Classes | Namespaces | Functions | Variables
SVHSerialPacket.h File Reference
#include <icl_comm/ByteOrderConversion.h>
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Classes

struct  driver_svh::SVHSerialPacket
 The SerialPacket holds the (non generated) header and data of one message to the SVH-Hardware. More...

Namespaces

namespace  driver_svh

Functions

icl_comm::ArrayBuilderdriver_svh::operator<< (icl_comm::ArrayBuilder &ab, const SVHSerialPacket &data)
 overload stream operator to easily serialize raw packet data
std::ostream & driver_svh::operator<< (std::ostream &o, const SVHSerialPacket &sp)
 Output Stream operator for easy printing of packet data.
icl_comm::ArrayBuilderdriver_svh::operator>> (icl_comm::ArrayBuilder &ab, SVHSerialPacket &data)
 overload stream operator to easily deserialize raw packet data

Variables

const size_t driver_svh::cDEFAULT_PACKET_SIZE = 48
 Default packet payload size in bytes.
const size_t driver_svh::cPACKET_APPENDIX_SIZE = 8
 The packet overhead size in bytes.
const uint8_t driver_svh::PACKET_HEADER1 = 0x4C
 Header sync byte 1.
const uint8_t driver_svh::PACKET_HEADER2 = 0xAA
 Header sync byte 2.
const uint8_t driver_svh::SVH_GET_CONTROL_FEEDBACK = 0x00
 Request the position and current of a channel to be sent.
const uint8_t driver_svh::SVH_GET_CONTROL_FEEDBACK_ALL = 0x02
 Requests the positions and currents of ALL channels.
const uint8_t driver_svh::SVH_GET_CONTROLLER_STATE = 0x08
 Requests the state of the controller (active,faults,enabled channels)
const uint8_t driver_svh::SVH_GET_CURRENT_SETTINGS = 0x06
 Requests the active settings of the current controller.
const uint8_t driver_svh::SVH_GET_ENCODER_VALUES = 0x0A
 Request the current encoder scalings.
const uint8_t driver_svh::SVH_GET_FIRMWARE_INFO = 0x0C
 Request the firmware info to be transmitted.
const uint8_t driver_svh::SVH_GET_POSITION_SETTINGS = 0x04
 Requests the active settings of the position controller.
const uint8_t driver_svh::SVH_SET_CONTROL_COMMAND = 0x01
 Sets the target position of a channel.
const uint8_t driver_svh::SVH_SET_CONTROL_COMMAND_ALL = 0x03
 Sends the target position to ALL the channels.
const uint8_t driver_svh::SVH_SET_CONTROLLER_STATE = 0x09
 Sets new controller states (enable channels, clear faults)
const uint8_t driver_svh::SVH_SET_CURRENT_SETTINGS = 0x07
 Sets new settings for the current controller.
const uint8_t driver_svh::SVH_SET_ENCODER_VALUES = 0x0B
 Set new encoder scalings.
const uint8_t driver_svh::SVH_SET_POSITION_SETTINGS = 0x05
 Sets new settings for the position controller.

Detailed Description

Author:
Georg Heppner
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.



schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:20