#include "serialport.h"

Data Structures
struct	s_OPENINTERFACE_SENSOR_STRUCT
	Open Interface Sensor structure. More...

struct	s_OPENINTERFACE_STRUCT
	Open Interface structure. More...

Macros
#define	s_OI_CMD_START 0x80

#define	s_OI_CMD_MODE_SAFE 0x83

#define	s_OI_CMD_MODE_FULL 0x84

#define	s_OI_CMD_MODE_PASSIVE 0x80

#define	s_OI_CMD_DRIVE 0x89

#define	s_OI_CMD_DRIVE_DIRECT 0x91

#define	s_OI_CMD_LEDS 0x8B

#define	s_OI_CMD_DIGITAL_OUTPUTS 0x93

#define	s_OI_CMD_PWM_LSD 0x90

#define	s_OI_CMD_LSD 0x8A

#define	s_OI_CMD_SEND_IR 0x97

#define	s_OI_CMD_SONG 0x8C

#define	s_OI_CMD_PLAY_SONG 0x8D

#define	s_OI_CMD_SENSORS 0x8E

#define	s_OI_CMD_QUERY_LIST 0x95

#define	s_OI_CMD_STREAM 0x94

#define	s_OI_CMD_PAUSE_RESUME_STREAM 0x96

#define	s_OI_CMD_SCRIPT 0x98

#define	s_OI_CMD_PLAY_SCRIPT 0x99

#define	s_OI_CMD_SHOW_SCRIPT 0x9A

#define	s_OI_CMD_WAIT_TIME 0x9B

#define	s_OI_CMD_WAIT_DIST 0x9C

#define	s_OI_CMD_WAIT_ANGLE 0x9D

#define	s_OI_CMD_WAIT_EVENT 0x9E

#define	s_OI_SENSOR_PACKET_0 0

#define	s_OI_SENSOR_PACKET_1 1

#define	s_OI_SENSOR_PACKET_2 2

#define	s_OI_SENSOR_PACKET_3 3

#define	s_OI_SENSOR_PACKET_4 4

#define	s_OI_SENSOR_PACKET_5 5

#define	s_OI_SENSOR_PACKET_6 6

#define	s_OI_SENSOR_PACKET_0_SIZE 26

#define	s_OI_SENSOR_PACKET_1_SIZE 10

#define	s_OI_SENSOR_PACKET_2_SIZE 6

#define	s_OI_SENSOR_PACKET_3_SIZE 10

#define	s_OI_SENSOR_PACKET_4_SIZE 14

#define	s_OI_SENSOR_PACKET_5_SIZE 12

#define	s_OI_SENSOR_PACKET_6_SIZE 52

Typedefs
typedef struct s_OPENINTERFACE_SENSOR_STRUCT	openinterface_sensor_t
	Open Interface Sensor structure. More...

typedef struct s_OPENINTERFACE_STRUCT	openinterface_t
	Open Interface structure. More...

Functions
openinterface_t *	openinterface_open (char *device_path)

int	openinterface_close (openinterface_t *ois)

int	openinterface_start (openinterface_t *ois)

int	openinterface_full (openinterface_t *ois)

int	openinterface_drive (openinterface_t *ois, int velocity, int radius)

int	openinterface_drive_direct (openinterface_t *ois, int right, int left)

int	openinterface_sensor_get (openinterface_t ois, const unsigned char id, const unsigned char len, unsigned char data)

int	openinterface_sensors_update (openinterface_t *ois, const unsigned int sensor_id, const unsigned int size)

int	openinterface_distance_get (openinterface_t *ois)

int	openinterface_angle_get (openinterface_t *ois)

int	openinterface_LEDs (openinterface_t *ois, int play, int advance, unsigned char power_color, unsigned char power_intensity)

Detailed Description

Author: Eriks Zaharans

Date: 1 Jul 2013

DESCRIPTION

Open Interface library header file.

Definition in file openinterface.h.

