OpenEL 3.0.0

openEL_NXT.h
Go to the documentation of this file.
1
12 /*
13
14 Copyright (c) 2017,2018 Japan Embedded Systems Technology Association(JASA)
15 All rights reserved.
16
17 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
18
19 Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
20 Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
21 Neither the name of the Association nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
22
23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
24 */
25
26 #ifndef OPENEL_NXT_H_
27 #define OPENEL_NXT_H_
28
29 #define EL_NXT_PORT_A 0
30 #define EL_NXT_PORT_B 1
31 #define EL_NXT_PORT_C 2
32 #define EL_NXT_PORT_S1 3
33 #define EL_NXT_PORT_S2 4
34 #define EL_NXT_PORT_S3 5
35 #define EL_NXT_PORT_S4 6
36 #define EL_NXT_PORT_BATTERY 7
37 #define EL_NXT_PORT_SPEAKER 8
38 #define EL_NXT_PORT_BLUETOOTH 9
39 #define EL_NXT_PORT_NO_USE 65535
40
41
42 #define EL_NXT_PHYSICAL_PORT_A (EL_NXT_PHYSICAL_ID_MOTOR | 0x00)
43 #define EL_NXT_PHYSICAL_PORT_B (EL_NXT_PHYSICAL_ID_MOTOR | 0x01)
44 #define EL_NXT_PHYSICAL_PORT_C (EL_NXT_PHYSICAL_ID_MOTOR | 0x02)
45 #define EL_NXT_PHYSICAL_PORT_S1 (EL_NXT_PHYSICAL_ID_SENSOR | 0x00)
46 #define EL_NXT_PHYSICAL_PORT_S2 (EL_NXT_PHYSICAL_ID_SENSOR | 0x01)
47 #define EL_NXT_PHYSICAL_PORT_S3 (EL_NXT_PHYSICAL_ID_SENSOR | 0x02)
48 #define EL_NXT_PHYSICAL_PORT_S4 (EL_NXT_PHYSICAL_ID_SENSOR | 0x03)
49 #define EL_NXT_PHYSICAL_PORT_BATTERY (EL_NXT_PHYSICAL_ID_BATTERY | 0x00)
50 #define EL_NXT_PHYSICAL_PORT_SPEAKER (EL_NXT_PHYSICAL_ID_SPEAKER | 0x00)
51 #define EL_NXT_PHYSICAL_PORT_BLUETOOTH (EL_NXT_PHYSICAL_ID_BLUETOOTH | 0x00)
52
53 #define EL_BT_NO_INIT 4
54 #define EL_BT_INITIALIZED 5
55 #define EL_BT_CONNECTED 6
56 #define EL_BT_STREAM 7
57
58 /* struct/union definition */
59 struct elMotorLegoNxt {
60 /* 0x00 */ ELInt32 (*pFncMotorInit)(ELUInt32 portid);
61 /* 0x01 */ ELInt32 (*pFncGetCtlMode)(ELUInt32 portid, ELInt32 *pMode);
62 /* 0x02 */ ELInt32 (*pFncSetCtlMode)(ELUInt32 portid, ELInt32 *pMode);
63 /* 0x03 */ ELInt32 (*pFncGetAngle)(ELUInt32 portid, ELUInt32 sw, ELFloat64 *pAngle);
64 /* 0x04 */ ELInt32 (*pFncSetAngle)(ELUInt32 portid, ELFloat64 angle, ELFloat64 speed);
65 /* 0x05 */ ELInt32 (*pFncResetEncoder)(ELUInt32 portid);
66 /* 0x06 */ ELInt32 (*pFncGetSpeed)(ELUInt32 portid, ELInt32 idx, ELFloat64 *pOutSpeed);
67 /* 0x07 */ ELInt32 (*pFncSetSpeed)(ELUInt32 portid, ELFloat64 speed);
