/home/fwph/code/wurde/modules/ptu/opcodes.h File Reference

Go to the source code of this file.

Defines
#define	OPCODE_VERSION   "1.07.07"
#define	ASYNCHRONOUS_EVENT(char_val)   ( (char_val >= 220) )
#define	PAN_LIMIT_HIT   220
#define	TILT_LIMIT_HIT   221
#define	CABLE_DISCONNECT_DETECTED   222
#define	PAN_POSITION_TRIGGER_HIT   223
#define	TILT_POSITION_TRIGGER_HIT   224
#define	PAN_SPEED_TRIGGER_HIT   225
#define	TILT_SPEED_TRIGGER_HIT   226
#define	PTU_HI_POWER   1
#define	PTU_REG_POWER   2
#define	PTU_LOW_POWER   3
#define	PTU_OFF_POWER   4
#define	PTU_INDEPENDENT_SPEED_CONTROL_MODE   1
#define	PTU_PURE_VELOCITY_SPEED_CONTROL_MODE   2
#define	PTU_OK   0
#define	PTU_ILLEGAL_COMMAND   2
#define	PTU_ILLEGAL_POSITION_ARGUMENT   3
#define	PTU_ILLEGAL_SPEED_ARGUMENT   4
#define	PTU_ACCEL_TABLE_EXCEEDED   5
#define	PTU_DEFAULTS_EEPROM_FAULT   6
#define	PTU_SAVED_DEFAULTS_CORRUPTED   7
#define	PTU_LIMIT_HIT   8
#define	PTU_CABLE_DISCONNECTED   9
#define	PTU_ILLEGAL_UNIT_ID   10
#define	PTU_ILLEGAL_POWER_MODE   11
#define	PTU_RESET_FAILED   12
#define	INTERACTIVE_MAIN_MENU   1
#define	DISPLAY_PAN_MOTOR_COMMANDS   2
#define	DISPLAY_TILT_MOTOR_COMMANDS   3
#define	DISPLAY_MENU_OPTIONS   4
#define	ILLEGAL_COMMAND_WITH_DELIMITER   5
#define	ASCII_COMMAND_WITH_NO_BINARY_EQUIV   6
#define	ILLEGAL_OPCODE   7
#define	ILLEGAL_ARGUMENT   8
#define	OPCODE_BASE   129
#define	MAX_OPCODE   205
#define	NUM_OPCODES   (MAX_OPCODE - OPCODE_BASE + 1)
#define	PAN_SET_ABS_POS   129
#define	TILT_SET_ABS_POS   130
#define	PAN_SET_REL_POS   131
#define	TILT_SET_REL_POS   132
#define	PAN_SET_REL_SPEED   133
#define	TILT_SET_REL_SPEED   134
#define	PAN_SET_ABS_SPEED   135
#define	TILT_SET_ABS_SPEED   136
#define	LAST_SIGNED_2BYTE_INT_OPCODE   136
#define	PAN_SET_BASE_SPEED   137
#define	TILT_SET_BASE_SPEED   138
#define	PAN_SET_UPPER_SPEED_LIMIT   139
#define	TILT_SET_UPPER_SPEED_LIMIT   140
#define	PAN_SET_LOWER_SPEED_LIMIT   141
#define	TILT_SET_LOWER_SPEED_LIMIT   142
#define	SET_UNIT_ID   143
#define	SELECT_UNIT_ID   144
#define	LAST_2BYTE_INT_OPCODE   144
#define	PAN_CURRENT_POS_QUERY   145
#define	TILT_CURRENT_POS_QUERY   146
#define	PAN_DESIRED_POS_QUERY   147
