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MipMessage Class Reference

MipBus Protocol Message. More...

#include <MipMessage.h>

Inheritance diagram for MipMessage:

MipRxMessage MipTxMessage List of all members.

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.

Detailed Description

MipBus Protocol Message.

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.


The documentation for this class was generated from the following file:
Generated on Wed Jun 1 09:19:08 2005 for libmip by doxygen 1.3.8