C:/Users/albertlr/projects/TarzaNN/TarzaNN/opcodes.h File Reference

#include "cpiver.h"

Go to the source code of this file.

Defines
#define	ASYNCHRONOUS_EVENT(char_val)   ( (char_val >= 220) && (char_val < 240) )
#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	PTU_ILLEGAL_PARAMETERS   13
#define	PTU_DUART_ERROR   14
#define	GCU_ERROR   15
#define	PTU_ERROR   16
#define	NOT_SUPPORTED_BY_THIS_FIRMWARE_VERSION   17
#define	PTU_TILT_VANE_OUT_OF_RANGE_ERROR   19
#define	CHECKSUM_ERROR   20
#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   235
#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_TILT_SET_ABS_POS   240
#define	PAN_TILT_GET_ABS_POS   241
#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	UNIT_RESET_PAN   220
#define	UNIT_RESET_TILT   221
#define	SET_DESIRED_PTU_MOTION   222
#define	QUERY_CURRENT_PTU_MOTION   223
#define	OUTSIDE_ENVIRONMENT_QUERY   224
#define	PRESET_SET   225
#define	PRESET_GOTO   226
#define	PRESET_CLEAR   227
#define	TTL_CONTROLS   228
#define	TRIGGER_CONTROLS   229
#define	TRIGGER_OP_on   01
#define	TRIGGER_OP_off   02
#define	TRIGGER_OP_numPending   04
#define	ISM_SET_PAN_DRIFT_RATE   230
#define	ISM_SET_TILT_DRIFT_RATE   231
#define	ISM_GET_PAN_DRIFT_RATE   232
#define	ISM_GET_TILT_DRIFT_RATE   233
#define	SET_DESIRED_VELOCITIES   234
#define	SET_DESIRED_VELOCITES_GET_POS   235

---

Define Documentation

#define ASCII_COMMAND_WITH_NO_BINARY_EQUIV   6

#define ASYNCHRONOUS_EVENT

(

char_val

)

( (char_val >= 220) && (char_val < 240) )

#define AWAIT_COMMAND_COMPLETION   167

#define CABLE_DISCONNECT_DETECTED   222

#define CHECKSUM_ERROR   20

#define DISABLE_ECHO   182

#define DISABLE_JOYSTICK   195

#define DISABLE_POSITION_LIMITS   173

#define DISPLAY_MENU_OPTIONS   4

#define DISPLAY_PAN_MOTOR_COMMANDS   2

#define DISPLAY_TILT_MOTOR_COMMANDS   3

#define ECHO_QUERY   180

#define ENABLE_ECHO   181

#define ENABLE_JOYSTICK   194

#define ENABLE_POSITION_LIMITS   172

#define FIRMWARE_VERSION_QUERY   196

#define GCU_ERROR   15

#define HALT   168

#define HALT_PAN   169

#define HALT_TILT   170

#define ILLEGAL_ARGUMENT   8

#define ILLEGAL_COMMAND_WITH_DELIMITER   5

#define ILLEGAL_OPCODE   7

#define INTERACTIVE_MAIN_MENU   1

#define ISM_GET_PAN_DRIFT_RATE   232

#define ISM_GET_TILT_DRIFT_RATE   233

#define ISM_SET_PAN_DRIFT_RATE   230

#define ISM_SET_TILT_DRIFT_RATE   231

#define JOYSTICK_QUERY   193

#define LAST_0ARG_OPCODE   196

#define LAST_1BYTE_ARG_OPCODE   200

#define LAST_2BYTE_INT_OPCODE   144

#define LAST_4BYTE_ARG_OPCODE   202

#define LAST_SIGNED_2BYTE_INT_OPCODE   136

#define MAX_OPCODE   235

#define NOT_SUPPORTED_BY_THIS_FIRMWARE_VERSION   17

#define NUM_OPCODES   (MAX_OPCODE - OPCODE_BASE + 1)