#define	TILT_DESIRED_POS_QUERY   148
#define	PAN_MIN_POSITION_QUERY   149
#define	TILT_MIN_POSITION_QUERY   150
#define	PAN_MAX_POSITION_QUERY   151
#define	TILT_MAX_POSITION_QUERY   152
#define	PAN_CURRENT_SPEED_QUERY   153
#define	TILT_CURRENT_SPEED_QUERY   154
#define	PAN_DESIRED_SPEED_QUERY   155
#define	TILT_DESIRED_SPEED_QUERY   156
#define	PAN_BASE_SPEED_QUERY   157
#define	TILT_BASE_SPEED_QUERY   158
#define	PAN_UPPER_SPEED_LIMIT_QUERY   159
#define	TILT_UPPER_SPEED_LIMIT_QUERY   160
#define	PAN_LOWER_SPEED_LIMIT_QUERY   161
#define	TILT_LOWER_SPEED_LIMIT_QUERY   162
#define	PAN_ACCEL_QUERY   163
#define	TILT_ACCEL_QUERY   164
#define	PAN_RESOLUTION_QUERY   165
#define	TILT_RESOLUTION_QUERY   166
#define	AWAIT_COMMAND_COMPLETION   167
#define	HALT   168
#define	HALT_PAN   169
#define	HALT_TILT   170
#define	POSITION_LIMITS_QUERY   171
#define	ENABLE_POSITION_LIMITS   172
#define	DISABLE_POSITION_LIMITS   173
#define	SET_IMMEDIATE_COMMAND_MODE   174
#define	SET_SLAVED_COMMAND_MODE   175
#define	UNIT_RESET   176
#define	UNIT_RESET_ON_POWERUP   177
#define	UNIT_RESET_ON_POWERUP_DISABLED   178
#define	UNIT_ID_QUERY   179
#define	ECHO_QUERY   180
#define	ENABLE_ECHO   181
#define	DISABLE_ECHO   182
#define	SAVE_DEFAULTS   183
#define	RESTORE_SAVED_DEFAULTS   184
#define	RESTORE_FACTORY_DEFAULTS   185
#define	PAN_HOLD_POWER_QUERY   186
#define	TILT_HOLD_POWER_QUERY   187
#define	PAN_MOVE_POWER_QUERY   188
#define	TILT_MOVE_POWER_QUERY   189
#define	VERBOSE_QUERY   190
#define	SET_VERBOSE_ASCII_ON   191
#define	SET_VERBOSE_ASCII_OFF   192
#define	JOYSTICK_QUERY   193
#define	ENABLE_JOYSTICK   194
#define	DISABLE_JOYSTICK   195
#define	FIRMWARE_VERSION_QUERY   196
#define	LAST_0ARG_OPCODE   196
#define	PAN_SET_HOLD_POWER   197
#define	TILT_SET_HOLD_POWER   198
#define	PAN_SET_MOVE_POWER   199
#define	TILT_SET_MOVE_POWER   200
#define	LAST_1BYTE_ARG_OPCODE   200
#define	PAN_SET_ACCEL   201
#define	TILT_SET_ACCEL   202
#define	LAST_4BYTE_ARG_OPCODE   202
#define	SPECIAL_OPCODE   203
#define	QUERY_SPEED_CONTROL_MODE   203
#define	SET_INDEPENDENT_CONTROL_MODE   204
#define	SET_PURE_VELOCITY_CONTROL_MODE   205

