/* $Revision: 1.1 $ $Author: hjt $ $Date: 1997/04/20 23:00:30 $ */ /**************************************************************************** * * PROJECT: Carnegie-Mellon Whatever * * MODULE: sick laser driver * * FILE: sickDefs.h * * DESCRIPTION: constants for sick scanner * * EXPORTS: * * NOTES: * * REVISION HISTORY: * $Log: sickDefs.h,v $ * Revision 1.1 1997/04/20 23:00:30 hjt * sick driver code initial checkin * * (c) Copyright 1994 Carnegie Mellon University. All rights reserved. ***************************************************************************/ #ifndef _sickDefs_h #define _sickDefs_h /*number of sick sensors we support*/ #define N_SICK (1) /*messages from the scanner have the address offset by 0x80*/ #define SICK_OFFSET (0x80) #define SICK_BCAST (0x00) /*status bit definitions*/ #define SICK_STATUS_MASK (0x07) #define SICK_NO_ERROR (0x0) #define SICK_INFO (0x1) #define SICK_WARN (0x2) #define SICK_ERROR (0x3) #define SICK_FATAL (0x4) /*reponse message status constants*/ #define RESP_ERROR_STATUS (0x00) #define RESP_SUCCESS_STATUS (0x01) #define RESP_CONFIRM_STATUS (0x02) /*protocol constants*/ #define STX (0x02) #define ACK (0x06) #define DLE (0x10) #define NAK (0x15) /*telegrams from host to sensor*/ #define INIT_TGM (0x10) /*reset and initialize the scanner*/ #define BM_TGM (0x20) /*select or change operating mode*/ #define PROTECT_MODE (0x00) /*mode code protect field setup*/ #define CALIB_MODE (0x01) /*calibration mode for PLS*/ #define RESET_PASSWD_MODE (0x02) /*reset password*/ #define DIAG_MODE (0x10) /*diagnostic mode*/ #define MONITOR_MODE0 (0x20) /*monitor mode w/ min. meas. values*/ #define MONITOR_MODE1 (0x21) /*monitor mode w/ meas. values for object in WF*/ #define MONITOR_MODE2 (0x22) #define MONITOR_MODE3 (0x23) #define MONITOR_MODE4 (0x24) #define MONITOR_MODE5 (0x25) #define SETUP_PASSWD_TST_MODE (0x30) #define SUPER_PASSWD_TST_MODE (0x31) #define MAINT_PASSWD_TST_MODE (0x32) #define B38400_CONF_MODE (0x40) #define B19200_CONF_MODE (0x41) #define B9600_CONF_MODE (0x42) #define B55555_CONF_MODE (0x43) #define B111111_CONF_MODE (0x44) #define B200000_CONF_MODE (0x45) #define B250000_CONF_MODE (0x46) #define B333333_CONF_MODE (0x47) #define MWANF_TGM (0x30) /*measured value request*/ #define MIN_VALUE_PER_SEG_MODE (0x00) /*send minimum measured value per seg*/ #define ALL_VALUE_PER_SCAN_MODE (0x01) #define MIN_VERT_DIST_MODE (0x02) #define TAUGHT_DATA_MODE (0x03) #define VERIF_DATA_MODE (0x04) #define MIN_VALUE_PER_DEF_SEG_MODE (0x05) #define SSANF_TGM (0x31) /*sensor status request*/ #define ERRANF_TGM (0x32) /*error telegram request*/ #define TSTANF_TGM (0x33) /*test in diagnostic request*/ #define MEMANF_TGM (0x34) /*memory dump in diagnostic mode request*/ #define MMWANF_TGM (0x36) /*averaged measured values request*/ #define MWPANF_TGM (0x37) /*measured value partial range request*/ #define BSFKFG_TGM (0x40) /*configure the bumper protection field*/ #define BSFCONF_TGM (0x41) /*confim the configured bumper protection field*/ #define BSF_NOTOK (0x00) #define BSF_OK (0x01) #define BSF_EOV (0x02) /*end of verification*/ #define PWCHG_TGM (0x42) /*change the password*/ #define NEW_PASSWD_STATUS (0x00) /*new password*/ #define CFRM_PASSWD_STATUS (0x01) /*confirm password*/ #define SICK_SERV_PW_TYPE (0x00) /*password for SICK service and customer*/ #define MAINT_PW_TYPE (0x01) /*maintenance password*/ #define KSFKFG_TGM (0x43) /*configure the collision protection field*/ #define WANL_TGM (0x44) /*define the start behavior*/ #define RESTART_BTN_MODE (0x00) /*restart after restart button hit (def)*/ #define N_SEC_MODE (0x01) /*restart after N seconds*/ #define RESTART_NDIS_MODE (0x02) /*restart not disabled*/ #define