#ifndef __RCSERVO_H #define __RCSERVO_H #include "defines.h" #ifdef __cplusplus extern "C" { #endif RBAPI(bool) rcservo_InUse(void); RBAPI(bool) rcservo_Init(unsigned long usedchannels); //-- values for the "usedchannels" argument (note that different values can be added to use multiple channels) #define RCSERVO_USENOPIN (0L) #define RCSERVO_USEPINS1 (1L) #define RCSERVO_USEPINS2 (1L<<1) #define RCSERVO_USEPINS3 (1L<<2) #define RCSERVO_USEPINS4 (1L<<3) #define RCSERVO_USEPINS5 (1L<<4) #define RCSERVO_USEPINS6 (1L<<5) #define RCSERVO_USEPINS7 (1L<<6) #define RCSERVO_USEPINS8 (1L<<7) #define RCSERVO_USEPINS9 (1L<<8) #define RCSERVO_USEPINS10 (1L<<9) #define RCSERVO_USEPINS11 (1L<<10) #define RCSERVO_USEPINS12 (1L<<11) #define RCSERVO_USEPINS13 (1L<<12) #define RCSERVO_USEPINS14 (1L<<13) #define RCSERVO_USEPINS15 (1L<<14) #define RCSERVO_USEPINS16 (1L<<15) #define RCSERVO_USEPINS17 (1L<<16) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS18 (1L<<17) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS19 (1L<<18) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS20 (1L<<19) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS21 (1L<<20) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS22 (1L<<21) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS23 (1L<<22) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS24 (1L<<23) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USEPINS25 (1L<<24) // only for RoBoard RB-100b1 #define RCSERVO_USEPINS26 (1L<<25) // only for RoBoard RB-100b1 #define RCSERVO_USEPINS27 (1L<<26) // only for RoBoard RB-100b1 #define RCSERVO_USEPINS28 (1L<<27) // only for RoBoard RB-100b1 #define RCSERVO_USEPINS29 (1L<<28) // only for RoBoard RB-100b1 #define RCSERVO_USEPINS30 (1L<<29) // only for RoBoard RB-100b1 #define RCSERVO_USEPINS31 (1L<<30) // only for RoBoard RB-100b1 #define RCSERVO_USEPINS32 (1L<<31) // only for RoBoard RB-100b1 //-- if the above function returns false, roboio_GetErrCode() may return: // #define ERROR_RBVER_UNKNOWN (ERR_NOERROR + 801) //need include // #define ERROR_RBVER_UNMATCH (ERR_NOERROR + 800) //need include // #define ERROR_IOINITFAIL (ERR_NOERROR + 100) //need include // #define ERROR_IOSECTIONFULL (ERR_NOERROR + 101) //need include // #define ERROR_CPUUNSUPPORTED (ERR_NOERROR + 102) //need include // #define ERROR_PWM_INUSE (ERR_NOERROR + 300) //need include #define ERROR_RCSERVO_INUSE (ERR_NOERROR + 400) #define ERROR_RCSERVO_PWMINUSE (ERR_NOERROR + 401) RBAPI(void) rcservo_Close(void); RBAPI(bool) rcservo_SetServo(int channel, unsigned servono); //-- values for the "channel" argument #define RCSERVO_PINS1 (0) #define RCSERVO_PINS2 (1) #define RCSERVO_PINS3 (2) #define RCSERVO_PINS4 (3) #define RCSERVO_PINS5 (4) #define RCSERVO_PINS6 (5) #define RCSERVO_PINS7 (6) #define RCSERVO_PINS8 (7) #define RCSERVO_PINS9 (8) #define RCSERVO_PINS10 (9) #define RCSERVO_PINS11 (10) #define RCSERVO_PINS12 (11) #define RCSERVO_PINS13 (12) #define RCSERVO_PINS14 (13) #define RCSERVO_PINS15 (14) #define RCSERVO_PINS16 (15) #define RCSERVO_PINS17 (16) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS18 (17) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS19 (18) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS20 (19) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS21 (20) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS22 (21) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS23 (22) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS24 (23) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_PINS25 (24) // only for RoBoard RB-100b1 #define RCSERVO_PINS26 (25) // only for RoBoard RB-100b1 #define RCSERVO_PINS27 (26) // only for RoBoard RB-100b1 #define RCSERVO_PINS28 (27) // only for RoBoard RB-100b1 #define RCSERVO_PINS29 (28) // only for RoBoard RB-100b1 #define RCSERVO_PINS30 (29) // only for RoBoard RB-100b1 #define RCSERVO_PINS31 (30) // only for RoBoard RB-100b1 #define RCSERVO_PINS32 (31) // only for RoBoard RB-100b1 RBAPI(bool) rcservo_SetServos(unsigned long channels, unsigned servono); //-- values for the "channels" argument (note that different values can be added to use multiple channels) // #define RCSERVO_USEPINS1 (1L) // #define RCSERVO_USEPINS2 (1L<<1) // ...... (refer to the "usedchannels" argument of rcservo_Init()) //-- values for the "servono" argument #define RCSERVO_SERVO_DEFAULT (0x00) //conservative setting for most servos with pulse feedback #define RCSERVO_SERVO_DEFAULT_NOFB (0x01) //conservative setting for most servos without pulse feedback #define RCSERVO_KONDO_KRS786 (0x11) #define RCSERVO_KONDO_KRS788 (0x12) #define RCSERVO_KONDO_KRS78X (0x13) #define RCSERVO_KONDO_KRS4014 (0x14) //not directly work on RB-100/RB-110 due to the unmatched PWM pull-up/-down resistors #define RCSERVO_KONDO_KRS4024 (0x15) // #define RCSERVO_KONDO_KRS4034 (0x16) //not directly work on RB-100/RB-100RD/RB-110/RB-050 due to the unmatched PWM pull-up/-down resistors #define RCSERVO_HITEC_HSR8498 (0x22) #define RCSERVO_FUTABA_S3003 (0x31) #define RCSERVO_SHAYYE_SYS214050 (0x41) #define RCSERVO_TOWERPRO_MG995 (0x51) #define RCSERVO_TOWERPRO_MG996 (0x52) #define RCSERVO_DMP_RS0263 (0x61) #define RCSERVO_DMP_RS1270 (0x62) #define RCSERVO_GWS_S777 (0x71) #define RCSERVO_GWS_S03T (0x72) #define RCSERVO_GWS_MICRO (0x73) //-- if the above two functions return false, roboio_GetErrCode() may return: // #define ERROR_RCSERVO_INUSE (ERR_NOERROR + 400) #define ERROR_RCSERVO_UNKNOWNSERVO (ERR_NOERROR + 461) #define ERROR_RCSERVO_WRONGCHANNEL (ERR_NOERROR + 462) RBAPI(bool) rcservo_SetServoType(int channel, unsigned svtype, unsigned fbmethod); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) //-- values for the "type" argument #define RCSERVO_SV_FEEDBACK (1) //servo with pulse feedback #define RCSERVO_SV_NOFEEDBACK (2) //servo without pulse feedback //-- values for the "fbmethod" argument (note that different values can be added to use multiple settings) #define RCSERVO_FB_SAFEMODE (0) #define RCSERVO_FB_FASTMODE (1) //much faster than safe mode but could cause servo's shake #define RCSERVO_FB_DENOISE (1<<1) //use denoise filter; more accurate but very slow //-- if the above function returns false, roboio_GetErrCode() may return: // #define ERROR_RCSERVO_WRONGCHANNEL (ERR_NOERROR + 462) RBAPI(bool) rcservo_SetServoParams1(int channel, unsigned long period, unsigned long minduty, unsigned long maxduty); RBAPI(bool) rcservo_SetServoParams2(int channel, unsigned long invalidduty, unsigned long minlowphase); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) //-- if the above