68 /* 0x08 */ ELInt32 (*pFncGetBrake)(ELUInt32 portid, ELBool *pFlagBrake);
69 /* 0x09 */ ELInt32 (*pFncSetBrake)(ELUInt32 portid, ELBool *pFlagBrake);
70 };
71 typedef struct elMotorLegoNxt EL_MOTOR_LEGO_NXT_T;
72
73 struct elSensorLegoNxt {
74 /* 0x00 */ ELInt32 (*pFncSensorInit)(ELUInt32 portid);
75 /* 0x01 */ ELInt32 (*pFncGyroGetValue)(ELUInt32 portid, ELUInt16 *pValue);
76 /* 0x02 */ ELInt32 (*pFncGyroGetOffset)(ELUInt32 portid, ELUInt16 *pValue);
77 /* 0x03 */ ELInt32 (*pFncGyroSetOffset)(ELUInt32 portid, ELUInt16 offset);
78 /* 0x04 */ ELInt32 (*pFncLightGetValue)(ELUInt32 portid, ELUInt16 *pValue);
79 /* 0x05 */ ELInt32 (*pFncLightGetLED)(ELUInt32 portid, ELBool *pStatus);
80 /* 0x06 */ ELInt32 (*pFncLightSetLED)(ELUInt32 portid, ELBool light);
81 /* 0x07 */ ELInt32 (*pFncTouchGetState)(ELUInt32 portid, ELBool *pStatus);
82 /* 0x08 */ ELInt32 (*pFncSonarInitialize)(ELUInt32 portid);
83 /* 0x09 */ ELInt32 (*pFncSonarTerminate)(ELUInt32 portid);
84 /* 0x0A */ ELInt32 (*pFncSonarGetValue)(ELUInt32 portid, ELInt32 *pValue);
85 };
86 typedef struct elSensorLegoNxt EL_SENSOR_LEGO_NXT_T;
87
88 struct elBatteryLegoNxt {
89 /* 0x00 */ ELInt32 (*pFncBatteryInit)(ELUInt32 portid);
90 /* 0x01 */ ELInt32 (*pFncGetVoltage)(ELUInt32 portid, ELUInt16 *pVoltage);
91 };
92 typedef struct elBatteryLegoNxt EL_BATTERY_LEGO_NXT_T;
93
94 struct elSpeakerLegoNxt {
95 /* 0x00 */ ELInt32 (*pFncSpeakerInit)(ELUInt32 portid);
96 /* 0x01 */ ELInt32 (*pFncOutput)(ELUInt32 portid, ELUInt32 freq, ELUInt32 mx, ELUInt32 vol);
97 };
98 typedef struct elSpeakerLegoNxt EL_SPEAKER_LEGO_NXT_T;
99
100 struct elBluetoothLegoNxt {
101 /* 0x00 */ ELInt32 (*pFncBluetoothInit)(ELUInt32 portid);
102 /* 0x01 */ ELInt32 (*pFncInitializeMaster)(ELUInt32 portid, const ELUChar *addr, const ELChar *pPin);
103 /* 0x02 */ ELInt32 (*pFncInitializeSlave)(ELUInt32 portid, const ELChar *pPin);
104 /* 0x03 */ ELInt32 (*pFncTerminate)(ELUInt32 portid);
105 /* 0x04 */ ELInt32 (*pFncSendData)(ELUInt32 portid, const ELUInt8 *buf, ELUInt32 offset, ELUInt32 len, ELUInt32 *outsize);
106 /* 0x05 */ ELInt32 (*pFncReceiveData)(ELUInt32 portid, ELUInt8 *buf, ELUInt32 offset, ELUInt32 len, ELUInt32 *outsize);
107 /* 0x06 */ ELInt32 (*pFncGetDeviceName)(ELUInt32 portid, ELChar *pName);
108 /* 0x07 */ ELInt32 (*pFncSetDeviceName)(ELUInt32 portid, const ELChar *pName);
109 /* 0x08 */ ELInt32 (*pFncGetStatus)(ELUInt32 portid, ELInt32 *pStatus);
