des70_10.h

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#include <termios.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <termio.h>
#include <fcntl.h>
#include <string.h>
#include <stdio.h>
#include <atlasmv_base/crc.h>
#include <atlasmv_base/timer.h>

typedef struct{
        int baudrate;
        
        int sys_config;
        int cur_reg_gain_p;
        int cur_reg_gain_i;
        int max_cur_output;
        int speed_reg_gain_p;
        int speed_reg_gain_i;
        int internal_param1;
        int internal_param2;
        int internal_param3;
        int max_speed_error;
        int setting_unit_gain;
        int setting_unit_offset;
        int setting_unit_delay;
        int peak_current;
        int max_cont_current;
        int therm_const;
        int max_speed;
        int acceleration;
        int speed_constant;
        int enc_resolution;
        int pole_pair_number;
        int internal_param4;
        int rpm2qc_factor;
        int index_offset;
        int pwm_period;
        int max_duty_cycle;
        int cur_det_ph_u_offset;
        int cur_det_ph_v_offset;
        int ad_conv_offset;
        int can_module_id;
        int can_service_id;
        int can_rx_pdo_id;
        int can_tx_pdo_id;
        int can_bcr1;
        int can_bcr2;
        int can_op_mode;
        int can_rx_sdo_id;
        int can_tx_sdo_id;
        int can_rtr0_id;
        int can_rtr1_id;
        int can_config;
        int internal_param5;
        int error_proc;
        int max_speed_curr;
        int hall_angle_offs;
}TYPE_des_sysparam;

enum ENUM_DES_SYS_PARAMS
{
        BAUDRATE = 0, 
        SYS_CONFIG = 1,
        CUR_REG_GAIN_P = 2,
        CUR_REG_GAIN_I = 3,
        MAX_CUR_OUTPUT = 4,
        SPEED_REG_GAIN_P = 5,
        SPEED_REG_GAIN_I = 6,
        INTERNAL_PARAM1 = 7,
        INTERNAL_PARAM2 = 8,
        INTERNAL_PARAM3 = 9,
        MAX_SPEED_ERROR = 10,
        SETTING_UNIT_GAIN = 11,
        SETTING_UNIT_OFFSET = 12,
        SETTING_UNIT_DELAY = 13,
        PEAK_CURRENT = 14,
        MAX_CONT_CURRENT = 15,
        THERM_CONST = 16,
        MAX_SPEED = 17,
        ACCELERATION = 18,
        SPEED_CONSTANT = 19,
        ENC_RESOLUTION = 20,
        POLE_PAIR_NUMBER = 21,
        INTERNAL_PARAM4 = 22,
        RPM_2QC_FACTOR = 23,
        INDEX_OFFSET = 24,
        PWM_PERIOD = 25,
        MAX_DUTY_CYCLE = 26,
        CUR_DET_PH_U_OFFSET = 27,
        CUR_DET_PH_V_OFFSET = 28,
        AD_CONV_OFFSET = 29,
        CAN_MODULE_ID = 30,
        CAN_SERVICE_ID = 31,
        CAN_RX_PDO_ID = 32,
        CAN_TX_PDO_ID = 33,
        CAN_BCR1 = 34,
        CAN_BCR2 = 35,
        CAN_OP_MODE = 36,
        CAN_RX_SDO_ID = 37,
        CAN_TX_SDO_ID = 38,
        CAN_RTR0_ID = 39,
        CAN_RTR1_ID = 40,
        CAN_CONFIG = 41,
        INTERNAL_PARAM5 = 42,
        ERROR_PROC = 43,
        MAX_SPEED_CURR = 44,
        HALL_ANGLE_OFFS = 45
};

typedef struct{
        int sys_op_status;
        int actual_mean_cur_d;
        int actual_mean_cur_q;
        int cur_setting_val;
        int rel_rot_pos_rev;
        int speed_setting_val;
        int actual_mean_speed_val;
        int abs_rotor_pos;
        int standard_error;
        int can_error;
        int actual_cur_q;
        int actual_speed_val;
        int error_hist1;
        int error_hist2;
        int enc_counter;
        int enc_counter_last_ind;
        int hall_sens_pat;
}TYPE_DES_status_var;

enum ENUM_DES_STATUS_VAR
{
        SYS_OP_STATUS = 128,
        ACTUAL_MEAN_CUR_D = 129,
        ACTUAL_MEAN_CUR_Q = 130,
        CUR_SETTING_VAL = 131,
        REL_ROT_POS_REV = 132,
        SPEED_SETTING_VAL = 133,
        ACTUAL_MEAN_SPEED_VAL = 134,
        ABS_ROTOR_POS = 135,
        STANDARD_ERROR = 136,
        CAN_ERROR = 137,
        ACTUAL_CUR_Q = 138,
        ACTUAL_SPEED_VAL = 139,
        ERROR_HIST1 = 140,
        ERROR_HIST2 = 141,
        ENC_COUNTER = 142,
        ENC_COUNTER_LAST_IND = 143,
        HALL_SENS_PAT = 144,
};

typedef struct{
        unsigned char OpCode;
        unsigned char data[520];
        int size;
        int crc;
}TYPE_msg_frame;



//####################################################################
// Prototypes:  for private functions can be declared #################
// in des70_10.c or preferably in des70_10_functions.c  ##
//####################################################################



//-------       des70_10_init.cpp               -------
int InitDES_communication(std::string com_device, int* port);

//-------       des70_10_functions.cpp  -------
int calc_crc_16(TYPE_msg_frame* msg);
int write_msg_inbuf(const int port, unsigned char* data, int size);
int check_msg_aceptance(const int port, float wait_time, unsigned char* msg);
int send_OpCode(const int port, unsigned char tries, unsigned char OpCode, char flg);
int send_data(const int port, TYPE_msg_frame* msg, char flg);
int read_buffer(const int port, TYPE_msg_frame* msg, char flg);
int send_msg_frame(const int port, TYPE_msg_frame* msg, char flg);
int DES_ST_read_sys_status(const int port, int* sys_status, char flg);
int DES_ST_read_error(const int port, int* errors, char flg);
int DES_ST_clear_errors(const int port, char flg);
int DES_ST_reset(const int port, char flg);
int DES_ST_enable(const int port, int* newState, char flg);
int DES_SPF_read_temp_param(const int port, int paramNb, int dataFormat, int* response, char flg);
int DES_SPF_set_temp_param(const int port, int paramNb, int dataFormat, int* newValue, char flg);
int DES_SPF_read_all_temp_param(const int port, TYPE_des_sysparam* sysparam, char flg);
int DES_SF_set_velocity(const int port, int newVelocity, char flg);
int DES_SF_set_current(const int port, int newCurrent, char flg);
int DES_SF_stop_motion(const int port, char flg);
int DES_MF_read_velocity_is_must(const int port, int vel_type, int* velocity, int* requested_vel, char flg);
int InitDES(const int port, TYPE_des_sysparam* newSysParam, char, char, char flg);
int stopDES(const int port, char flg);
int DES_set_new_baud(int* port, int baud, char flg);