functions return false, roboio_GetErrCode() may return: // #define ERROR_RCSERVO_INUSE (ERR_NOERROR + 400) // #define ERROR_RCSERVO_WRONGCHANNEL (ERR_NOERROR + 462) #define ERROR_RCSERVO_INVALIDPARAMS (ERR_NOERROR + 463) RBAPI(bool) rcservo_SetReadFBParams1(int channel, unsigned long initdelay, unsigned long lastdelay, unsigned long maxwidth); RBAPI(bool) rcservo_SetReadFBParams2(int channel, unsigned long resolution, long offset); RBAPI(bool) rcservo_SetReadFBParams3(int channel, int maxfails, int filterwidth); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) //-- if the above functions return false, roboio_GetErrCode() may return: // #define ERROR_RCSERVO_INUSE (ERR_NOERROR + 400) // #define ERROR_RCSERVO_WRONGCHANNEL (ERR_NOERROR + 462) // #define ERROR_RCSERVO_INVALIDPARAMS (ERR_NOERROR + 463) RBAPI(bool) rcservo_SetCmdPulse(int channel, int cmd, unsigned long duty); RBAPI(bool) rcservo_SetPlayModeCMD(int channel, int cmd); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) //-- values for the "cmd" argument #define RCSERVO_CMD_POWEROFF (0) #define RCSERVO_CMD1 (1) #define RCSERVO_CMD2 (2) #define RCSERVO_CMD3 (3) #define RCSERVO_CMD4 (4) #define RCSERVO_CMD5 (5) #define RCSERVO_CMD6 (6) #define RCSERVO_CMD7 (7) //-- if the above function return false, roboio_GetErrCode() may return: // #define ERROR_RCSERVO_WRONGCHANNEL (ERR_NOERROR + 462) // #define ERROR_RCSERVO_INVALIDPARAMS (ERR_NOERROR + 463) //****************** Functions in Capture Mode ********************* RBAPI(void) rcservo_EnterCaptureMode(void); RBAPI(unsigned long) rcservo_ReadPosition(int channel, int cmd); RBAPI(unsigned long) rcservo_ReadPositionDN(int channel, int cmd); // for backward compatibility to RoBoIO 1.1 //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) RBAPI(void) rcservo_ReadPositions(unsigned long channels, int cmd, unsigned long* width); RBAPI(void) rcservo_ReadPositionsDN(unsigned long channels, int cmd, unsigned long* width); // for backward compatibility to RoBoIO 1.1 //-- values for the "channels" argument (note that different values can be added to use multiple channels) // #define RCSERVO_USEPINS1 (1L) // #define RCSERVO_USEPINS2 (1L<<1) // ...... (refer to the "usedchannels" argument of rcservo_Init()) //-- values for the "cmd" argument // #define RCSERVO_CMD_POWEROFF (0) // #define RCSERVO_CMD1 (1) // ...... (refer to the "cmd" argument of rcservo_SetCmdPulse()) //-- each return value (= 0xffffffffL if fails) of the above functions indicates the length of the feedback pulse, // which is equal to [return value] * [resolution] * 0.1us, where [resolution] is set by rcservo_SetReadFBParams2() RBAPI(unsigned long) rcservo_CapOne(int channel); // simplified version of rcservo_ReadPosition() RBAPI(bool) rcservo_CapAll(unsigned long* width); // simplified version of rcservo_ReadPositions() //enable/disable multiprogramming OS heuristic RBAPI(void) rcservo_EnableMPOS(void); RBAPI(void) rcservo_DisableMPOS(void); RBAPI(void) rcservo_SendCMD(int channel, int cmd); //-- values for the "channels" argument (note that different values can be added to use multiple channels) // #define RCSERVO_USEPINS1 (1L) // #define RCSERVO_USEPINS2 (1L<<1) // ...... (refer to the "usedchannels" argument of rcservo_Init()) //-- values for the "cmd" argument // #define RCSERVO_CMD_POWEROFF (0) // #define RCSERVO_CMD1 (1) // ...... (refer to the "cmd" argument of rcservo_SetCmdPulse()) //****************** Functions in Play Mode ************************ RBAPI(void) rcservo_EnterPlayMode(void); RBAPI(void) rcservo_EnterPlayMode_NOFB(unsigned long* width); RBAPI(void) rcservo_EnterPlayMode_HOME(unsigned long* width); RBAPI(void) rcservo_SetFPS(int fps); RBAPI(void) rcservo_SetAction(unsigned long* width, unsigned long playtime); RBAPI(int) rcservo_PlayAction(void); RBAPI(int) rcservo_PlayActionMix(long* mixwidth); //-- return values of rcservo_PlayAction() #define RCSERVO_PLAYEND (0) #define RCSERVO_PLAYING (1) #define RCSERVO_PAUSED (2) //-- special width values for mixwidth[i] #define RCSERVO_MIXWIDTH_POWEROFF (0x7fffff00L) #define RCSERVO_MIXWIDTH_CMD1 (0x7fffff01L) #define RCSERVO_MIXWIDTH_CMD2 (0x7fffff02L) #define RCSERVO_MIXWIDTH_CMD3 (0x7fffff03L) #define RCSERVO_MIXWIDTH_CMD4 (0x7fffff04L) #define RCSERVO_MIXWIDTH_CMD5 (0x7fffff05L) #define RCSERVO_MIXWIDTH_CMD6 (0x7fffff06L) #define RCSERVO_MIXWIDTH_CMD7 (0x7fffff07L) RBAPI(void) rcservo_PauseAction(void); RBAPI(void) rcservo_ReleaseAction(void); RBAPI(void) rcservo_StopAction(void); RBAPI(void) rcservo_GetAction(unsigned long* width); RBAPI(void) rcservo_MoveTo(unsigned long* width, unsigned long playtime); RBAPI(void) rcservo_MoveOne(int channel, unsigned long pos, unsigned long playtime); //****************** Functions in PWM Mode ************************* RBAPI(void) rcservo_EnterPWMMode(void); RBAPI(bool) rcservo_SendPWM(int channel, unsigned long period, unsigned long duty, unsigned long count); RBAPI(bool) rcservo_SendCPWM(int channel, unsigned long period, unsigned long duty); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) //-- if the above function returns false, roboio_GetErrCode() may return: #define ERROR_RCSERVO_PWMFAIL (ERR_NOERROR + 430) RBAPI(void) rcservo_StopPWM(int channel); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) RBAPI(unsigned long) rcservo_CheckPWM(int channel); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) //-- returns the remaining number of pulses to send (returns 0xffffffffL for continuous pulses) //******************* Functions for GPIO Channels ****************** RBAPI(void) rcservo_OutPin(int channel, int value); RBAPI(int) rcservo_InPin(int channel); //-- values for the "channel" argument // #define RCSERVO_PINS1 (0) // #define RCSERVO_PINS2 (1) // ...... (refer to the "channel" argument of rcservo_SetServo()) RBAPI(void) rcservo_OutPort(unsigned long channels, unsigned long values); RBAPI(unsigned long) rcservo_InPort(unsigned long channels); //-- values for the "channels" argument (note that different values can be added to use multiple channels) // #define RCSERVO_USEPINS1 (1L) // #define RCSERVO_USEPINS2 (1L<<1) // ...... (refer to the "usedchannels" argument of rcservo_Init()) //*********** Constants for Compatibility to RoBoIO 1.61 *********** #define RCSERVO_USENOCHANNEL (0L) #define RCSERVO_USECHANNEL0 (1L) #define RCSERVO_USECHANNEL1 (1L<<1) #define RCSERVO_USECHANNEL2 (1L<<2) #define RCSERVO_USECHANNEL3 (1L<<3) #define RCSERVO_USECHANNEL4 (1L<<4) #define RCSERVO_USECHANNEL5 (1L<<5) #define RCSERVO_USECHANNEL6 (1L<<6) #define RCSERVO_USECHANNEL7 (1L<<7) #define