advanced constants More...
Macros | |
| #define | kTwiAdressDriveModule |
| twi address (0x60): TWI adress of the driving module | |
| #define | kTwiAdressImu |
| twi address (kImuAddressDefault): default device address of IMU | |
| #define | kTwiMaxCycleCount |
| #define | kTwiLockTimeOut |
| #define | kTwiWaitTimeOut |
| #define | kTwiMaskRequestOnly |
| bit mask: only allows to reveive data once | |
| #define | kTwiMaskRequestAndSend |
| bit mask: only allows to send data and receive data once | |
| #define | kTwiMaskRequestContinuous |
| bit mask: allows to continuously receive data | |
| #define | kTwiMaskAll |
| bit mask: allows everything - receiving continuously and sending | |
Enumerations | |
| enum | eTwiStructId |
| clusters struct numbers for the internal communication (via TWI) More... | |
| enum | eTwiPacketDescriptor |
| clusters all packet descriptors for the communication to the driving module More... | |
| enum | eTwiRegisterImu |
| clusters all registers for the communication to the imu More... | |
advanced constants
| #define kTwiLockTimeOut |
constant (100): maximum time in milliseconds for waiting until the twi is not locked anymore
see also twi_lock()
| #define kTwiMaxCycleCount |
constant (10): Maximum number of fasttick-cylces for one transfer (either sending or receiving)
| #define kTwiWaitTimeOut |
constant (100): maximum time in milliseconds for waiting until the twi is idle
see also twi_wait()
| enum eTwiPacketDescriptor |
clusters all packet descriptors for the communication to the driving module
| Enumerator | |
|---|---|
| kTwiPdMD_Mode | packet descriptor (0xA0): sMD_Mode |
| kTwiPdMD_SensLineEnable | packet descriptor (0xA2): sMD_SensLineEnable |
| kTwiPdMD_Bumper | packet descriptor (0xB0): sMD_Bumper |
| kTwiPdMD_Encoder | packet descriptor (0xB1): sMD_Encoder |
| kTwiPdMD_EncoderClear | packet descriptor (0xB2): sMD_EncoderClear |
| kTwiPdMD_SpeedRaw | packet descriptor (0xBB): sMD_SpeedRaw |
| kTwiPdMD_Motor | packet descriptor (0xA1): sMD_Motor |
| kTwiPdMD_SensCurrent | packet descriptor (0xB3): sMD_SensCurrent |
| kTwiPdMD_SensBattery | packet descriptor (0xB4): sMD_SensBattery |
| kTwiPdMD_SensLineF | packet descriptor (0xB5): sMD_SensLineF |
| kTwiPdMD_SensLineM | packet descriptor (0xB6): sMD_SensLineM |
| kTwiPdMD_SensLineD | packet descriptor (0xB7): sMD_SensLineD |
| kTwiPdMD_DriveDist | packet descriptor (0xA3): sMD_DriveDist |
| kTwiPdMD_DriveAngle | packet descriptor (0xA4): sMD_DriveAngle |
| kTwiPdMD_DriveAdjust | packet descriptor (0xA5): sMD_DriveAdjust |
| kTwiPdMD_DriveArc | packet descriptor (0xA6): sMD_DriveArc |
| kTwiPdMD_DriveStop | packet descriptor (0xA7): sMD_DriveStop |
| kTwiPdMD_State | packet descriptor (0xB8): sMD_State |
| kTwiPdMD_WayAngle | packet descriptor (0xB9): sMD_WayAngle |
| kTwiPdMD_Speed | packet descriptor (0xBA): sMD_Speed |
| kTwiPdInvalid | packet descriptor (0xFF): invalid packet descriptor |
| enum eTwiRegisterImu |
clusters all registers for the communication to the imu
| Enumerator | |
|---|---|
| kTwiRegMI_Accelerometer | register address (kImuRegAccelX): sMI_Accelerometer |
| kTwiRegMI_Temperature | register address (kImuRegTemp ): sMI_Temperature |
| kTwiRegMI_Gyroscope | register address (kImuRegGyroX ): sMI_Gyroscope |
| kTwiRegInvalid | register address (kTwiPdInvalid): invalid register |
| enum eTwiStructId |
clusters struct numbers for the internal communication (via TWI)
| Enumerator | |
|---|---|
| kTwiNrMD_Mode | constant ( 0): struct number for sMD_Mode |
| kTwiNrMD_SensLineEnable | constant ( 1): struct number for sMD_SensLineEnable |
| kTwiNrMD_Bumper | constant ( 2): struct number for sMD_Bumper |
| kTwiNrMD_Encoder | constant ( 3): struct number for sMD_Encoder |
| kTwiNrMD_EncoderClear | constant ( 4): struct number for sMD_EncoderClear |
| kTwiNrMD_SpeedRaw | constant ( 5): struct number for sMD_SpeedRaw |
| kTwiNrMD_Motor | constant ( 6): struct number for sMD_Motor |
| kTwiNrMD_SensCurrent | constant ( 7): struct number for sMD_SensCurrent |
| kTwiNrMD_SensBattery | constant ( 8): struct number for sMD_SensBattery |
| kTwiNrMD_SensLineF | constant ( 9): struct number for sMD_SensLineF |
| kTwiNrMD_SensLineM | constant (10): struct number for sMD_SensLineM |
| kTwiNrMD_SensLineD | constant (11): struct number for sMD_SensLineD |
| kTwiNrMDMaxStudent | constant (11): maximum id of common basic struct |
| kTwiNrMDMinPupil | constant (12): minimum id of pupils-only basic struct |
| kTwiNrMD_DriveDist | constant (12): struct number for sMD_DriveDist - only in pupils mode |
| kTwiNrMD_DriveAngle | constant (13): struct number for sMD_DriveAngle - only in pupils mode |
| kTwiNrMD_DriveAdjust | constant (14): struct number for sMD_DriveAdjust - only in pupils mode |
| kTwiNrMD_DriveArc | constant (15): struct number for sMD_DriveArc - only in pupils mode |
| kTwiNrMD_DriveStop | constant (16): struct number for sMD_DriveStop - only in pupils mode |
| kTwiNrMD_State | constant (17): struct number for sMD_State - only in pupils mode |
| kTwiNrMD_WayAngle | constant (18): struct number for sMD_WayAngle - only in pupils mode |
| kTwiNrMD_Speed | constant (19): struct number for sMD_Speed - only in pupils mode |
| kTwiNrMDMaxPupil | constant (19): maximum id of pupils-only basic struct |
| kTwiNrMDMaxValid | constant (kTwiNrMDMaxStudent or kTwiNrMDMaxPupil): maximum id of basic struct to be handled by the twi |
| kTwiNrMIMinValid | constant (100): minimum id of imu struct to be handled by the twi |
| kTwiNrMI_Accelerometer | constant (100): struct number for sMI_Accelerometer |
| kTwiNrMI_Temperature | constant (101): struct number for sMI_Temperature |
| kTwiNrMI_Gyroscope | constant (102): struct number for sMI_Gyroscope |
| kTwiNrMIMaxValid | constant (102): maximum id of imu struct to be handled by the twi |
| kTwiNrInvalid | constant (0xFF): invalid struct number |
1.8.17