---

Define Documentation

#define ASCII_COMMAND_WITH_NO_BINARY_EQUIV   6

Definition at line 82 of file opcodes.h.

#define ASYNCHRONOUS_EVENT

(

char_val

)

( (char_val >= 220) )

Definition at line 33 of file opcodes.h.

Referenced by get_binary_command_return_status().

#define AWAIT_COMMAND_COMPLETION   167

Definition at line 167 of file opcodes.h.

Referenced by await_completion().

#define CABLE_DISCONNECT_DETECTED   222

Definition at line 36 of file opcodes.h.

Referenced by default_async_event_handler().

#define DISABLE_ECHO   182

Definition at line 192 of file opcodes.h.

Referenced by set_mode().

#define DISABLE_JOYSTICK   195

Definition at line 212 of file opcodes.h.

#define DISABLE_POSITION_LIMITS   173

Definition at line 176 of file opcodes.h.

Referenced by set_mode().

#define DISPLAY_MENU_OPTIONS   4

Definition at line 80 of file opcodes.h.

#define DISPLAY_PAN_MOTOR_COMMANDS   2

Definition at line 78 of file opcodes.h.

#define DISPLAY_TILT_MOTOR_COMMANDS   3

Definition at line 79 of file opcodes.h.

#define ECHO_QUERY   180

Definition at line 190 of file opcodes.h.

Referenced by set_mode().

#define ENABLE_ECHO   181

Definition at line 191 of file opcodes.h.

Referenced by set_mode().

#define ENABLE_JOYSTICK   194

Definition at line 211 of file opcodes.h.

#define ENABLE_POSITION_LIMITS   172

Definition at line 175 of file opcodes.h.

Referenced by set_mode().

#define FIRMWARE_VERSION_QUERY   196

Definition at line 217 of file opcodes.h.

Referenced by firmware_version().

#define HALT   168

Definition at line 169 of file opcodes.h.

Referenced by halt().

#define HALT_PAN   169

Definition at line 170 of file opcodes.h.

Referenced by halt().

#define HALT_TILT   170

Definition at line 171 of file opcodes.h.

Referenced by halt().

#define ILLEGAL_ARGUMENT   8

Definition at line 84 of file opcodes.h.

#define ILLEGAL_COMMAND_WITH_DELIMITER   5

Definition at line 81 of file opcodes.h.

#define ILLEGAL_OPCODE   7

Definition at line 83 of file opcodes.h.

#define INTERACTIVE_MAIN_MENU   1

Definition at line 77 of file opcodes.h.

#define JOYSTICK_QUERY   193

Definition at line 210 of file opcodes.h.

#define LAST_0ARG_OPCODE   196

Definition at line 219 of file opcodes.h.

#define LAST_1BYTE_ARG_OPCODE   200

Definition at line 233 of file opcodes.h.

#define LAST_2BYTE_INT_OPCODE   144

Definition at line 123 of file opcodes.h.

#define LAST_4BYTE_ARG_OPCODE   202

Definition at line 245 of file opcodes.h.

#define LAST_SIGNED_2BYTE_INT_OPCODE   136

Definition at line 109 of file opcodes.h.

#define MAX_OPCODE   205

Definition at line 91 of file opcodes.h.

#define NUM_OPCODES   (MAX_OPCODE - OPCODE_BASE + 1)

Definition at line 92 of file opcodes.h.

#define OPCODE_BASE   129

Definition at line 90 of file opcodes.h.

#define OPCODE_VERSION   "1.07.07"

Definition at line 9 of file opcodes.h.

#define PAN_ACCEL_QUERY   163

Definition at line 158 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define PAN_BASE_SPEED_QUERY   157

Definition at line 148 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define PAN_CURRENT_POS_QUERY   145

Definition at line 131 of file opcodes.h.

Referenced by get_current().

#define PAN_CURRENT_SPEED_QUERY   153

Definition at line 143 of file opcodes.h.

Referenced by get_current().

#define PAN_DESIRED_POS_QUERY   147

Definition at line 133 of file opcodes.h.

Referenced by get_desired().

#define PAN_DESIRED_SPEED_QUERY   155

Definition at line 145 of file opcodes.h.

Referenced by get_desired().

#define PAN_HOLD_POWER_QUERY   186

Definition at line 199 of file opcodes.h.

Referenced by get_current(), get_desired(), and reset_PTU_parser().

#define PAN_LIMIT_HIT   220

Definition at line 34 of file opcodes.h.

Referenced by default_async_event_handler(), and reset_ptu().