#define OPCODE_BASE   129

#define OUTSIDE_ENVIRONMENT_QUERY   224

#define PAN_ACCEL_QUERY   163

#define PAN_BASE_SPEED_QUERY   157

#define PAN_CURRENT_POS_QUERY   145

#define PAN_CURRENT_SPEED_QUERY   153

#define PAN_DESIRED_POS_QUERY   147

#define PAN_DESIRED_SPEED_QUERY   155

#define PAN_HOLD_POWER_QUERY   186

#define PAN_LIMIT_HIT   220

#define PAN_LOWER_SPEED_LIMIT_QUERY   161

#define PAN_MAX_POSITION_QUERY   151

#define PAN_MIN_POSITION_QUERY   149

#define PAN_MOVE_POWER_QUERY   188

#define PAN_POSITION_TRIGGER_HIT   223

#define PAN_RESOLUTION_QUERY   165

#define PAN_SET_ABS_POS   129

#define PAN_SET_ABS_SPEED   135

#define PAN_SET_ACCEL   201

#define PAN_SET_BASE_SPEED   137

#define PAN_SET_HOLD_POWER   197

#define PAN_SET_LOWER_SPEED_LIMIT   141

#define PAN_SET_MOVE_POWER   199

#define PAN_SET_REL_POS   131

#define PAN_SET_REL_SPEED   133

#define PAN_SET_UPPER_SPEED_LIMIT   139

#define PAN_SPEED_TRIGGER_HIT   225

#define PAN_TILT_GET_ABS_POS   241

#define PAN_TILT_SET_ABS_POS   240

#define PAN_UPPER_SPEED_LIMIT_QUERY   159

#define POSITION_LIMITS_QUERY   171

#define PRESET_CLEAR   227

#define PRESET_GOTO   226

#define PRESET_SET   225

#define PTU_ACCEL_TABLE_EXCEEDED   5

#define PTU_CABLE_DISCONNECTED   9

#define PTU_DEFAULTS_EEPROM_FAULT   6

#define PTU_DUART_ERROR   14

#define PTU_ERROR   16

#define PTU_HI_POWER   1

#define PTU_ILLEGAL_COMMAND   2

#define PTU_ILLEGAL_PARAMETERS   13

#define PTU_ILLEGAL_POSITION_ARGUMENT   3

#define PTU_ILLEGAL_POWER_MODE   11

#define PTU_ILLEGAL_SPEED_ARGUMENT   4

#define PTU_ILLEGAL_UNIT_ID   10

#define PTU_INDEPENDENT_SPEED_CONTROL_MODE   1

#define PTU_LIMIT_HIT   8

#define PTU_LOW_POWER   3

#define PTU_OFF_POWER   4

#define PTU_OK   0

#define PTU_PURE_VELOCITY_SPEED_CONTROL_MODE   2

#define PTU_REG_POWER   2

#define PTU_RESET_FAILED   12

#define PTU_SAVED_DEFAULTS_CORRUPTED   7

#define PTU_TILT_VANE_OUT_OF_RANGE_ERROR   19

#define QUERY_CURRENT_PTU_MOTION   223

#define QUERY_SPEED_CONTROL_MODE   203

#define RESTORE_FACTORY_DEFAULTS   185

#define RESTORE_SAVED_DEFAULTS   184

#define SAVE_DEFAULTS   183

#define SELECT_UNIT_ID   144

#define SET_DESIRED_PTU_MOTION   222

#define SET_DESIRED_VELOCITES_GET_POS   235

#define SET_DESIRED_VELOCITIES   234

#define SET_IMMEDIATE_COMMAND_MODE   174

#define SET_INDEPENDENT_CONTROL_MODE   204

#define SET_PURE_VELOCITY_CONTROL_MODE   205

#define SET_SLAVED_COMMAND_MODE   175

#define SET_UNIT_ID   143

#define SET_VERBOSE_ASCII_OFF   192

#define SET_VERBOSE_ASCII_ON   191

#define SPECIAL_OPCODE   203

#define TILT_ACCEL_QUERY   164

#define TILT_BASE_SPEED_QUERY   158

#define TILT_CURRENT_POS_QUERY   146

#define TILT_CURRENT_SPEED_QUERY   154

#define TILT_DESIRED_POS_QUERY   148

#define TILT_DESIRED_SPEED_QUERY   156

#define TILT_HOLD_POWER_QUERY   187

#define TILT_LIMIT_HIT   221

#define TILT_LOWER_SPEED_LIMIT_QUERY   162

#define TILT_MAX_POSITION_QUERY   152

#define TILT_MIN_POSITION_QUERY   150

#define TILT_MOVE_POWER_QUERY   189

#define TILT_POSITION_TRIGGER_HIT   224

#define TILT_RESOLUTION_QUERY   166

#define TILT_SET_ABS_POS   130

#define TILT_SET_ABS_SPEED   136

#define TILT_SET_ACCEL   202

#define TILT_SET_BASE_SPEED   138

#define TILT_SET_HOLD_POWER   198

#define TILT_SET_LOWER_SPEED_LIMIT   142

#define TILT_SET_MOVE_POWER   200

#define TILT_SET_REL_POS   132

#define TILT_SET_REL_SPEED   134

#define TILT_SET_UPPER_SPEED_LIMIT   140

#define TILT_SPEED_TRIGGER_HIT   226

#define TILT_UPPER_SPEED_LIMIT_QUERY   160

#define TRIGGER_CONTROLS   229

#define TRIGGER_OP_numPending   04

#define TRIGGER_OP_off   02

#define TRIGGER_OP_on   01

#define TTL_CONTROLS   228

#define UNIT_ID_QUERY   179

#define UNIT_RESET   176

#define UNIT_RESET_ON_POWERUP   177

#define UNIT_RESET_ON_POWERUP_DISABLED   178

#define UNIT_RESET_PAN   220

#define UNIT_RESET_TILT   221

#define VERBOSE_QUERY   190