TURAG-Feldbus/flexible__io__protocol_8h_source.html

#ifndef TURAG_FELDBUS_FUER_STELLANTRIEBE_H_

#define TURAG_FELDBUS_FUER_STELLANTRIEBE_H_


#include "base_protocol.h"


#define TURAG_FELDBUS_STELLANTRIEBE_DEVICE_TYPE_DC (0x01)

#define TURAG_FELDBUS_STELLANTRIEBE_DEVICE_TYPE_SERVO (0x02)

#define TURAG_FELDBUS_STELLANTRIEBE_DEVICE_TYPE_STEPPER (0x03)

#define TURAG_FELDBUS_STELLANTRIEBE_DEVICE_TYPE_POWERPLANE (0x04)

#define TURAG_FELDBUS_STELLANTRIEBE_DEVICE_TYPE_ESCON (0x05)

#define TURAG_FELDBUS_STELLANTRIEBE_DEVICE_TYPE_FARBSENSOR (0x06)


#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_FACTOR_CONTROL_VALUE (0.0f)


#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_ACCESS_READ_ONLY_ACCESS (0x00)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_ACCESS_WRITE_ONLY_ACCESS (0x01)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_ACCESS_READ_AND_WRITE_ACCESS (0x02)


#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_LENGTH_NONE (0x00)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_LENGTH_CHAR (0x01)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_LENGTH_SHORT (0x02)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_LENGTH_LONG (0x04)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_LENGTH_NONE_TEXT (0x05)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_LENGTH_FLOAT (0x06)


#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_INFO_GET (0x00)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_INFO_GET_COMMANDSET_SIZE (0x01)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_INFO_GET_NAME_LENGTH (0x02)

#define TURAG_FELDBUS_STELLANTRIEBE_COMMAND_INFO_GET_NAME (0x03)


#define TURAG_FELDBUS_STELLANTRIEBE_STRUCTURED_OUTPUT_GET (0xFF)


#define TURAG_FELDBUS_STELLANTRIEBE_STRUCTURED_OUTPUT_CONTROL (0xFF)

#define TURAG_FELDBUS_STELLANTRIEBE_STRUCTURED_OUTPUT_SET_STRUCTURE (0x00)

#define TURAG_FELDBUS_STELLANTRIEBE_STRUCTURED_OUTPUT_GET_BUFFER_SIZE (0x01)


#define TURAG_FELDBUS_STELLANTRIEBE_STRUCTURED_OUTPUT_TABLE_OK (0x01)

#define TURAG_FELDBUS_STELLANTRIEBE_STRUCTURED_OUTPUT_TABLE_REJECTED (0x00)


#define RS485_STELLANTRIEBE_KEY_CURRENT_ANGLE (0x01)

#define RS485_STELLANTRIEBE_KEY_DESIRED_ANGLE (0x02)

#define RS485_STELLANTRIEBE_KEY_MAX_ANGLE (0x03)

#define RS485_STELLANTRIEBE_KEY_MIN_ANGLE (0x04)


#define RS485_STELLANTRIEBE_KEY_CURRENT_VELOCITY (0x05)

#define RS485_STELLANTRIEBE_KEY_DESIRED_VELOCITY (0x06)

#define RS485_STELLANTRIEBE_KEY_MAX_VELOCITY (0x07)


#define RS485_STELLANTRIEBE_KEY_CURRENT_CURRENT (0x08)

#define RS485_STELLANTRIEBE_KEY_DESIRED_CURRENT (0x09)

#define RS485_STELLANTRIEBE_KEY_MAX_CURRENT (0x0A)


#define RS485_STELLANTRIEBE_KEY_CURRENT_PWM (0x0B)

#define RS485_STELLANTRIEBE_KEY_DESIRED_PWM (0x0C)

#define RS485_STELLANTRIEBE_KEY_MAX_PWM (0x0D)


#define RS485_STELLANTRIEBE_KEY_VOLTAGE (0x0E)

#define RS485_STELLANTRIEBE_KEY_STATUS (0x0F)

#define RS485_STELLANTRIEBE_KEY_CONTROL_STATE (0x10)


