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49 lines
1.6 KiB
C
49 lines
1.6 KiB
C
/*
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* This file is part of the stepper project.
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* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#ifndef PUSIROBOT_H__
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#define PUSIROBOT_H__
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#include <stdint.h>
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// entry of SDO dictionary
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typedef struct{
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uint16_t index; // SDO index
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uint8_t subindex; // SDO subindex
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uint8_t datasize; // data size: 1,2,3 or 4 bytes
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uint8_t issigned; // signess: if issigned==1, then signed, else unsigned
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} SDO_dic_entry;
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#ifndef DICENTRY
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#define DICENTRY(name, idx, sidx, sz, s) extern const SDO_dic_entry name;
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#endif
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#include "dicentries.h"
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#define MAX_SPEED_MIN -200000
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#define MAX_SPEED_MAX 200000
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// unclearable status
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#define BUSY_STATE (1<<3)
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const char *devstatus(uint8_t status, uint8_t bit);
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const char *errname(uint8_t error, uint8_t bit);
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SDO_dic_entry *dictentry_search(uint16_t index, uint8_t subindex);
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//int get_current_position(uint8_t NID);
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#endif // PUSIROBOT_H__
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