#include <MipMessage.h>
Inheritance diagram for MipMessage:
Public Types | |
enum | eType { sNone = 0x00, sReset = 0x08, sHalt = 0x09, sBrake = 0x0A, sReadAxisStatus = 0x0B, sReadError = 0x0C, sClearError = 0x0D, sReadWarning = 0x0E, sClearWarning = 0x0F, sReadTempParam = 0x10, sReadPermanentParam = 0x11, sSetTempParam = 0x12, sResetTempParam = 0x14, sUpdatePermParam = 0x15, sReadAllTempParam = 0x16, sReadAllPermParam = 0x17, sSetAllTempParam = 0x18, sSetAllPermParam = 0x19, sReadCurrentGains = 0x1A, sSetCurrentGains = 0x1B, sReadPositionGains = 0x1C, sSetPositionGains = 0x1D, sReadVersion = 0x1F, sSetRegMode = 0x20, sSetProfile = 0x21, sSetPosVelocity = 0x22, sSetWaitMode = 0x23, sMoveAbsolute = 0x24, sMoveRelative = 0x25, sWaitForTargetPos = 0x26, sSetVelocity = 0x27, sStopMotion = 0x28, sFindHomeSys = 0x29, sFindHome = 0x2A, sFindIndex = 0x2B, sDefinePosition = 0x2C, sWaitForPosition = 0x2D, sReadIndexDistance = 0x2E, sReadProfile = 0x2F, sReadPosition = 0x30, sReadPositionMust = 0x31, sReadPositionIsMust = 0x32, sReadVelocity = 0x33, sReadVelocityMean = 0x34, sReadVelocityMust = 0x35, sReadVelocityIsMust = 0x36, sReadCurrent = 0x37, sReadCurrentMean = 0x38, sReadCurrentMust = 0x39, sReadCurrentIsMust = 0x3A, sReadPosVelCur = 0x3B, sReadPosVelCurMean = 0x3C, sReadPosVelCurMust = 0x3D, sReadPosVelCurIsMust = 0x3E, sReadAxisInfo = 0x3F, sReadInput = 0x40, sReadInputByte = 0x41, sWaitForInput = 0x42, sSetOutput = 0x43, sSetOutputByte = 0x44, sReadAnalogInput = 0x45, sSetUserPWM = 0x46, sReadSysTime = 0x47, sWaitTime = 0x48, sSetCurrent = 0x49, sReadECStatus = 0x4A, sReadMaxStack = 0x4F, sPutString = 0x4B, sGetString = 0x4C, sPutNumber = 0x4D, sGetNumber = 0x4E, sInitMoveAbsolute = 0x50, sInitMoveRelative = 0x51, sInitSetVelocity = 0x52, sStartMovement = 0x53, sInitAutoTune = 0x60, sAutotune = 0x61, sSquareCurrentTest = 0x62, sSetupRecorder = 0x68, sRecordData = 0x69, sReadNbOfSamples = 0x6A, sReadRecordedData = 0x6B, sReadAllTempUsr1Param = 0x70, sReadAllPermUsr1Param = 0x71, sSetAllTempUsr1Param = 0x72, sSetAllPermUsr1Param = 0x73, sReadAllTempUsr2Param = 0x74, sReadAllPermUsr2Param = 0x75, sSetAllTempUsr2Param = 0x76, sSetAllPermUsr2Param = 0x77, sCheckCRC = 0x78 } |
Defines the enum eType. The MIP message types. | |
Public Member Functions | |
MipMessage (int src=0, int dest=0, eType type=sNone) | |
Constructor. | |
int | GetDestination () const |
Returns the destination. | |
int | GetSource () const |
Returns the source. | |
eType | GetType () const |
Returns the type. | |
virtual int | GetLength () const =0 |
Returns the length. | |
void | SetDestination (int dest) |
Sets the destination. | |
void | SetBroadcast () |
Sets the broadcast destination. | |
void | SetSource (int src) |
Sets the source. | |
void | SetType (eType type) |
Sets the message type. | |
unsigned int | CalcCRC () |
Calculates the checksum of the packet. | |
Protected Attributes | |
int | mDestination |
The device ID of the destination (the device that receives the message). | |
int | mSource |
The device ID of the source (the device that sends the message). | |
eType | mType |
The message type. | |
unsigned char | mData [1024] |
The data. |
This (abstract) class models a MIP bus message. MIP bus messages are implemented in the classes MipRxMessage (received messages) and MipTxMessage (messages to transmit).
For information about the MIP bus message format, please refer to the MIP manual.