ProtocolDefinitions.hpp

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/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 * modification, are permitted provided that the following conditions are met:
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 *       this software without specific prior written permission.
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 * This program is free software: you can redistribute it and/or modify
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#ifndef PROTOCOLDEFINITIONS_HPP
#define PROTOCOLDEFINITIONS_HPP

namespace youbot {

//Opcodes of all TMCL commands that can be used in direct mode
typedef enum TMCLCommandNumber {
  ROR = 1,  //Rotate right
  ROL = 2,  //Rotate left
  MST = 3,  //Motor stop
  MVP = 4,  //Move to position
  SAP = 5,  //Set axis parameter
  GAP = 6,  //Get axis parameter
  STAP = 7, //Store axis parameter into EEPROM
  RSAP = 8, //Restore axis parameter from EEPROM
  SGP = 9,  //Set global parameter
  GGP = 10, //Get global parameter
  STGP = 11, //Store global parameter into EEPROM
  RSGP = 12, //Restore global parameter from EEPROM
  RFS = 13,
  SIO = 14,
  GIO = 15,
  SCO = 30,
  GCO = 31,
  CCO = 32,
  FIRMWARE_VERSION = 136
} CommandNumber;

#define USER_VARIABLE_BANK 2

//Opcodes of TMCL control functions (to be used to run or abort a TMCL program in the module)
#define TMCL_APPL_STOP 128
#define TMCL_APPL_RUN 129
#define TMCL_APPL_RESET 131

//Options for MVP commandds
#define MVP_ABS 0
#define MVP_REL 1
#define MVP_COORD 2

//Options for RFS command
#define RFS_START 0
#define RFS_STOP 1
#define RFS_STATUS 2

//Result codes for GetResult
#define TMCL_RESULT_OK 0
#define TMCL_RESULT_NOT_READY 1
#define TMCL_RESULT_CHECKSUM_ERROR 2

enum YouBotJointControllerMode {
    MOTOR_STOP = 0,
    POSITION_CONTROL = 1,
    VELOCITY_CONTROL = 2,
    NO_MORE_ACTION = 3,
    SET_POSITION_TO_REFERENCE = 4,
    CURRENT_MODE = 6,
    INITIALIZE = 7
};

enum TMCLModuleAddress {
    DRIVE = 0,
    GRIPPER = 1
};

/*
enum ProcessDataErrorFlags {
    OVER_CURRENT = 1,
    UNDER_VOLTAGE = 2,
    OVER_VOLTAGE = 4,
    OVER_TEMPERATURE = 8,
    HALTED = 16,
    HALL_SENSOR = 32,
    ENCODER = 64,
    MOTOR_WINDING = 128,
    CYCLE_TIME_VIOLATION = 256,
    INIT_SIN_COMM = 512,
};
*/

enum MailboxErrorFlags {
    OVER_CURRENT = 0x1,
    UNDER_VOLTAGE = 0x2,
    OVER_VOLTAGE = 0x4,
    OVER_TEMPERATURE = 0x8,
    MOTOR_HALTED = 0x10,
    HALL_SENSOR_ERROR = 0x20,
//    ENCODER_ERROR = 0x40,
//    INITIALIZATION_ERROR = 0x80,
//    PWM_MODE_ACTIVE = 0x100,
    VELOCITY_MODE = 0x200,
    POSITION_MODE = 0x400,
    TORQUE_MODE = 0x800,
//    EMERGENCY_STOP = 0x1000,
//    FREERUNNING = 0x2000,
    POSITION_REACHED = 0x4000,
    INITIALIZED = 0x8000,
    TIMEOUT = 0x10000,
    I2T_EXCEEDED = 0x20000

};


enum YouBotMailboxStatusFlags {
    NO_ERROR = 100,
    INVALID_COMMAND = 2,
    WRONG_TYPE = 3,
    INVALID_VALUE = 4,
    CONFIGURATION_EEPROM_LOCKED = 5,
    COMMAND_NOT_AVAILABLE = 6,
    REPLY_WRITE_PROTECTED = 8
};

enum ParameterType {
  MOTOR_CONTOLLER_PARAMETER,
  API_PARAMETER
};

enum GripperErrorFlags {
    STALL_GUARD_STATUS = 0x1,
    GRIPPER_OVER_TEMPERATURE = 0x2,
    PRE_WARNING_OVER_TEMPERATURE = 0x4,
    SHORT_TO_GROUND_A = 0x8,
    SHORT_TO_GROUND_B = 0x10,
    OPEN_LOAD_A = 0x20,
    OPEN_LOAD_B = 0x40,
    STAND_STILL = 0x80
};

} // namespace youbot

#endif  /* PROTOCOLDEFINITIONS_HPP */