#define RS485_STELLANTRIEBE_CONTROL_STATE_ENABLE (1)

#define RS485_STELLANTRIEBE_CONTROL_STATE_DISABLE (0)


#define RS485_STELLANTRIEBE_STATUS_NONE (0)

#define RS485_STELLANTRIEBE_STATUS_ANGLE_REACHED (1 << 0)

#define RS485_STELLANTRIEBE_STATUS_VELOCITY_REACHED (1 << 1)

#define RS485_STELLANTRIEBE_STATUS_CURRENT_REACHED (1 << 2)

#define RS485_STELLANTRIEBE_STATUS_ERROR (1 << 3)


// ----------------------------------------------

// ----------------------------------------------

#define RS485_STELLANTRIEBE_SERVO_KEY_CTRL_POS_GAIN_P (0x11)    // P-Gain for Position control

#define RS485_STELLANTRIEBE_SERVO_KEY_CTRL_POS_GAIN_I (0x12)    // I-Gain Position control

#define RS485_STELLANTRIEBE_SERVO_KEY_CTRL_CUR_GAIN_P (0x13)    // P-Gain Current control

#define RS485_STELLANTRIEBE_SERVO_KEY_CTRL_CUR_GAIN_I (0x14)    // I-Gain Current control

#define RS485_STELLANTRIEBE_SERVO_KEY_CTRL_CUR_STATIC_FF (0x15) // current static feed forward


#define RS485_STELLANTRIEBE_DC_KEY_SWITCH_STATUS (0x11)

#define RS485_STELLANTRIEBE_DC_KEY_RETURN_TO_HOME (0x12) // requests the slave to return to some defined position where it adjusts its current angle appropriately, takes velocity as argument


#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_DESIRED_ANGLE "desiredAngle"

#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_CURRENT_ANGLE "currentAngle"

#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_MAX_VELOCITY "maxVelocity"

#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_HOME "home"

#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_STATUS "status"

#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_SYNC_ANGLE "syncAngle"

#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_SYNC_HOME "syncHome"

#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_ENABLE "enable"


#define TURAG_FELDBUS_STELLANTRIEBE_STEPPER_STATUS_ANGLE_REACHED (0x01)


#define TURAG_FELDBUS_STELLANTRIEBE_BROADCAST_SYNC_ANGLE (0x01)

#define TURAG_FELDBUS_STELLANTRIEBE_BROADCAST_SYNC_HOME (0x02)


#define TURAG_FELDBUS_STELLANTRIEBE_ESCON_CURRENT_CURRENT "current_current"

#define TURAG_FELDBUS_STELLANTRIEBE_ESCON_CURRENT_RPM "current_rpm"

#define TURAG_FELDBUS_STELLANTRIEBE_ESCON_CURRENT_STATUS "current_status"

#define TURAG_FELDBUS_STELLANTRIEBE_ESCON_SET_ENABLE "set_enable"

#define TURAG_FELDBUS_STELLANTRIEBE_ESCON_SET_DIRECTION "set_direction"

#define TURAG_FELDBUS_STELLANTRIEBE_ESCON_DESIRED_CURRENT "desired_current"


#define TURAG_FELDBUS_STELLANTRIEBE_BROADCAST_SYNC_ESCON (0x03)


#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_MEASURED_POSITION "measuredPosition"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_DESIRED_POSITION "desiredPosition"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_MAX_POSITION "maxPosition"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_MIN_POSITION "minPosition"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_MEASURED_CURRENT "measuredCurrent"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_DESIRED_CURRENT "desiredCurrent"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_MAX_CURRENT "maxCurrent"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_CTR_MODE "ctrMode"

#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_ENABLE "enable"

#define TURAG_FLEDBUD_STELLANTRIEBE_SERVO_INVERT "inversionFactor"


#define TURAG_FELDBUS_STELLANTRIEBE_SERVO_STATUS_ANGLE_REACHED (0x01)


#define TURAG_FELDBUS_STELLANTRIEBE_BROADCAST_SERVO_SYNC_ANGLE (0x01)

#define TURAG_FELDBUS_STELLANTRIEBE_BROADCAST_SERVO_SYNC_HOME (0x02)

#endif