110 /* 0x09 */ ELInt32 (*pFncGetSignalStrength)(ELUInt32 portid, ELInt32 *pStrength);
111 };
112 typedef struct elBluetoothLegoNxt EL_BLUETOOTH_LEGO_NXT_T;
113
114
115
116 #endif /* OPENEL_NXT_H_ */
elSpeakerLegoNxt::pFncSpeakerInit
ELInt32(* pFncSpeakerInit)(ELUInt32 portid)
Definition: openEL_NXT.h:95
elMotorLegoNxt::pFncSetBrake
ELInt32(* pFncSetBrake)(ELUInt32 portid, ELBool *pFlagBrake)
Definition: openEL_NXT.h:69
elMotorLegoNxt::pFncGetBrake
ELInt32(* pFncGetBrake)(ELUInt32 portid, ELBool *pFlagBrake)
Definition: openEL_NXT.h:68
elSensorLegoNxt::pFncSonarTerminate
ELInt32(* pFncSonarTerminate)(ELUInt32 portid)
Definition: openEL_NXT.h:83
elMotorLegoNxt::pFncSetSpeed
ELInt32(* pFncSetSpeed)(ELUInt32 portid, ELFloat64 speed)
Definition: openEL_NXT.h:67
elMotorLegoNxt::pFncGetAngle
ELInt32(* pFncGetAngle)(ELUInt32 portid, ELUInt32 sw, ELFloat64 *pAngle)
Definition: openEL_NXT.h:63
elSpeakerLegoNxt
Definition: openEL_NXT.h:94
elBluetoothLegoNxt::pFncReceiveData
ELInt32(* pFncReceiveData)(ELUInt32 portid, ELUInt8 *buf, ELUInt32 offset, ELUInt32 len, ELUInt32 *outsize)
Definition: openEL_NXT.h:106
elBluetoothLegoNxt
Definition: openEL_NXT.h:100
elBluetoothLegoNxt::pFncSendData
ELInt32(* pFncSendData)(ELUInt32 portid, const ELUInt8 *buf, ELUInt32 offset, ELUInt32 len, ELUInt32 *outsize)
Definition: openEL_NXT.h:105
elMotorLegoNxt::pFncSetAngle
ELInt32(* pFncSetAngle)(ELUInt32 portid, ELFloat64 angle, ELFloat64 speed)
Definition: openEL_NXT.h:64
elBluetoothLegoNxt::pFncGetDeviceName
ELInt32(* pFncGetDeviceName)(ELUInt32 portid, ELChar *pName)
Definition: openEL_NXT.h:107
elSensorLegoNxt::pFncGyroSetOffset
ELInt32(* pFncGyroSetOffset)(ELUInt32 portid, ELUInt16 offset)
Definition: openEL_NXT.h:77
elBluetoothLegoNxt::pFncSetDeviceName
ELInt32(* pFncSetDeviceName)(ELUInt32 portid, const ELChar *pName)
Definition: openEL_NXT.h:108
elMotorLegoNxt::pFncMotorInit
ELInt32(* pFncMotorInit)(ELUInt32 portid)
Definition: openEL_NXT.h:60
elSensorLegoNxt::pFncSonarGetValue
ELInt32(* pFncSonarGetValue)(ELUInt32 portid, ELInt32 *pValue)
Definition: openEL_NXT.h:84
elSensorLegoNxt::pFncTouchGetState
ELInt32(* pFncTouchGetState)(ELUInt32 portid, ELBool *pStatus)
Definition: openEL_NXT.h:81
elSensorLegoNxt::pFncSonarInitialize
ELInt32(* pFncSonarInitialize)(ELUInt32 portid)
Definition: openEL_NXT.h:82
elMotorLegoNxt
Definition: openEL_NXT.h:59
elSensorLegoNxt::pFncLightGetValue