Macro Definition Documentation

#define s_OI_CMD_DIGITAL_OUTPUTS 0x93

Definition at line 118 of file openinterface.h.

#define s_OI_CMD_DRIVE 0x89

Definition at line 115 of file openinterface.h.

#define s_OI_CMD_DRIVE_DIRECT 0x91

Definition at line 116 of file openinterface.h.

#define s_OI_CMD_LEDS 0x8B

Definition at line 117 of file openinterface.h.

#define s_OI_CMD_LSD 0x8A

Definition at line 120 of file openinterface.h.

#define s_OI_CMD_MODE_FULL 0x84

Definition at line 113 of file openinterface.h.

#define s_OI_CMD_MODE_PASSIVE 0x80

Definition at line 114 of file openinterface.h.

#define s_OI_CMD_MODE_SAFE 0x83

Definition at line 112 of file openinterface.h.

#define s_OI_CMD_PAUSE_RESUME_STREAM 0x96

Definition at line 127 of file openinterface.h.

#define s_OI_CMD_PLAY_SCRIPT 0x99

Definition at line 129 of file openinterface.h.

#define s_OI_CMD_PLAY_SONG 0x8D

Definition at line 123 of file openinterface.h.

#define s_OI_CMD_PWM_LSD 0x90

Definition at line 119 of file openinterface.h.

#define s_OI_CMD_QUERY_LIST 0x95

Definition at line 125 of file openinterface.h.

#define s_OI_CMD_SCRIPT 0x98

Definition at line 128 of file openinterface.h.

#define s_OI_CMD_SEND_IR 0x97

Definition at line 121 of file openinterface.h.

#define s_OI_CMD_SENSORS 0x8E

Definition at line 124 of file openinterface.h.

#define s_OI_CMD_SHOW_SCRIPT 0x9A

Definition at line 130 of file openinterface.h.

#define s_OI_CMD_SONG 0x8C

Definition at line 122 of file openinterface.h.

#define s_OI_CMD_START 0x80

Definition at line 111 of file openinterface.h.

#define s_OI_CMD_STREAM 0x94

Definition at line 126 of file openinterface.h.

#define s_OI_CMD_WAIT_ANGLE 0x9D

Definition at line 133 of file openinterface.h.

#define s_OI_CMD_WAIT_DIST 0x9C

Definition at line 132 of file openinterface.h.

#define s_OI_CMD_WAIT_EVENT 0x9E

Definition at line 134 of file openinterface.h.

#define s_OI_CMD_WAIT_TIME 0x9B

Definition at line 131 of file openinterface.h.

#define s_OI_SENSOR_PACKET_0 0

Definition at line 137 of file openinterface.h.

#define s_OI_SENSOR_PACKET_0_SIZE 26

Definition at line 146 of file openinterface.h.

#define s_OI_SENSOR_PACKET_1 1

Definition at line 138 of file openinterface.h.

#define s_OI_SENSOR_PACKET_1_SIZE 10

Definition at line 147 of file openinterface.h.

#define s_OI_SENSOR_PACKET_2 2

Definition at line 139 of file openinterface.h.

#define s_OI_SENSOR_PACKET_2_SIZE 6

Definition at line 148 of file openinterface.h.

#define s_OI_SENSOR_PACKET_3 3

Definition at line 140 of file openinterface.h.

#define s_OI_SENSOR_PACKET_3_SIZE 10

Definition at line 149 of file openinterface.h.

#define s_OI_SENSOR_PACKET_4 4

Definition at line 141 of file openinterface.h.

#define s_OI_SENSOR_PACKET_4_SIZE 14

Definition at line 150 of file openinterface.h.

#define s_OI_SENSOR_PACKET_5 5

Definition at line 142 of file openinterface.h.

#define s_OI_SENSOR_PACKET_5_SIZE 12

Definition at line 151 of file openinterface.h.

#define s_OI_SENSOR_PACKET_6 6

Definition at line 143 of file openinterface.h.

#define s_OI_SENSOR_PACKET_6_SIZE 52

Definition at line 152 of file openinterface.h.

