skin_driver.h

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/*
 * Copyright (c) 2010, Bosch LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Bosch LLC nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

//\Author Joerg Wagner, Bosch LLC

#ifndef SKINDRIVER_H_
#define SKINDRIVER_H_

#include <stdint.h>
#include <libsub.h>//sub20_driver

#include <skin_driver/skin_serv.h>//service

//dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <skin_driver/MyStuffConfig.h>


namespace skinc_def {
        //Define I2C communication parameters
        const int I2CAdr= 1;
        const int I2C_Mem_Adr = 2;

        //Define Skin Hardware parameters
        const uint8_t readadr_hi = 1;
        const uint8_t readadr_lo = 0;

        //address of log files
        const uint8_t readadr_log_hi = 0x00;
        const uint8_t readadr_log_lo = 0xC1;

        //Default values
        const uint8_t stat_thres_default = 10;

        //constants
        const int max_sensor_number = 192;
        const int anz_byte_per_sensor = 8;
        const int I2C_communication_frequency = 100000;
        const int write_one_byte = 1;
        const int end_of_chain_marker = 254;
}

struct SKINMEAS {
        bool    bMeasAvailable;
        uint64_t sensor_data[skinc_def::max_sensor_number];
        uint8_t dyn_thres_cv;
        uint8_t status;
};


class Skin {
        public:

                Skin();

                ~Skin();

                //Methodes:


                SKINMEAS GetOneMeas(void);


                bool conf_int_challback(skin_driver::skin_serv::Request& req, skin_driver::skin_serv::Response& res);

                void dyn_rec_callback(skin_driver::MyStuffConfig &config, uint32_t level);

                //Variables

                int isensor_number_;
                bool binit_skin_ok_;

        private:
                //Methodes:


                bool write2ram(uint8_t* start_adr, uint8_t steps, uint8_t number_of_bytes, uint8_t write_data, bool sens_num_change);


                void convert_data_2_uint64_array(char* inp_buf_data, uint64_t* outp_sen_data);

                //Variables for
                //Xdimax Sub20-Device

                sub_handle fd_;
                sub_device subdev_;
                bool bSubDeviceOpen_;
                bool bSubDeviceConfigured_;
                bool bI2CDeviceFound_;
                bool bsub20found_;
                std::string strSerial_;

};//class



#endif /* SKINDRIVER_H_ */

---

skin_driver
Author(s): Joerg Wagner
autogenerated on Fri Jan 11 10:03:47 2013