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Opcodes.h

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00001 /*****************************************************************
00002  *****           PAN-TILT ENCODED COMMAND CODE               *****
00003  *****                 C include file                        *****
00004  *****                                                       *****
00005  *****     (C) 1994, 1998, Directed Perception, Inc.         *****
00006  *****               All rights reserved.                    *****
00007  *****************************************************************/
00008 
00009 #define OPCODE_VERSION          "1.07.06"
00010 
00011 
00012 /********* REVISION HISTORY *********/
00013 /*
00014 
00015 1.07.06:  9/16/98: Added signed speed special opcodes. Added them at
00016                    end of opcodes to maintain compatibility with prior
00017                    firmware versions.
00018 1.07.05d: 2/19/95: reorganized the opcodes. Working on networking.
00019 1.07.04d: 1/26/95: added DEFINEs for reset enable disable opcodes.
00020                    But unique opcodes not assigned.
00021 10/06/94:       Added and reorganized opcodes
00022 9/18/94:        Initial version
00023 
00024 */
00025 
00026 
00027 
00028 /******************************************************/
00029 /**********  ASYNCHRONOUS EVENT RETURN CODES **********/
00030 /******************************************************/
00031 
00032 #define PAN_LIMIT_HIT                   220     /*   !P   */
00033 #define TILT_LIMIT_HIT                  221     /*   !T   */
00034 #define CABLE_DISCONNECT_DETECTED       222     /*   !D   */
00035 #define PAN_POSITION_TRIGGER_HIT        223     /*   #P   */
00036 #define TILT_POSITION_TRIGGER_HIT       224     /*   #T   */
00037 #define PAN_SPEED_TRIGGER_HIT           225     /*   $P   */
00038 #define TILT_SPEED_TRIGGER_HIT          226     /*   $T   */
00039 
00040 
00041 
00042 /*****************************************/
00043 /**********  RETURN STATE CODES **********/
00044 /*****************************************/
00045 
00046 /* power modes */
00047 #define PTU_HI_POWER    1
00048 #define PTU_REG_POWER   2
00049 #define PTU_LOW_POWER   3
00050 #define PTU_OFF_POWER   4
00051 
00052 /* speed control modes */
00053 #define PTU_INDEPENDENT_SPEED_CONTROL_MODE      1
00054 #define PTU_PURE_VELOCITY_SPEED_CONTROL_MODE    2
00055 
00056 /* return status codes */
00057 #define PTU_OK                          0
00058 #define PTU_ILLEGAL_COMMAND             2
00059 #define PTU_ILLEGAL_POSITION_ARGUMENT   3
00060 #define PTU_ILLEGAL_SPEED_ARGUMENT      4
00061 #define PTU_ACCEL_TABLE_EXCEEDED        5
00062 #define PTU_DEFAULTS_EEPROM_FAULT       6
00063 #define PTU_SAVED_DEFAULTS_CORRUPTED    7
00064 #define PTU_LIMIT_HIT                   8
00065 #define PTU_CABLE_DISCONNECTED          9
00066 #define PTU_ILLEGAL_UNIT_ID            10
00067 #define PTU_ILLEGAL_POWER_MODE         11
00068 #define PTU_RESET_FAILED               12
00069 
00070 
00071 /*******************************************/
00072 /********** INTERNAL RETURN CODES **********/
00073 /*******************************************/
00074 
00075 #define INTERACTIVE_MAIN_MENU                   1
00076 #define DISPLAY_PAN_MOTOR_COMMANDS              2
00077 #define DISPLAY_TILT_MOTOR_COMMANDS             3
00078 #define DISPLAY_MENU_OPTIONS                    4
00079 #define ILLEGAL_COMMAND_WITH_DELIMITER          5
00080 #define ASCII_COMMAND_WITH_NO_BINARY_EQUIV      6
