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TarzaNN
TarzaNN neural network simulator
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C:/Users/albertlr/projects/TarzaNN/TarzaNN/ptu.h
Go to the documentation of this file.
00001 /************************************************************************* 00002 ***** PTU BINARY DRIVER INCLUDE FILE ***** 00003 ***** ***** 00004 ***** (C)1992,2010 FLIR Commercial Systems, Inc. ***** 00005 ***** All Rights Reserved. ***** 00006 ***** ***** 00007 ***** Licensed users may freely distribute compiled code including ***** 00008 ***** this code and data. Source data and code may NOT be ***** 00009 ***** distributed without the prior written consent from FLIR ***** 00010 ***** Commercial Systems, Inc. ***** 00011 ***** ***** 00012 ***** FLIR Commercial Systems, Inc. reserves the right to make ***** 00013 ***** changes without further notice to any content herein to ***** 00014 ***** improve reliability, function or design. FLIR Commercial ***** 00015 ***** Systems, Inc. shall not assume any liability arising from ***** 00016 ***** the application or use of this code, data or function. ***** 00017 ***** ***** 00018 ***** FLIR Commercial Systems, Inc. ***** 00019 ***** Motion Control Systems ***** 00020 ***** 890C Cowan Rd, Burlingame, CA 94010 ***** 00021 ***** www.flir.com/mcs ***** 00022 ***** mcs-support@flir.com ***** 00023 ************************************************************************** 00024 00025 CHANGE HISTORY: 00026 3/19/07 v1.09.12 Added ISM support to ABS Pos Calls and made all variables signed 00027 Allowed for baud rate changes. 00028 12/14/06 v2.13.0r3 Added ISM controls. 00029 2/16/06 v2.12.12r5 Added ISM support and OEM TTL controls 00030 9/ 3/04 v2.12.10 Check for pending asynchronous event in get_current and get_desired 00031 5/28/04: v2.12.09 Added set_PTU_motion and get_PTU_motion 00032 12/10/99: v1.09.12 added a write and wait after open in open_host_port 00033 for networked operation 00034 11/10/99: v1.09.11. Added asynchronous event status handling functions. 00035 00036 8/10/98: v1.08.09. In firmware_version_OK, removed addressing to string constant. 00037 7/15/97: v1.08.00. Compiles with MSVC v1.52. Unified with Win16/32 00038 PTU interface calls. 00039 6/20/97: #define of ALL misdefined. Fixed to equal PAN+TILT 00040 11/2/95: v1.07.07d. Firmware version check bug fixed. 00041 7/11/95: v1.07.06d. Updated opcode structure and added new support. 00042 2/19/95: v1.07.04d. Generalized for Windows, DOS, & UNIX. 00043 Added networking. 00044 10/12/94: v1.07.03d. Pre-release working version. 00045 XON/XOFF removed from PTU firmware to allow for binary mode. 00046 00047 00048 **************************************************************************/ 00049 00050 00051 /*** Conditionally include the required serial interface declarations. ***/ 00052 /*** If your compiler doesn't have the macro symbol defined, you can ***/ 00053 /*** manually select the right include file yourself. ***/ 00054 #if defined(_WIN32) 00055 #include "w32seria.h" 00056 #elif defined(_WIN16) 00057 #include "w16seria.h" 00058 #elif defined(_DOS) 00059 #include "dosseria.h" 00060 #elif defined(_LINUX) 00061 #include "linuxser.h" 00062 #elif defined(_PIC24) 00063 #include "pic24serial.h" 00064 #endif 00065 00066 #include "opcodes.h" 00067 00068 00069 /* return status codes */ 00070 #define PTU_OK 0 00071 #define PTU_ILLEGAL_COMMAND_ARGUMENT 1 00072 #define PTU_ILLEGAL_COMMAND 2 00073 #define PTU_ILLEGAL_POSITION_ARGUMENT 3 00074 #define PTU_ILLEGAL_SPEED_ARGUMENT 4 00075 #define PTU_ACCEL_TABLE_EXCEEDED 5 00076 #define PTU_DEFAULTS_EEPROM_FAULT 6 00077 #define PTU_SAVED_DEFAULTS_CORRUPTED 7 00078 #define PTU_LIMIT_HIT 8 00079 #define PTU_CABLE_DISCONNECTED 9 00080 #define PTU_ILLEGAL_UNIT_ID 10 00081 #define PTU_ILLEGAL_POWER_MODE 11 00082 #define PTU_RESET_FAILED 12 