#define PAN_LOWER_SPEED_LIMIT_QUERY   161

Definition at line 153 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define PAN_MAX_POSITION_QUERY   151

Definition at line 138 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define PAN_MIN_POSITION_QUERY   149

Definition at line 136 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define PAN_MOVE_POWER_QUERY   188

Definition at line 201 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define PAN_POSITION_TRIGGER_HIT   223

Definition at line 37 of file opcodes.h.

#define PAN_RESOLUTION_QUERY   165

Definition at line 162 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define PAN_SET_ABS_POS   129

Definition at line 98 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_ABS_SPEED   135

Definition at line 105 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_ACCEL   201

Definition at line 242 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_BASE_SPEED   137

Definition at line 113 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_HOLD_POWER   197

Definition at line 228 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_LOWER_SPEED_LIMIT   141

Definition at line 118 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_MOVE_POWER   199

Definition at line 230 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_REL_POS   131

Definition at line 100 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_REL_SPEED   133

Definition at line 103 of file opcodes.h.

Referenced by set_desired().

#define PAN_SET_UPPER_SPEED_LIMIT   139

Definition at line 116 of file opcodes.h.

Referenced by set_desired().

#define PAN_SPEED_TRIGGER_HIT   225

Definition at line 39 of file opcodes.h.

#define PAN_UPPER_SPEED_LIMIT_QUERY   159

Definition at line 151 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define POSITION_LIMITS_QUERY   171

Definition at line 174 of file opcodes.h.

Referenced by set_mode().

#define PTU_ACCEL_TABLE_EXCEEDED   5

Definition at line 63 of file opcodes.h.

#define PTU_CABLE_DISCONNECTED   9

Definition at line 67 of file opcodes.h.

#define PTU_DEFAULTS_EEPROM_FAULT   6

Definition at line 64 of file opcodes.h.

#define PTU_HI_POWER   1

Definition at line 49 of file opcodes.h.

#define PTU_ILLEGAL_COMMAND   2

Definition at line 60 of file opcodes.h.

#define PTU_ILLEGAL_POSITION_ARGUMENT   3

Definition at line 61 of file opcodes.h.

#define PTU_ILLEGAL_POWER_MODE   11

Definition at line 69 of file opcodes.h.

#define PTU_ILLEGAL_SPEED_ARGUMENT   4

Definition at line 62 of file opcodes.h.

#define PTU_ILLEGAL_UNIT_ID   10

Definition at line 68 of file opcodes.h.

#define PTU_INDEPENDENT_SPEED_CONTROL_MODE   1

Definition at line 55 of file opcodes.h.

Referenced by get_current(), get_desired(), set_desired(), and set_mode().

#define PTU_LIMIT_HIT   8

Definition at line 66 of file opcodes.h.

#define PTU_LOW_POWER   3

Definition at line 51 of file opcodes.h.

#define PTU_OFF_POWER   4

Definition at line 52 of file opcodes.h.

Referenced by reset_PTU_parser().

#define PTU_OK   0

Definition at line 59 of file opcodes.h.

Referenced by initialize(), and reset_PTU_parser().

#define PTU_PURE_VELOCITY_SPEED_CONTROL_MODE   2

Definition at line 56 of file opcodes.h.

Referenced by set_mode().

#define PTU_REG_POWER   2

Definition at line 50 of file opcodes.h.

Referenced by reset_PTU_parser().

#define PTU_RESET_FAILED   12

Definition at line 70 of file opcodes.h.

#define PTU_SAVED_DEFAULTS_CORRUPTED   7

Definition at line 65 of file opcodes.h.

#define QUERY_SPEED_CONTROL_MODE   203

Definition at line 257 of file opcodes.h.

Referenced by set_mode().

#define RESTORE_FACTORY_DEFAULTS   185

Definition at line 196 of file opcodes.h.

Referenced by set_mode().

#define RESTORE_SAVED_DEFAULTS   184

Definition at line 195 of file opcodes.h.

Referenced by set_mode().

#define SAVE_DEFAULTS   183

Definition at line 194 of file opcodes.h.

Referenced by set_mode().