Typedef Documentation

typedef struct s_OPENINTERFACE_SENSOR_STRUCT openinterface_sensor_t

Open Interface Sensor structure.

typedef struct s_OPENINTERFACE_STRUCT openinterface_t

Open Interface structure.

Function Documentation

int openinterface_angle_get ( openinterface_t * ois )

Get change of angle

Parameters

opis	Pointer to OpenInterface structure

Returns: change of angle (degree)

Definition at line 320 of file openinterface.c.

int openinterface_close ( openinterface_t * ois )

Close OpenInterface connection

Parameters

opis	Pointer to openInterface structure

Returns: s_OK if successful, s_ERROR if failed

Definition at line 63 of file openinterface.c.

int openinterface_distance_get ( openinterface_t * ois )

Get travelled distance

Parameters

opis	Pointer to OpenInterface structure

Returns: travelled distance (mm)

Definition at line 301 of file openinterface.c.

int openinterface_drive	(	openinterface_t *	ois,
		int	velocity,
		int	radius
	)

Sends Drive Command

Parameters

opis	Pointer to OpenInterface structure
velocity	Drive velocity
radius	Radius of circle (curve)

Returns: s_OK if successful, s_ERROR if failed

Definition at line 119 of file openinterface.c.

int openinterface_drive_direct	(	openinterface_t *	ois,
		int	right,
		int	left
	)

Sends Direct Drive Command

Parameters

opis	Pointer to OpenInterface structure
right	Right wheel velocity
left	left wheel velocity

Returns: s_OK if successful, s_ERROR if failed

Definition at line 150 of file openinterface.c.

int openinterface_full ( openinterface_t * ois )

Enable full control of OpenInterface

Parameters

opis	Pointer to OpenInterface structure

Returns: s_OK if successful, s_ERROR if failed

Definition at line 103 of file openinterface.c.

int openinterface_LEDs	(	openinterface_t *	ois,
		int	play,
		int	advance,
		unsigned char	power_color,
		unsigned char	power_intensity
	)

Control LEDs

Parameters

opis	Pointer to OpenInterface structure
play	Light up PLAY LED (0 - off, 1 - on)
advance	Light up ADVANCE LED (0 - off, 1 - on)
power_color	Color of POWER LED (0 - green, 255 - red, intermediate values - intermediate colors)
power_intensity	Intensity of POWER LED (0-255)

Returns: s_OK if successful, s_ERROR if failed

Definition at line 343 of file openinterface.c.

openinterface_t* openinterface_open ( char * device_path )

Open OpenInterface connection

Parameters

device_path Path to device

Returns: Pointer to openInterface structure

Definition at line 35 of file openinterface.c.

int openinterface_sensor_get	(	openinterface_t *	ois,
		const unsigned char	id,
		const unsigned char	len,
		unsigned char *	data
	)

Get one sensor request readings

Parameters

opis	Pointer to OpenInterface structure
id	ID of the sensor packet
len	Number of bytes to be read
data	Ponter to memory where to store data

Returns: s_OK if successful, s_ERROR if failed

Definition at line 182 of file openinterface.c.

int openinterface_sensors_update	(	openinterface_t *	ois,
		const unsigned int	sensor_id,
		const unsigned int	size
	)

Updates all sensor data

Parameters

opis	Pointer to OpenInterface structure
oiss	Pointer to OpenInterface sensor structure
sensor_id	ID of sensor packet
size	Number of bytes in sensor packet

Returns: s_OK if successful, s_ERROR if failed

Definition at line 231 of file openinterface.c.

int openinterface_start ( openinterface_t * ois )

Start OpenInterface connection

Parameters

opis	Pointer to OpenInterface structure

Returns: s_OK if successful, s_ERROR if failed

Definition at line 89 of file openinterface.c.

Data Structures

Macros

Typedefs

Functions

Detailed Description

DESCRIPTION

Macro Definition Documentation

Typedef Documentation

Function Documentation