ELInt32(* pFncLightGetValue)(ELUInt32 portid, ELUInt16 *pValue)
Definition: openEL_NXT.h:78
elSensorLegoNxt::pFncLightSetLED
ELInt32(* pFncLightSetLED)(ELUInt32 portid, ELBool light)
Definition: openEL_NXT.h:80
elBluetoothLegoNxt::pFncInitializeMaster
ELInt32(* pFncInitializeMaster)(ELUInt32 portid, const ELUChar *addr, const ELChar *pPin)
Definition: openEL_NXT.h:102
elMotorLegoNxt::pFncResetEncoder
ELInt32(* pFncResetEncoder)(ELUInt32 portid)
Definition: openEL_NXT.h:65
elMotorLegoNxt::pFncGetSpeed
ELInt32(* pFncGetSpeed)(ELUInt32 portid, ELInt32 idx, ELFloat64 *pOutSpeed)
Definition: openEL_NXT.h:66
elBluetoothLegoNxt::pFncTerminate
ELInt32(* pFncTerminate)(ELUInt32 portid)
Definition: openEL_NXT.h:104
elBatteryLegoNxt::pFncGetVoltage
ELInt32(* pFncGetVoltage)(ELUInt32 portid, ELUInt16 *pVoltage)
Definition: openEL_NXT.h:90
elMotorLegoNxt::pFncGetCtlMode
ELInt32(* pFncGetCtlMode)(ELUInt32 portid, ELInt32 *pMode)
Definition: openEL_NXT.h:61
elBluetoothLegoNxt::pFncBluetoothInit
ELInt32(* pFncBluetoothInit)(ELUInt32 portid)
Definition: openEL_NXT.h:101
elBluetoothLegoNxt::pFncGetStatus
ELInt32(* pFncGetStatus)(ELUInt32 portid, ELInt32 *pStatus)
Definition: openEL_NXT.h:109
elBluetoothLegoNxt::pFncInitializeSlave
ELInt32(* pFncInitializeSlave)(ELUInt32 portid, const ELChar *pPin)
Definition: openEL_NXT.h:103
elSensorLegoNxt::pFncLightGetLED
ELInt32(* pFncLightGetLED)(ELUInt32 portid, ELBool *pStatus)
Definition: openEL_NXT.h:79
elSensorLegoNxt::pFncGyroGetValue
ELInt32(* pFncGyroGetValue)(ELUInt32 portid, ELUInt16 *pValue)
Definition: openEL_NXT.h:75
elBatteryLegoNxt
Definition: openEL_NXT.h:88
elSpeakerLegoNxt::pFncOutput
ELInt32(* pFncOutput)(ELUInt32 portid, ELUInt32 freq, ELUInt32 mx, ELUInt32 vol)
Definition: openEL_NXT.h:96
elBatteryLegoNxt::pFncBatteryInit
ELInt32(* pFncBatteryInit)(ELUInt32 portid)
Definition: openEL_NXT.h:89
elSensorLegoNxt::pFncGyroGetOffset
ELInt32(* pFncGyroGetOffset)(ELUInt32 portid, ELUInt16 *pValue)
Definition: openEL_NXT.h:76
elSensorLegoNxt::pFncSensorInit
ELInt32(* pFncSensorInit)(ELUInt32 portid)
Definition: openEL_NXT.h:74
elBluetoothLegoNxt::pFncGetSignalStrength
ELInt32(* pFncGetSignalStrength)(ELUInt32 portid, ELInt32 *pStrength)
Definition: openEL_NXT.h:110
elMotorLegoNxt::pFncSetCtlMode
ELInt32(* pFncSetCtlMode)(ELUInt32 portid, ELInt32 *pMode)
Definition: openEL_NXT.h:62
elSensorLegoNxt
Definition: openEL_NXT.h:73