00083 #define PTU_NOT_RESPONDING 13 00084 #define PTU_FIRMWARE_VERSION_TOO_LOW 14 00085 00086 00087 00088 /******************************************************************** 00089 ***** ***** 00090 ***** For all of these commands, a non-zero return status ***** 00091 ***** indicates an error, and it returns that error code. ***** 00092 ***** ***** 00093 ********************************************************************/ 00094 00095 00096 /* open_host_port(<portname>) ==> <portstream> */ 00097 extern portstream_fd open_host_port(char *); 00098 00099 /* Set's the baud rate of the port prior to opening only */ 00100 extern char set_baud_rate(int baudrate); 00101 00102 /* close_host_port(<portstream>) ==> <status> */ 00103 extern char close_host_port(portstream_fd); 00104 00105 00106 00107 typedef short int PTU_PARM_PTR; 00108 00109 /* reset_PTU_parser(<timeout_in_msec>) ==> [PTU_OK|PTU_NOT_RESPONDING] */ 00110 extern char reset_PTU_parser(long); 00111 00112 /* set_desired([PAN|TILT], 00113 [POSITION|SPEED|ACCELERATION|BASE|UPPER_SPEED_LIMIT|LOWER_SPEED_LIMIT], 00114 [<position>|<speed>|<acceleration>], 00115 [RELATIVE|ABSOLUTE]) ==> <status> 00116 set_desired([PAN|TILT], 00117 HOLD_POWER_LEVEL, 00118 <power mode>, 00119 NULL) ==> <status> 00120 set_desired([PAN|TILT], 00121 [HOLD_POWER_LEVEL,MOVE_POWER_LEVEL], 00122 [PTU_REG_POWER|PTU_LOW_POWER|PTU_OFF_POWER], 00123 ABSOLUTE) ==> <status> */ 00124 extern char set_desired(char, char, PTU_PARM_PTR *, char); 00125 00126 00127 /* get_current([PAN|TILT], 00128 [POSITION|SPEED|ACCELERATION|BASE|UPPER_SPEED_LIMIT|LOWER_SPEED_LIMIT| 00129 HOLD_POWER_LEVEL|MOVE_POWER_LEVEL|RESOLUTION]) ==> <value> */ 00130 extern long get_current(char, char); 00131 00132 00133 /* get_desired([PAN|TILT], 00134 [POSITION|SPEED|ACCELERATION|BASE|UPPER_SPEED_LIMIT|LOWER_SPEED_LIMIT| 00135 HOLD_POWER_LEVEL|MOVE_POWER_LEVEL|RESOLUTION]) ==> <value> */ 00136 extern long get_desired(char, char); 00137 00138 00139 /* set_mode(COMMAND_EXECUTION_MODE, 00140 [EXECUTE_IMMEDIATELY|EXECUTE_UPON_IMMEDIATE_OR_AWAIT]) ==> <status> 00141 set_mode(ASCII_VERBOSE_MODE, [VERBOSE|TERSE|QUERY_MODE]) ==> <status> 00142 set_mode(ASCII_ECHO_MODE, [ON_MODE|OFF_MODE|QUERY_MODE]) ==> <status> 00143 set_mode(POSITION_LIMITS_MODE, [ON_MODE|OFF_MODE|QUERY_MODE]) ==> <status> 00144 set_mode(DEFAULTS,[SAVE_CURRENT_SETTINGS|RESTORE_SAVED_SETTINGS| 00145 RESTORE_FACTORY_SETTINGS]) ==> <status> */ 00146 extern char set_mode(char,char); 00147 00148 00149 /* halt([ALL|PAN|TILT]) ==> <status> */ 00150 extern char halt(char); 00151 00152 00153 /* await_completion() ==> <status> */ 00154 extern char await_completion(void); 00155 00156 00157 /* reset_PTU() ==> <status> */ 00158 extern char reset_ptu(void); 00159 extern char reset_ptu_pan(void); 00160 extern char reset_ptu_tilt(void); 00161 00162 00163 /* firmware_version() ==> <version ID string> */ 00164 extern char* firmware_version(void); 00165 00166 00167 /*** multiple unit support ***/ 00168 typedef unsigned short int UID_fd; 00169 00170 /* in general, should not be used or required... */ 00171 extern char select_host_port(portstream_fd); 00172 00173 /* select_unit(<portstream>, <unit ID>) ==> <status> */ 00174 extern char select_unit(UID_fd); 00175 00176 extern char set_unit_id(UID_fd); // This call should be made only 00177 // when one unit is on the current 00178 // host serial port 00179 00180 /*** sets all pan-tilt dynamic motion parameters within a single command ***/ 00181 extern char set_PTU_motion(short int, short int, unsigned short int, unsigned short int); 00182 extern char get_PTU_motion(short int *, short int *, short int *, short int *); 00183 00184 00185 /*** sample textual commands ***/ 00186 extern char config_CHA(void); 00187 extern char talkto_CHA(void); 00188 extern char talkto_PTUcontroller(void); 00189 00190 00191 00192 00193 /*** asynchronous event status handling functions ***/ 00194 00195 typedef unsigned char (*event_handler_fn_ptr_type) (unsigned char); 00196 00197 extern unsigned char default_async_event_handler(unsigned char); 00198 /* Call this function to set the function handler for asynchronous events. 