SFANF_TGM (0x45) /*configure protection field request*/ #define SAFE_FIELD_TYPE (0x00) /*safe protection field type*/ #define WARN_FIELD_TYPE (0x01) /*warning field type*/ #define LMOD_TGM (0x46) /*teach mode*/ #define START_TEACH_ACTION (0x00) /*start teach mode*/ #define TEACH_END_ACTION (0x01) /*regular teach mode end*/ #define TEACH_ABORT_ACTION (0x02) /*abort teach mode*/ #define WANLCFRM_TGM (0x47) /*configure the restart behavior*/ #define AGL_TGM (0x50) /*perform calibration*/ #define REF_MEAS_CAL_MODE (0x00) /*reference measurement calibration*/ #define DIRT_EVAL_CAL_MODE (0x01) /*dirt evaluation calibration*/ #define PROD_CODE_ENTER_MODE (0x02) /*enter production code*/ #define ANLDEF_TGM (0x60) /*define startup test*/ #define NO_STARTUP_TEST_MODE (0x00) /*no startup test*/ #define STARTUP_TEST_MODE (0x01) /*startup test*/ #define ANLCFRM_TGM (0x61) /*confirm the startup test definition*/ #define OUTPUTDEF_TGM (0x62) /*define the third switching output*/ #define WF_VIO_DIRT_MODE (0x00) /*output switches both with dirt and WF viol.*/ #define WF_VIO_ONLY_MODE (0x01) /*output switch only with SF viol.*/ #define DIRT_MODE (0x02) /*output switches with dirt or error*/ #define RSPTIMEDEF_TGM (0x63) /*define the number of multiple evaluations*/ #define RSPTIMECFRM_TGM (0x64) /*confirm multiple evaluations definitions*/ #define WSFTYPDEF_TGM (0x65) /*define the WF type*/ #define WF_VOLATILE_TYPE (0x00) /*WF present in volatile storage*/ #define WF_NON_VOLATILE_TYPE (0x01) /*wf present in non-volatile storage*/ #define BRPPERMDEF_TGM (0x66) /*define the permanent baud rate for power on*/ #define PWR_ON_B9600 (0x00) /*power on baud rate is 9600*/ #define PWR_ON_BCONF (0x01) /*configured baud rate set after power-on*/ #define ADRDEF_TGM (0x67) /*define the sensor address*/ /*telegrams from sensor to host*/ #define PON_TGM (0x90) /*message after power on*/ #define INIT_ACK_TGM (0x91) /*confirm the software reset telegram*/ #define NACK_TGM (0x92) /*not acknowledge telegram*/ #define BMACK_TGM (0xa0) /*response to operating mode change*/ #define SUCCESS_STATUS (0x00) /*mode change successful*/ #define FAIL_PW_STATUS (0x01) /*passwd incorrect*/ #define FAIL_SENSOR_FAULT_STATUS (0x02) /*sensor fault*/ #define MW_TGM (0xb0) /*response to measuremed value request*/ #define SS_TGM (0xb1) /*response to sensor status*/ #define ERR_TGM (0xb2) /*error message/test message*/ #define MEMRD_TGM (0xb4) /*memory dump*/ #define MMW_TGM (0xb6) /*measurement averaged values*/ #define MWP_TGM (0xb7) /*measurement, measure value partial range*/ #define BSFACK_TGM (0xc0) /*response to SW configuration*/ #define BSF_RECT_SF_MODE (0x00) /*rectangular SF*/ #define BSF_RADIAL_SF_MODE (0x01) /*radial SF*/ #define BSF_SEGMENT_SF_MODE (0x02) /*segmented SF*/ #define BSFCFRM_TGM (0xc1) /*response to SF confirmation*/ #define BSF_VERIF_ACTIVE_STATUS (0x03) /*verification is active*/ #define BSF_BAD_FIELD_STATUS (0x04) #define PWACK_TGM (0xc2) /*confirm to new password*/ #define KSFACK_TGM (0xc3) /*response to WF configuration*/ #define WANLACK_TGM (0xc4) /*response to restart definition*/ #define SFDAT_TGM (0xc5) /*configure data for protection fields*/ #define LMODACK_TGM (0xc6) /*response in teach mode*/ #define AGLACK_TGM (0xd0) /*response to performance of calibration*/ #define ANLACK_TGM (0xe0) /*response to startup test definition*/ #define OUTPUTACK_TGM (0xe2) /*response to initial definition*/ #define RSPTIMEACK_TGM (0xe4) /*response to WF definition*/ #define WSFTYPACK_TGM (0xe5) /*response to WF type definition*/ #define BRPERMACK_TGM (0xe6) /*response to perm. baud rate definition*/ #define ADRACK_TGM (0xe7) /*response to sensor address definition*/ #endif /*_sickDefs_h*/