RCSERVO_USECHANNEL8 (1L<<8) #define RCSERVO_USECHANNEL9 (1L<<9) #define RCSERVO_USECHANNEL10 (1L<<10) #define RCSERVO_USECHANNEL11 (1L<<11) #define RCSERVO_USECHANNEL12 (1L<<12) #define RCSERVO_USECHANNEL13 (1L<<13) #define RCSERVO_USECHANNEL14 (1L<<14) #define RCSERVO_USECHANNEL15 (1L<<15) #define RCSERVO_USECHANNEL16 (1L<<16) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL17 (1L<<17) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL18 (1L<<18) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL19 (1L<<19) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL20 (1L<<20) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL21 (1L<<21) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL22 (1L<<22) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL23 (1L<<23) // only for RoBoard RB-100/RB-100b1/RB-100b2 #define RCSERVO_USECHANNEL24 (1L<<24) // only for RoBoard RB-100b1 #define RCSERVO_USECHANNEL25 (1L<<25) // only for RoBoard RB-100b1 #define RCSERVO_USECHANNEL26 (1L<<26) // only for RoBoard RB-100b1 #define RCSERVO_USECHANNEL27 (1L<<27) // only for RoBoard RB-100b1 #define RCSERVO_USECHANNEL28 (1L<<28) // only for RoBoard RB-100b1 #define RCSERVO_USECHANNEL29 (1L<<29) // only for RoBoard RB-100b1 #define RCSERVO_USECHANNEL30 (1L<<30) // only for RoBoard RB-100b1 #define RCSERVO_USECHANNEL31 (1L<<31) // only for RoBoard RB-100b1 RBAPI(bool) rcservo_Initialize(unsigned long usedchannels); // for compatibility to RoBoIO 1.61 #ifdef __cplusplus } #endif /**************************** Inline Functions **************************/ #ifdef ROBOIO_DLL //use no inline functions for DLL #ifdef __cplusplus extern "C" { #endif // for compatibility to RoBoIO 1.61 RBAPI(void) rcservo_MoveToMix(unsigned long* width, unsigned long playtime, long* mixwidth); RBAPI(bool) rcservo_SendPWMPulses(int channel, unsigned long period, unsigned long duty, unsigned long count); RBAPI(bool) rcservo_IsPWMCompleted(int channel); RBAPI(void) rcservo_Outp(int channel, int value); RBAPI(int) rcservo_Inp(int channel); RBAPI(void) rcservo_Outps(unsigned long channels, unsigned long value); RBAPI(unsigned long) rcservo_Inps(unsigned long channels); #ifdef __cplusplus } #endif #endif #if !defined(ROBOIO_DLL) || defined(__RCSERVO_LIB) // for compatibility to RoBoIO 1.61 RB_INLINE RBAPI(void) rcservo_MoveToMix(unsigned long* width, unsigned long playtime, long* mixwidth) { rcservo_SetAction(width, playtime); while (rcservo_PlayActionMix(mixwidth) != RCSERVO_PLAYEND); } RB_INLINE RBAPI(bool) rcservo_SendPWMPulses(int channel, unsigned long period, unsigned long duty, unsigned long count) { return rcservo_SendPWM(channel, period, duty, count); } RB_INLINE RBAPI(bool) rcservo_IsPWMCompleted(int channel) { if (rcservo_CheckPWM(channel) == 0L) return true; else return false; } RB_INLINE RBAPI(void) rcservo_Outp(int channel, int value) { rcservo_OutPin(channel, value); } RB_INLINE RBAPI(int) rcservo_Inp(int channel) { return rcservo_InPin(channel); } RB_INLINE RBAPI(void) rcservo_Outps(unsigned long channels, unsigned long value) { rcservo_OutPort(channels, value); } RB_INLINE RBAPI(unsigned long) rcservo_Inps(unsigned long channels) { return rcservo_InPort(channels); } #endif /*----------------------- end of Inline Functions ----------------------*/ #endif