/****************************************************************************/ /* Copyright 1994 to 1996 MBARI */ /****************************************************************************/ /* Summary : Pan and Tilt Application definitions */ /* Filename : panTilt.h */ /* Author : Andrew Pearce */ /* Project : Tiburon ROV */ /* Version : Version 1.0 */ /* Created : 02/07/94 */ /* Modified : 04/01/96 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/h/pantilt.h,v 1.2 1997/09/09 17:30:35 pean Exp $ * $Log: pantilt.h,v $ * Revision 1.2 1997/09/09 17:30:35 pean * *** empty log message *** * * Revision 1.1.1.1 1997/05/02 17:15:39 pean * Initial release of the microcontroller software after Tiburon * Moolpool Dive to test IView, Lapboxes, modified Power can * GF/5V using bus capacitance mode. * */ /****************************************************************************/ #define TEMP_WARN_THRESH 45 /* Temperature Warn Threshold degs */ #define TEMP_ALARM_THRESH 50 /* Temperature Alarm Threshold degs */ #define TEMPERATURE_HYSTERESIS 5 /* Temeprature Alarm Hystesis degs */ #define MAX_TEMP_VALUE 120 /* Maximum temperature measurement */ #define STEPPER_TEMP_WARN_THRESH 75 /* Stepper Temp Warn Threshold degs */ #define STEPPER_TEMP_ALARM_THRESH 85 /* Stepper Temp Alarm Threshold degs*/ #define HUMIDITY_WARN_THRESH 10 /* Set humidity warning to 10% RH */ #define HUMIDITY_ALARM_THRESH 20 /* Set humidity alarm to 20% RH */ #define HUMIDITY_HYSTERESIS 2 /* Humidity sensor hysteresis 2% */ #define LIGHT_PAN 0 /* Light Pan Index */ #define LIGHT_TILT 1 /* Light Tilt Index */ #define CAMERA_PAN 2 /* Camera Pan Index */ #define CAMERA_TILT 3 /* Camera Tilt Index */ #define PT_LIGHT_PAN_SERIAL_CHAN 0 /* Light Pan Serial Channel */ #define PT_LIGHT_TILT_SERIAL_CHAN 1 /* Light Tilt Serial Channel */ #define PT_CAMERA_PAN_SERIAL_CHAN 2 /* Camera Pan Serial Channel */ #define PT_CAMERA_TILT_SERIAL_CHAN 3 /* Camera Tilt Serial Channel */ #define PT_BUFFER_SIZE 128 /* Transmit & Receive Buffer Sizes */ /* Macro for extracting limit status*/ #define PT_CW_LIMIT(limitSw) (limitSw & 0x01) #define PT_CCW_LIMIT(limitSw) (limitSw & 0x02) /* Gets P/T Move and Fault bits */ #define PT_MOVE_BIT(pt) (0x01 << (pt + pt)) #define PT_FAULT_BIT(pt) (0x01 << (pt + pt + 1)) /* Macros for identifying the axis */ #define PT_IS_PAN_AXIS(pt) ((pt == LIGHT_PAN) || (pt == CAMERA_PAN)) #define PT_IS_PT10(pt) ((pt == LIGHT_PAN) || (pt == LIGHT_TILT)) #define PT_GEAR_RATIO(pt) \ ( PT_IS_PT10(pt) ? PT_10_GEAR_RATIO : PT_25_GEAR_RATIO ) #define PT_MAX_VEL_CMD 5000 /* Maximum value of velocity command*/ #define PT_MOVE_START_TIME 5 /* P/T starts moving in 50 msec */ #define PT_POSITION_TIMEOUT 8 /* Worst case position data 80 msec */ #define PT_CAL_TABLE_SIZE 74 #define PT_CAL_ENTRIES_PER_PACKET 100 #define