#define SELECT_UNIT_ID   144

Definition at line 122 of file opcodes.h.

#define SET_IMMEDIATE_COMMAND_MODE   174

Definition at line 178 of file opcodes.h.

Referenced by set_mode().

#define SET_INDEPENDENT_CONTROL_MODE   204

Definition at line 258 of file opcodes.h.

Referenced by set_mode().

#define SET_PURE_VELOCITY_CONTROL_MODE   205

Definition at line 259 of file opcodes.h.

Referenced by set_mode().

#define SET_SLAVED_COMMAND_MODE   175

Definition at line 180 of file opcodes.h.

Referenced by set_mode().

#define SET_UNIT_ID   143

Definition at line 121 of file opcodes.h.

Referenced by set_unit_id().

#define SET_VERBOSE_ASCII_OFF   192

Definition at line 207 of file opcodes.h.

Referenced by set_mode().

#define SET_VERBOSE_ASCII_ON   191

Definition at line 206 of file opcodes.h.

Referenced by set_mode().

#define SPECIAL_OPCODE   203

Definition at line 252 of file opcodes.h.

#define TILT_ACCEL_QUERY   164

Definition at line 159 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_BASE_SPEED_QUERY   158

Definition at line 149 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_CURRENT_POS_QUERY   146

Definition at line 132 of file opcodes.h.

Referenced by get_current().

#define TILT_CURRENT_SPEED_QUERY   154

Definition at line 144 of file opcodes.h.

Referenced by get_current().

#define TILT_DESIRED_POS_QUERY   148

Definition at line 134 of file opcodes.h.

Referenced by get_desired().

#define TILT_DESIRED_SPEED_QUERY   156

Definition at line 146 of file opcodes.h.

Referenced by get_desired().

#define TILT_HOLD_POWER_QUERY   187

Definition at line 200 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_LIMIT_HIT   221

Definition at line 35 of file opcodes.h.

Referenced by default_async_event_handler(), and reset_ptu().

#define TILT_LOWER_SPEED_LIMIT_QUERY   162

Definition at line 154 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_MAX_POSITION_QUERY   152

Definition at line 139 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_MIN_POSITION_QUERY   150

Definition at line 137 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_MOVE_POWER_QUERY   189

Definition at line 202 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_POSITION_TRIGGER_HIT   224

Definition at line 38 of file opcodes.h.

#define TILT_RESOLUTION_QUERY   166

Definition at line 163 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define TILT_SET_ABS_POS   130

Definition at line 99 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_ABS_SPEED   136

Definition at line 106 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_ACCEL   202

Definition at line 243 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_BASE_SPEED   138

Definition at line 114 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_HOLD_POWER   198

Definition at line 229 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_LOWER_SPEED_LIMIT   142

Definition at line 119 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_MOVE_POWER   200

Definition at line 231 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_REL_POS   132

Definition at line 101 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_REL_SPEED   134

Definition at line 104 of file opcodes.h.

Referenced by set_desired().

#define TILT_SET_UPPER_SPEED_LIMIT   140

Definition at line 117 of file opcodes.h.

Referenced by set_desired().

#define TILT_SPEED_TRIGGER_HIT   226

Definition at line 40 of file opcodes.h.

#define TILT_UPPER_SPEED_LIMIT_QUERY   160

Definition at line 152 of file opcodes.h.

Referenced by get_current(), and get_desired().

#define UNIT_ID_QUERY   179

Definition at line 187 of file opcodes.h.

#define UNIT_RESET   176

Definition at line 182 of file opcodes.h.

Referenced by reset_ptu().

#define UNIT_RESET_ON_POWERUP   177

Definition at line 183 of file opcodes.h.

#define UNIT_RESET_ON_POWERUP_DISABLED   178

Definition at line 184 of file opcodes.h.

#define VERBOSE_QUERY   190

Definition at line 205 of file opcodes.h.

Referenced by set_mode().

---