ModuleErrors.h

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/*
 * Copyright (c) 2012 SCHUNK GmbH & Co. KG
 * Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef MODULEERRORS_H
#define MODULEERRORS_H

        // Module States
        
#define STATEID_MOD_ERROR                                               0x00000001L
#define STATEID_MOD_HOME                                                0x00000002L
#define STATEID_MOD_HALT                                                0x00000004L
#define STATEID_MOD_POWERFAULT                                  0x00000008L
#define STATEID_MOD_TOW_ERROR                                   0x00000010L
#define STATEID_MOD_COMM_ERROR                                  0x00000020L
#define STATEID_MOD_SWR                                                 0x00000040L
#define STATEID_MOD_SW1                                                 0x00000080L
#define STATEID_MOD_SW2                                                 0x00000100L
#define STATEID_MOD_BRAKEACTIVE                                 0x00000200L
#define STATEID_MOD_CURLIMIT                                    0x00000400L
#define STATEID_MOD_MOTION                                              0x00000800L
#define STATEID_MOD_RAMP_ACC                                    0x00001000L
#define STATEID_MOD_RAMP_STEADY                                 0x00002000L
#define STATEID_MOD_RAMP_DEC                                    0x00004000L
#define STATEID_MOD_RAMP_END                                    0x00008000L
#define STATEID_MOD_INPROGRESS                                  0x00010000L
#define STATEID_MOD_FULLBUFFER                                  0x00020000L
#define STATEID_MOD_POW_VOLT_ERR                                0x00040000L
#define STATEID_MOD_POW_FET_TEMP                                0x00080000L
#define STATEID_MOD_POW_WDG_TEMP                                0x00100000L
#define STATEID_MOD_POW_SHORTCUR                                0x00200000L
#define STATEID_MOD_POW_HALLERR                                 0x00400000L
#define STATEID_MOD_POW_INTEGRALERR                             0x00800000L
#define STATEID_MOD_CPU_OVERLOAD                                0x01000000L
#define STATEID_MOD_BEYOND_HARD                                 0x02000000L
#define STATEID_MOD_BEYOND_SOFT                                 0x04000000L

        // Module Config

#define CONFIGID_MOD_ENCODER_FEEDBACK                   0x00000001L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_RESOLVER_FEEDBACK                  0x00000002L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_ABSOLUTE_FEEDBACK                  0x00000004L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_BRAKE_PRESENT                              0x00000008L
#define CONFIGID_MOD_BRAKE_AT_POWERON                   0x00000010L
#define CONFIGID_MOD_SWR_WITH_ENCODERZERO               0x00000020L
#define CONFIGID_MOD_SWR_AT_FALLING_EDGE                0x00000040L
#define CONFIGID_MOD_CHANGE_SWR_TO_LIMIT                0x00000080L
#define CONFIGID_MOD_SWR_ENABLED                        0x00000100L
#define CONFIGID_MOD_SWR_LOW_ACTIVE                             0x00000200L
#define CONFIGID_MOD_SWR_EQ_POSLIMIT                    0x00000400L //OS: 25xx
#define CONFIGID_MOD_SWR_USE_EXTERNAL                   0x00000400L //OS: 35xx
#define CONFIGID_MOD_SW1_ENABLED                                0x00000800L
#define CONFIGID_MOD_SW1_LOW_ACTIVE                             0x00001000L
#define CONFIGID_MOD_SW1_EQ_POSLIMIT                    0x00002000L //OS: 25xx
#define CONFIGID_MOD_SW1_USE_EXTERNAL                   0x00002000L //OS: 35xx
#define CONFIGID_MOD_SW2_ENABLED                                0x00004000L
#define CONFIGID_MOD_SW2_LOW_ACTIVE                             0x00008000L
#define CONFIGID_MOD_SW2_EQ_POSLIMIT                    0x00010000L //OS: 25xx
#define CONFIGID_MOD_SW2_USE_EXTERNAL                   0x00010000L //OS: 35xx
#define CONFIGID_MOD_LINEAR                                             0x00020000L
#define CONFIGID_MOD_OPENBRAKE_ON_SW2                   0x00040000L     //OS: 25xx but not in 2512 from 35xx in SETUP
#define CONFIGID_MOD_ALLOW_FULL_CUR                             0x00080000L
#define CONFIGID_MOD_M3_COMPATIBLE                              0x00100000L
#define CONFIGID_MOD_LINEAR_SCREW                               0x00200000L
#define CONFIGID_MOD_DISABLE_ON_HALT                    0x00800000L
#define CONFIGID_MOD_WATCHDOG_ENABLE                    0x01000000L
#define CONFIGID_MOD_ZERO_MOVE_AFTER_HOK                0x02000000L //OS: 35xx
#define CONFIGID_MOD_DISABLE_ACK                                0x04000000L
#define CONFIGID_MOD_SYNC_MOTION                                0x08000000L
#define CONFIGID_MOD_SYNC_TRANSMIT                              0x10000000L
#define CONFIGID_MOD_CAN_RS232_COMM                             0x40000000L //OS: 25xx
#define CONFIGID_MOD_PROFI_RS485_COMM                   0x80000000L //OS: 25xx

