00584 NF_STRUCT_ReadDigitalInputs ReadDigitalInputs;
00585 #endif
00586
00587 #ifdef NF_BUFSZ_SetDigitalOutputs
00588 NF_STRUCT_SetDigitalOutputs SetDigitalOutputs;
00589 #endif
00590
00591
00592
00593 #ifdef NF_BUFSZ_ReadAnalogInputs
00594 NF_STRUCT_ReadAnalogInputs ReadAnalogInputs;
00595 #endif
00596
00597
00598
00599 #ifdef NF_BUFSZ_ReadDistance
00600 NF_STRUCT_ReadDistance ReadDistance;
00601 #endif
00602
00603
00604
00605 #ifdef NF_BUFSZ_SetDisplayMode
00606 NF_STRUCT_SetDisplayMode SetDisplayMode;
00607 #endif
00608
00609 #ifdef NF_BUFSZ_SetDisplayText
00610 NF_STRUCT_SetDisplayText SetDisplayText;
00611 #endif
00612
00613 #ifdef NF_BUFSZ_SetDisplayBacklight
00614 NF_STRUCT_SetDisplayBacklight SetDisplayBacklight;
00615 #endif
00616
00617
00618 uint8_t myAddress;
00619
00620 uint8_t dataReceived :1;
00621 uint8_t unknownCommandReceived :1;
00622 uint8_t unknownCommandRequested :1;
00623 uint8_t error :1;
00624 } NF_STRUCT_ComBuf;
00625
00626 uint8_t NF_Interpreter(NF_STRUCT_ComBuf *NFComBuf, uint8_t *rxBuf, uint8_t *rxPt, uint8_t *commandArray, uint8_t *commandCnt);
00627 uint8_t NF_MakeCommandFrame(NF_STRUCT_ComBuf *NFComBuf, uint8_t *txBuf, const uint8_t *commandArray, uint8_t commandCnt, uint8_t addr);
00628 void NF_ComBufReset(NF_STRUCT_ComBuf *NFComBuf);
00629 void NFv2_Config(NF_STRUCT_ComBuf *NFComBuf, uint8_t myAddress);
00630 void NFv2_Config2(NF_STRUCT_ComBuf *NFComBuf, uint8_t myAddress, uint8_t slaveAddress);
00631
00632
00633
00634
00635 #define POLYNOMIAL 0xD8
00636 #define WIDTH (8 * sizeof(uint8_t))
00637 #define TOPBIT (1 << (WIDTH - 1))
00638
00639 void NFv2_CrcInit(void);
00640 uint8_t NFv2_CrcFast(const uint8_t message[], uint8_t nBytes);
00641
00642
00643 #ifdef __cplusplus
00644 }
00645 #endif
00646
00647 #endif //NFV2_H
