/****************************************************************************/
/* Copyright 1997 MBARI                                                     */
/****************************************************************************/
/* Summary  : Lap Box Microcontroller Interface Module Defs for VxWorks     */
/* Filename : lapBox.h                                                      */
/* Author   : Douglas Au                                                    */
/* Project  : Tiburon ROV                                                   */
/* Version  : Version 1.0                                                   */
/* Created  : 02/11/97                                                      */
/* Modified : 02/11/97                                                      */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/* $Header: /usr/tiburon/.cvsroot/vw/h/lapBox.h,v 1.1.1.1 1997/05/16 22:33:04 pean Exp $
 * $Log: lapBox.h,v $
 * Revision 1.1.1.1  1997/05/16 22:33:04  pean
 * Initial check in after software freeze.
 *
 *
 */
/****************************************************************************/

#define LAP_BOX_STACKSIZE       5500    /* Lap Box Micro Stack Size & TCB   */
                                        /* Lap Box Data Mgr Item Prefix     */
#define LAP_BOX_DM_PREFIX       "TIBURON.LAP_BOX."
#define LAP_BOX1_DM_PREFIX      "TIBURON.LAP_BOX1."
#define LAP_BOX2_DM_PREFIX      "TIBURON.LAP_BOX2."

/********************** Data Manager Item Names *****************************/


#define LAP_BOX_ENABLED_DM              "TIBURON.LAP_BOX.ENABLED"
#define LAP_BOX_ENABLE_REQ_DM           "TIBURON.LAP_BOX.ENABLE_REQUEST"

#define LAP_BOX_PANORAMIC_DM            "TIBURON.LAP_BOX.PANORAMIC"
#define LAP_BOX_AUTO_IRIS_DM            "AUTO_IRIS"
#define LAP_BOX_PORT_AUTO_IRIS_DM       "TIBURON.CAMERA.PORT.IRIS_MODE"
#define LAP_BOX_STBD_AUTO_IRIS_DM       "TIBURON.CAMERA.STBD.IRIS_MODE"
#define LAP_BOX_AUX1_DM                 "SENSITIVITY"
#define LAP_BOX_AUX2_DM                 "MEMORY"

/********************* Joystick Calibration Params ***************************/
#define JOYSTICK_X_FULL_SCALE 1023.0 /* Main Joystick X Axis Full Scale Value*/
#define JOYSTICK_Y_FULL_SCALE 1023.0 /* Main Joystick Y Axis Full Scale Value*/

#define ZOOM_FULL_SCALE       1023.0 /* Lap Box Zoom Full Scale Value       */
#define FOCUS_FULL_SCALE      1023.0 /* Lap Box Focus Full Scale Value      */
#define IRIS_FULL_SCALE       1023.0 /* Lap Box Iris Full Scale Value       */

                                    /* Joystick Zero Offset Calibration     */
#define JOYSTICK_X_OFFSET       15  /* Main Joystick X axis offset          */
#define JOYSTICK_Y_OFFSET        1  /* Main Joystick Y axis offset          */

#define ZOOM_OFFSET             10  /* Zoom axis offset                     */
#define FOCUS_OFFSET          -512  /* Focus axis offset                    */
#define IRIS_OFFSET              3  /* Iris axis offset                     */

                                    /* Joystick Full Scale Calibration      */
#define JOYSTICK_X_POS_FSV    148.0 /* Main Joystick positive X Max Value   */
#define JOYSTICK_X_NEG_FSV   -116.0 /* Main Joystick negative X Max Value   */
#define JOYSTICK_Y_POS_FSV    120.0 /* Main Joystick positive Y Max Value   */
#define JOYSTICK_Y_NEG_FSV   -113.0 /* Main Joystick negative Y Max Value   */

#define ZOOM_POS_FSV          510.0 /* ZOOM positive Max Value              */
#define ZOOM_NEG_FSV         -512.0 /* ZOOM negative Max Value              */
#define FOCUS_POS_FSV         511.0 /* FOCUS positive Max Value             */
#define FOCUS_NEG_FSV        -512.0 /* FOCUS negative Max Value             */

#define IRIS_POS_FSV          240.0 /* Iris positive Max Value              */
#define IRIS_NEG_FSV         -233.0 /* Iris negative Max Value              */


#define JOYSTICK_X_DEADBAND     60.0 /* Main Joystick Deadband region       */
#define JOYSTICK_Y_DEADBAND     60.0 /* Main Joystick Deadband region       */

#define ZOOM_DEADBAND           30.0 /* ZOOM Deadband region                */
#define FOCUS_DEADBAND          50.0 /* Focus Deadband region               */
#define IRIS_DEADBAND           30.0 /* Iris Deadband region                */



#ifdef INCLUDE_PROTOTYPES

#ifdef __STDC__

Void LapBoxTask(Nat16 lapBoxSerialChan, char* name, char* dmPrefix);

#endif

#endif /* INCLUDE_PROTOTYPES */