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

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/*****************************************************************
 *****           PAN-TILT ENCODED COMMAND CODE               *****
 *****                 C include file                        *****
 *****                                                       *****
 *****     (C) 1994, 1999, Directed Perception, Inc.         *****
 *****               All rights reserved.                    *****
 *****************************************************************/

#define OPCODE_VERSION          "1.07.07"


/********* REVISION HISTORY *********/
/*

1.07.07: 11/10/99: Added ASYNCHRONOUS_EVENT test for asynchronous return codes.
1.07.06:  9/16/98: Added signed speed special opcodes. Added them at
                   end of opcodes to maintain compatibility with prior
                   firmware versions.
1.07.05d: 2/19/95: reorganized the opcodes. Working on networking.
1.07.04d: 1/26/95: added DEFINEs for reset enable disable opcodes.
                   But unique opcodes not assigned.
10/06/94:       Added and reorganized opcodes
9/18/94:        Initial version

*/



/******************************************************/
/**********  ASYNCHRONOUS EVENT RETURN CODES **********/
/******************************************************/

#define ASYNCHRONOUS_EVENT(char_val) ( (char_val >= 220) )
#define PAN_LIMIT_HIT                       220 /*   !P   */
#define TILT_LIMIT_HIT                      221 /*   !T   */
#define CABLE_DISCONNECT_DETECTED       222     /*   !D   */
#define PAN_POSITION_TRIGGER_HIT        223     /*   #P   */
#define TILT_POSITION_TRIGGER_HIT       224     /*   #T   */
#define PAN_SPEED_TRIGGER_HIT           225     /*   $P   */
#define TILT_SPEED_TRIGGER_HIT          226     /*   $T   */



/*****************************************/
/**********  RETURN STATE CODES **********/
/*****************************************/

/* power modes */
#define PTU_HI_POWER    1
#define PTU_REG_POWER   2
#define PTU_LOW_POWER   3
#define PTU_OFF_POWER   4

/* speed control modes */
#define PTU_INDEPENDENT_SPEED_CONTROL_MODE      1
#define PTU_PURE_VELOCITY_SPEED_CONTROL_MODE    2

/* return status codes */
#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


/*******************************************/
/********** INTERNAL RETURN CODES **********/
/*******************************************/

#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

/**********************************/
/********** PTU OP CODES **********/
/**********************************/

#define OPCODE_BASE     129
#define MAX_OPCODE      205
#define NUM_OPCODES     (MAX_OPCODE - OPCODE_BASE + 1)

/*****/                                                           /*****/
/*****  OPCODES with a 2 byte int ARGUMENT (returns a status byte) *****/
/*****/                                                           /*****/

#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 /* unsigned in independent speed control */
#define TILT_SET_ABS_SPEED            136 /* mode; signed in pure velocity SCM */
                                          /* change made 9/22/98 */

#define LAST_SIGNED_2BYTE_INT_OPCODE  136

/* unsigned 2 byte int argument */

#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

/*****/                        /*****/
/***** OPCODES with 0 ARGUMENTS *****/
/*****/                        /*****/

/*** returns 2 byte signed int ***/

#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

/*** returns 2 byte unsigned int ***/

#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

/*** returns 4 byte unsigned int ***/

#define PAN_ACCEL_QUERY                 163
#define TILT_ACCEL_QUERY                164

/* value is 60x arc secs */
#define PAN_RESOLUTION_QUERY            165
#define TILT_RESOLUTION_QUERY           166

/*** returns signed char (a status byte unless otherwise noted) ***/

#define AWAIT_COMMAND_COMPLETION        167

#define HALT                            168
#define HALT_PAN                        169
#define HALT_TILT                       170

/* 1 if position limits enabled, 0 otherwise */
#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     /***** NOT YET SUPPORTED *****/
#define UNIT_RESET_ON_POWERUP_DISABLED  178     /***** NOT YET SUPPORTED *****/

/* returns an unsigned char with the unit_id */
#define UNIT_ID_QUERY                   179     /***** NOT YET SUPPORTED *****/

/* 1 if echo, 0 otherwise */
#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

/* returns power mode byte */
#define PAN_HOLD_POWER_QUERY            186
#define TILT_HOLD_POWER_QUERY           187
#define PAN_MOVE_POWER_QUERY            188
#define TILT_MOVE_POWER_QUERY           189

/* 1 if verbose, 0 otherwise */
#define VERBOSE_QUERY                   190
#define SET_VERBOSE_ASCII_ON            191
#define SET_VERBOSE_ASCII_OFF           192

/* 1 if joystick enabled, 0 otherwise */
#define JOYSTICK_QUERY                  193             /***** NOT YET SUPPORTED *****/
#define ENABLE_JOYSTICK                 194             /***** NOT YET SUPPORTED *****/
#define DISABLE_JOYSTICK                195             /***** NOT YET SUPPORTED *****/

/*** other return opcodes ***/

/* returns string ending with '\n' */
#define FIRMWARE_VERSION_QUERY          196

#define LAST_0ARG_OPCODE                196

/*****/                              /*****/
/***** OPCODES with a 1 byte ARGUMENT *****/
/*****/                              /*****/

/*** returns signed char (a status byte) ***/

/* ARG1: power mode byte */
#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

/*****/                                  /*****/
/***** OPCODES with a 4 byte int ARGUMENT *****/
/*****/                                  /*****/

/*** returns signed char (a status byte) ***/

/* a 4 byte unsigned integer argument */
#define PAN_SET_ACCEL                   201
#define TILT_SET_ACCEL                  202

#define LAST_4BYTE_ARG_OPCODE           202


/*****/                                     /*****/
/***** SPECIAL OPCODES with custom ARGUMENTS *****/
/*****/                                     /*****/

#define SPECIAL_OPCODE                  203


/*** (Added 9/16/98 at end to maintain backward compatibility.) ***/
/*** 0 byte argument, returns signed char                       ***/
#define QUERY_SPEED_CONTROL_MODE        203
#define SET_INDEPENDENT_CONTROL_MODE    204
#define SET_PURE_VELOCITY_CONTROL_MODE  205

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