00081 #define ILLEGAL_OPCODE                          7
00082 #define ILLEGAL_ARGUMENT                        8
00083 
00084 /**********************************/
00085 /********** PTU OP CODES **********/
00086 /**********************************/
00087 
00088 #define OPCODE_BASE     129
00089 #define MAX_OPCODE      205
00090 #define NUM_OPCODES     (MAX_OPCODE - OPCODE_BASE + 1)
00091 
00092 /*****/                                                           /*****/
00093 /*****  OPCODES with a 2 byte int ARGUMENT (returns a status byte) *****/
00094 /*****/                                                           /*****/
00095 
00096 #define PAN_SET_ABS_POS               129
00097 #define TILT_SET_ABS_POS              130
00098 #define PAN_SET_REL_POS               131
00099 #define TILT_SET_REL_POS              132
00100 
00101 #define PAN_SET_REL_SPEED             133
00102 #define TILT_SET_REL_SPEED            134
00103 #define PAN_SET_ABS_SPEED             135 /* unsigned in independent speed control */
00104 #define TILT_SET_ABS_SPEED            136 /* mode; signed in pure velocity SCM */
00105                                           /* change made 9/22/98 */
00106 
00107 #define LAST_SIGNED_2BYTE_INT_OPCODE  136
00108 
00109 /* unsigned 2 byte int argument */
00110 
00111 #define PAN_SET_BASE_SPEED                137
00112 #define TILT_SET_BASE_SPEED               138
00113 
00114 #define PAN_SET_UPPER_SPEED_LIMIT     139
00115 #define TILT_SET_UPPER_SPEED_LIMIT    140
00116 #define PAN_SET_LOWER_SPEED_LIMIT     141
00117 #define TILT_SET_LOWER_SPEED_LIMIT    142
00118 
00119 #define SET_UNIT_ID                           143       
00120 #define SELECT_UNIT_ID                    144
00121 #define LAST_2BYTE_INT_OPCODE         144
00122 
00123 /*****/                        /*****/
00124 /***** OPCODES with 0 ARGUMENTS *****/
00125 /*****/                        /*****/
00126 
00127 /*** returns 2 byte signed int ***/
00128 
00129 #define PAN_CURRENT_POS_QUERY        145
00130 #define TILT_CURRENT_POS_QUERY       146
00131 #define PAN_DESIRED_POS_QUERY        147
00132 #define TILT_DESIRED_POS_QUERY       148
00133 
00134 #define PAN_MIN_POSITION_QUERY       149
00135 #define TILT_MIN_POSITION_QUERY      150
00136 #define PAN_MAX_POSITION_QUERY       151
00137 #define TILT_MAX_POSITION_QUERY      152
00138 
00139 /*** returns 2 byte unsigned int ***/
00140 
00141 #define PAN_CURRENT_SPEED_QUERY      153
00142 #define TILT_CURRENT_SPEED_QUERY     154
00143 #define PAN_DESIRED_SPEED_QUERY      155
00144 #define TILT_DESIRED_SPEED_QUERY     156
00145 
00146 #define PAN_BASE_SPEED_QUERY         157
00147 #define TILT_BASE_SPEED_QUERY        158
00148 
00149 #define PAN_UPPER_SPEED_LIMIT_QUERY  159
00150 #define TILT_UPPER_SPEED_LIMIT_QUERY 160
00151 #define PAN_LOWER_SPEED_LIMIT_QUERY  161
00152 #define TILT_LOWER_SPEED_LIMIT_QUERY 162
00153 
00154 /*** returns 4 byte unsigned int ***/
00155 
00156 #define PAN_ACCEL_QUERY                 163
00157 #define TILT_ACCEL_QUERY                164
00158 
00159 /* value is 60x arc secs */
00160 #define PAN_RESOLUTION_QUERY            165
00161 #define TILT_RESOLUTION_QUERY           166
00162 
00163 /*** returns signed char (a status byte unless otherwise noted) ***/
00164 
00165 #define AWAIT_COMMAND_COMPLETION        167
00166 
00167 #define HALT                            168
00168 #define HALT_PAN                        169
00169 #define HALT_TILT                       170
00170 
00171 /* 1 if position limits enabled, 0 otherwise */
00172 #define POSITION_LIMITS_QUERY           171