00199 Defaults to a null function. Example call: 00200 if ( set_async_event_handler( (unsigned char (*) (unsigned char)) default_async_event_handler ) ) 00201 printf("ASYNCH handler installed properly!"); 00202 else printf("ERROR: ASYNCH handler not installed properly!"); 00203 */ 00204 extern unsigned char set_async_event_handler( void (*) (unsigned char) ); 00205 00206 00207 00208 /********************* function call constants ***********************/ 00209 00210 #define PAN 1 00211 #define TILT 2 00212 00213 #define POSITION 1 00214 #define SPEED 2 00215 #define ACCELERATION 3 00216 #define BASE 4 00217 #define UPPER_SPEED_LIMIT 5 00218 #define LOWER_SPEED_LIMIT 6 00219 #define MINIMUM_POSITION 7 00220 #define MAXIMUM_POSITION 8 00221 #define HOLD_POWER_LEVEL 9 00222 #define MOVE_POWER_LEVEL 10 00223 #define RESOLUTION 11 00224 #define ISM_DRIFT 12 00225 00226 /* specifies changes relative to current position */ 00227 /* (Had to add conditional compilation since WIN32 already defines these values */ 00228 #ifndef RELATIVE 00229 #define RELATIVE 1 00230 #endif 00231 #ifndef ABSOLUTE 00232 #define ABSOLUTE 2 00233 #endif 00234 00235 00236 #define QUERY NULL 00237 00238 /* power modes */ 00239 #define PTU_HI_POWER 1 00240 #define PTU_REG_POWER 2 00241 #define PTU_LOW_POWER 3 00242 #define PTU_OFF_POWER 4 00243 00244 /* PTU mode types */ 00245 #define COMMAND_EXECUTION_MODE 1 00246 #define ASCII_VERBOSE_MODE 2 00247 #define ASCII_ECHO_MODE 3 00248 #define POSITION_LIMITS_MODE 4 00249 #define DEFAULTS 5 00250 #define SPEED_CONTROL_MODE 6 /* v1.9.7 and higher */ 00251 00252 #define EXECUTE_IMMEDIATELY 1 /* default */ 00253 #define EXECUTE_UPON_IMMEDIATE_OR_AWAIT 2 00254 00255 #define VERBOSE 1 /* default */ 00256 #define TERSE 0 00257 00258 #define ON_MODE 1 /* default */ 00259 #define OFF_MODE 0 00260 00261 #define SAVE_CURRENT_SETTINGS 0 00262 #define RESTORE_SAVED_SETTINGS 1 00263 #define RESTORE_FACTORY_SETTINGS 2 00264 00265 #define QUERY_MODE 3 00266 00267 #define ALL 3 00268 00269 00270 /* OEM support for TTL controls */ 00271 extern unsigned char set_TTL_outputs(unsigned char); 00272 extern unsigned char get_TTL_values(void); 00273 00274 /* advanced calls for doubling pan and tilt position query rates by overlapping comms */ 00275 extern char set_desired_abs_positions(signed short int*, signed short int*); 00276 extern char get_current_positions(signed short int*, signed short int*); 00277 00278 /* OEM support for trigger controls */ 00279 extern unsigned char TriggerOn(signed short int, signed short int, signed short int); 00280 extern unsigned char TriggerOff(void); 00281 extern signed short int TriggersPending(void); 00282 00283 /* ISM controls */ 00284 /* use only in pure velocity mode */ 00285 /* <SET_DESIRED_VELOCITIES opcode><pvel signed 2B int><tvel signed 2B int><checksum: xor of int bytes> ==> <status byte> */ 00286 unsigned char ptu_set_desired_velocities(signed short int, signed short int); 00287 unsigned char execute_set_desired_velocities(signed short int*, signed short int*); 00288 00289 /* a way to set the pan tilt's positions while in ISM mode */ 00290 /* this will command the ISM to slew to this pan tilt position and to begin stabilizing that angle */ 00291 char set_ISM_desired_abs_positions(signed short int *Ppos, signed short int *Tpos); 00292 00293 /* a way to get the pan and tilt's positions while in ISM mode */ 00294 /* this will command the ISM to return the latest known positios of the pan-tilt head in pan tilt coordinates. */ 00295 char get_ISM_desired_abs_positions(signed short int *Ppos, signed short int *Tpos); 00296