GET_TEMPERATURE 0x01 /* Get Temperature Sensor Value */ #define GET_TEMP_ALARM_STATUS 0x02 /* Get Temperature Alarm Status */ #define GET_TEMP_ALARM_THRESH 0x03 /* Get Temperature Alarm Threshold */ #define SET_TEMP_ALARM_THRESH 0x04 /* Set Temperature Alarm Threshold */ #define GET_HUMIDITY 0x05 /* Get Humidity Sensor Reading */ #define GET_HUMIDITY_ALARM 0x06 /* Get Humidity Alarm Status */ #define GET_HUMIDITY_THRESH 0x07 /* Get Humidity Alarm Threshold */ #define SET_HUMIDITY_THRESH 0x08 /* Set Humidity Alarm Threshold */ #define GET_WATER_ALARM 0x09 /* Get water alarm status word */ #define GET_STEPPER_TEMP 0x0a /* Get Stepper Temperature */ #define GET_STEPPER_TEMP_ALARM 0x0b /* Get Stepper Temp Alarm */ #define GET_STEPPER_TEMP_ALARM_THRESH 0x0c /* Get Stepper Temp Thresholds */ #define SET_STEPPER_TEMP_ALARM_THRESH 0x0d /* Set Stepper Temp Thresholds */ #define SEND_INTERP_TABLE 0x0e /* Send interpolation table */ #define INTERP_TABLE_LOADED 0x0f /* Interpolation table loaded */ #define INITIALIZE_PT_CTRL 0x10 /* Initialize Pan/Tilt Controller */ #define GET_PAN_TILT_PARAMS 0x12 /* Get all Pan/Tilt Parameters */ #define SEND_PAN_TILT_COMMAND 0x13 /* Send command string to pan/tilt */ #define READ_PAN_TILT_DATA 0x14 /* Read data from pan/tilt */ #define SET_PT_SETTLING_TIME 0x15 /* Set Pan/Tilt settling time */ #define CLEAR_PT_FAULT 0x16 /* Clear Pan/Tilt Fault Condition */ #define HOME_PT_TO_ZERO_POS 0x17 /* Home Pan/Tilt to Zero position */ #define WRITE_PT_NVRAM 0x18 /* Store Params in Non-volatile RAM */ #define VELOCITY_MOVE 0x19 /* Move Pan/Tilt to a new position */ #define POSITION_MOVE 0x1a /* Move Pan/Tilt to a new position */ #define GET_PT_LIMIT_SWITCHES 0x1b /* Get Pan/Tilt limit switch status */ #define GET_PT_LIMIT_POS 0x1c /* Get Pan/Tilt limit positions */ #define SET_PT_LIMIT_POS 0x1d /* Set Pan/Tilt limit positions */ #define RESET_PT_CTRL 0x21 /* Reset Stepper Motor Controller */ #define SET_PAN_TILT_AUTO_CTRL 0x22 /* Set Pan/Tilt automatic control */ #define CONTROLLER_STRING 0x23 /* Send String to stepper ctrl */ #define VELOCITY_MOVE_ALL 0x24 /* Move All Pan/Tilts velocity mode */ #define VELOCITY_MOVE_WITH_FB 0x25 /* Velocity move all with feedback */ #define GET_PT_STEPPER_POSITIONS 0x26 /* Get all Pan/Tilt Positions */ #define GET_PT_ANALOG_POSITIONS 0x27 /* Get all Analog Pan/Tilt Positions */ #define CALIBRATE_ATOD 0x28 /* Calibrate A/D Convertor */ /* Pan & Tilt Application Service Requests*/ #define HUMIDITY_ALARM_SRQ APPLIC_SRQ_BASE | 0x01 #define TEMPERATURE_ALARM_SRQ APPLIC_SRQ_BASE | 0x02 #define STEPPER_TEMP_ALARM_SRQ APPLIC_SRQ_BASE | 0x03 #define PT_FAULT_SRQ APPLIC_SRQ_BASE | 0x04 #define PT_MOVE_ERROR_SRQ APPLIC_SRQ_BASE | 0x05 #define PT_ZERO_POS_ERROR_SRQ APPLIC_SRQ_BASE | 0x06 #define PT_LIMIT_SWITCH_SRQ APPLIC_SRQ_BASE | 0x07