        // Module Setup

// ---- FEEDBACK SETUP -----------
#define SETUPID_MOD_ENCODER_FEEDBACK                    0x00000001L
#define SETUPID_MOD_RESOLVER_FEEDBACK                   0x00000002L
#define SETUPID_MOD_ABSOLUTE_FEEDBACK                   0x00000004L
// ---- DIGITAL IO SETUP ---------
#define SETUPID_MOD_4IN_4OUT                                    0x00000008L
#define SETUPID_MOD_3IN_ENCODER_IN                              0x00000010L
#define SETUPID_MOD_3IN_ENCODER_OUT                             0x00000020L
// ---- COMM INTERFACE -----------
#define SETUPID_MOD_RS232                                               0x00000040L
#define SETUPID_MOD_CAN                                                 0x00000200L
#define SETUPID_MOD_PROFIBUS                                    0x00000400L
// ---- CAN ID SETUP -------------
#define SETUPID_MOD_USE_M3ID                                    0x00000800L
#define SETUPID_MOD_USE_M4ID                                    0x00001000L
#define SETUPID_MOD_USE_CANOPEN                                 0x00002000L
// ---- MOTOR SETUP --------------
#define SETUPID_MOD_INVERT_MOTORDIR                             0x00004000L
// ---- INPUT USAGE --------------
#define SETUPID_MOD_USE_SW2_AS_ENABLE                   0x00008000L
#define SETUPID_MOD_USE_SW2_AS_BRAKE                    0x00010000L
// ---- OUTPUT USAGE -------------
#define SETUPID_MOD_ERROR_TO_OUT0                               0x00020000L
// ---- IN/OUTPUT USAGE -------------
#define SETUPID_MOD_IO_GRIPPER_CONTROL                  0x00080000L

        // Module Types

#define TYPEID_MOD_ROTARY                                               0x0f
#define TYPEID_MOD_LINEAR                                               0xf0

        // Module DIO's

#define DIOID_MOD_INBIT0                                                0x00000001L
#define DIOID_MOD_INBIT1                                                0x00000002L
#define DIOID_MOD_INBIT2                                                0x00000004L
#define DIOID_MOD_INBIT3                                                0x00000008L
 
#define DIOID_MOD_OUTBIT0                                               0x00000010L
#define DIOID_MOD_OUTBIT1                                               0x00000020L
#define DIOID_MOD_OUTBIT2                                               0x00000040L
#define DIOID_MOD_OUTBIT3                                               0x00000080L
 
#define DIOID_MOD_INSWR                                                 0x00000100L
#define DIOID_MOD_INSW1                                                 0x00000200L
#define DIOID_MOD_INSW2                                                 0x00000400L

        // Module Baudrates

#define BAUDRATEID_MOD_CAN_125K                                 0
#define BAUDRATEID_MOD_CAN_250K                                 1
#define BAUDRATEID_MOD_CAN_500K                                 2
#define BAUDRATEID_MOD_CAN_1000K                                3

#define BAUDRATEID_MOD_RS232_1200                               0
#define BAUDRATEID_MOD_RS232_2400                               1
#define BAUDRATEID_MOD_RS232_4800                               2
#define BAUDRATEID_MOD_RS232_9600                               3
#define BAUDRATEID_MOD_RS232_19200                              4
#define BAUDRATEID_MOD_RS232_38400                              5
#define BAUDRATEID_MOD_RS232_56700                              6

        // Module Errors
        
#define ERRID_MOD                                       (-300L)         // module error
#define ERRID_MOD_INITERROR                     (ERRID_MOD - 1)
#define ERRID_MOD_ISINITIALIZED         (ERRID_MOD - 2)
#define ERRID_MOD_NOTINITIALIZED        (ERRID_MOD - 3)
#define ERRID_MOD_WRONGMODULEID         (ERRID_MOD - 4)
#define ERRID_MOD_DEVICENOTFOUND        (ERRID_MOD - 5)
#define ERRID_MOD_DEVICENOTINIT         (ERRID_MOD - 6)
#define ERRID_MOD_MODULEERROR           (ERRID_MOD - 7)
#define ERRID_MOD_WAITTIMEOUT           (ERRID_MOD - 8)
#define ERRID_MOD_CONNECTIONNOTINIT     (ERRID_MOD - 9)
#define ERRID_MOD_PARSERERROR           (ERRID_MOD - 10)
#endif