00173 #define ENABLE_POSITION_LIMITS          172
00174 #define DISABLE_POSITION_LIMITS         173
00175 
00176 #define SET_IMMEDIATE_COMMAND_MODE      174
00177 
00178 #define SET_SLAVED_COMMAND_MODE         175
00179 
00180 #define UNIT_RESET                      176
00181 #define UNIT_RESET_ON_POWERUP           177     /***** NOT YET SUPPORTED *****/
00182 #define UNIT_RESET_ON_POWERUP_DISABLED  178     /***** NOT YET SUPPORTED *****/
00183 
00184 /* returns an unsigned char with the unit_id */
00185 #define UNIT_ID_QUERY                   179     /***** NOT YET SUPPORTED *****/
00186 
00187 /* 1 if echo, 0 otherwise */
00188 #define ECHO_QUERY                      180
00189 #define ENABLE_ECHO                     181
00190 #define DISABLE_ECHO                    182
00191 
00192 #define SAVE_DEFAULTS                   183
00193 #define RESTORE_SAVED_DEFAULTS          184
00194 #define RESTORE_FACTORY_DEFAULTS        185
00195 
00196 /* returns power mode byte */
00197 #define PAN_HOLD_POWER_QUERY            186
00198 #define TILT_HOLD_POWER_QUERY           187
00199 #define PAN_MOVE_POWER_QUERY            188
00200 #define TILT_MOVE_POWER_QUERY           189
00201 
00202 /* 1 if verbose, 0 otherwise */
00203 #define VERBOSE_QUERY                   190
00204 #define SET_VERBOSE_ASCII_ON            191
00205 #define SET_VERBOSE_ASCII_OFF           192
00206 
00207 /* 1 if joystick enabled, 0 otherwise */
00208 #define JOYSTICK_QUERY                  193             /***** NOT YET SUPPORTED *****/
00209 #define ENABLE_JOYSTICK                 194             /***** NOT YET SUPPORTED *****/
00210 #define DISABLE_JOYSTICK                195             /***** NOT YET SUPPORTED *****/
00211 
00212 /*** other return opcodes ***/
00213 
00214 /* returns string ending with '\n' */
00215 #define FIRMWARE_VERSION_QUERY          196
00216 
00217 #define LAST_0ARG_OPCODE                196
00218 
00219 /*****/                              /*****/
00220 /***** OPCODES with a 1 byte ARGUMENT *****/
00221 /*****/                              /*****/
00222 
00223 /*** returns signed char (a status byte) ***/
00224 
00225 /* ARG1: power mode byte */
00226 #define PAN_SET_HOLD_POWER              197
00227 #define TILT_SET_HOLD_POWER             198
00228 #define PAN_SET_MOVE_POWER              199
00229 #define TILT_SET_MOVE_POWER             200
00230 
00231 #define LAST_1BYTE_ARG_OPCODE           200
00232 
00233 /*****/                                  /*****/
00234 /***** OPCODES with a 4 byte int ARGUMENT *****/
00235 /*****/                                  /*****/
00236 
00237 /*** returns signed char (a status byte) ***/
00238 
00239 /* a 4 byte unsigned integer argument */
00240 #define PAN_SET_ACCEL                   201
00241 #define TILT_SET_ACCEL                  202
00242 
00243 #define LAST_4BYTE_ARG_OPCODE           202
00244 
00245 
00246 /*****/                                     /*****/
00247 /***** SPECIAL OPCODES with custom ARGUMENTS *****/
00248 /*****/                                     /*****/
00249 
00250 #define SPECIAL_OPCODE                  203
00251 
00252 
00253 /*** (Added 9/16/98 at end to maintain backward compatibility.) ***/
00254 /*** 0 byte argument, returns signed char                       ***/
00255 #define QUERY_SPEED_CONTROL_MODE        203
00256 #define SET_INDEPENDENT_CONTROL_MODE    204
00257 #define SET_PURE_VELOCITY_CONTROL_MODE  205
00258 
00259 

Generado el Tue Apr 24 06:55:48 2001 para Dllcontrol por doxygen1.2.6 escrito por Dimitri van Heesch, © 1997-2001