ev3_dc.h

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/*  ev3_dc.h was generated by yup.py (yupp) 1.0c3
    out of ev3_dc.yu-h 
 */
#ifndef EV3_DC_H
#define EV3_DC_H

#ifdef  EV3_DC_IMPLEMENT
#define EV3_DC_VAR( decl ) \
    decl
#define EV3_DC_VAR_INIT( decl, ... ) \
    decl = __VA_ARGS__

#define EV3_DC_INL

#else  /* EV3_DC_IMPLEMENT */
#define EV3_DC_VAR( decl ) \
    extern decl
#define EV3_DC_VAR_INIT( decl, ... ) \
    extern decl

#if __GNUC__ && !__GNUC_STDC_INLINE__
#define EV3_DC_INL \
    extern inline
#else
#define EV3_DC_INL \
    inline
#endif

#endif /* EV3_DC_IMPLEMENT */

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DC_DIR  "/sys/class/dc-motor"  
typedef struct {
    INX_T type_inx;  
    uint8_t port;  
    uint8_t extport;  
} EV3_DC;

#define DC_DESC__LIMIT_  DESC_LIMIT  
#define DC__NONE_  DC_DESC__LIMIT_  
EV3_DC_VAR( EV3_DC ev3_dc[ DC_DESC__LIMIT_ ] );

enum {
    DC_TYPE__NONE_ = 0,  /* XXX: memset( 0 ) is used */

    RCX_MOTOR,

    DC_TYPE__COUNT_,  
    DC_TYPE__UNKNOWN_ = DC_TYPE__COUNT_
};

enum {
    DC_COMMAND__NONE_ = 0,

    DC_RUN_FOREVER,
    DC_RUN_TIMED,
    DC_RUN_DIRECT,
    DC_STOP,

    DC_COMMAND__COUNT_,  
    DC_COMMAND__UNKNOWN_ = DC_COMMAND__COUNT_
};

enum {
    DC_POLARITY__NONE_ = 0,

    DC_NORMAL,
    DC_INVERSED,

    DC_POLARITY__COUNT_,  
    DC_POLARITY__UNKNOWN_ = DC_POLARITY__COUNT_
};

enum {
    DC_STOP_ACTION__NONE_ = 0,

    DC_COAST,
    DC_BRAKE,

    DC_STOP_ACTION__COUNT_,  
    DC_STOP_ACTION__UNKNOWN_ = DC_STOP_ACTION__COUNT_
};

enum {
    DC_STATE__NONE_ = 0,

    DC_RUNNING = 0x1L,
    DC_RAMPING = 0x2L,

};

extern size_t get_dc_address( uint8_t sn, char *buf, size_t sz );

extern size_t set_dc_command( uint8_t sn, char *value );

extern size_t multi_set_dc_command( uint8_t *sn, char *value );

extern size_t get_dc_commands( uint8_t sn, char *buf, size_t sz );

extern size_t get_dc_driver_name( uint8_t sn, char *buf, size_t sz );

extern size_t get_dc_duty_cycle( uint8_t sn, int *buf );

extern size_t get_dc_duty_cycle_sp( uint8_t sn, int *buf );

extern size_t set_dc_duty_cycle_sp( uint8_t sn, int value );

extern size_t multi_set_dc_duty_cycle_sp( uint8_t *sn, int value );

extern size_t get_dc_polarity( uint8_t sn, char *buf, size_t sz );

extern size_t set_dc_polarity( uint8_t sn, char *value );

extern size_t multi_set_dc_polarity( uint8_t *sn, char *value );

extern size_t get_dc_state( uint8_t sn, char *buf, size_t sz );

extern size_t set_dc_stop_action( uint8_t sn, char *value );

extern size_t multi_set_dc_stop_action( uint8_t *sn, char *value );

extern size_t get_dc_stop_actions( uint8_t sn, char *buf, size_t sz );

extern size_t get_dc_ramp_down_sp( uint8_t sn, int *buf );

extern size_t set_dc_ramp_down_sp( uint8_t sn, int value );

extern size_t multi_set_dc_ramp_down_sp( uint8_t *sn, int value );

extern size_t get_dc_ramp_up_sp( uint8_t sn, int *buf );

extern size_t set_dc_ramp_up_sp( uint8_t sn, int value );

extern size_t multi_set_dc_ramp_up_sp( uint8_t *sn, int value );

extern size_t get_dc_time_sp( uint8_t sn, int *buf );

extern size_t set_dc_time_sp( uint8_t sn, int value );

extern size_t multi_set_dc_time_sp( uint8_t *sn, int value );

extern const char *ev3_dc_type( INX_T type_inx );

extern INX_T get_dc_type_inx( uint8_t sn );

extern size_t get_dc_desc( uint8_t sn, EV3_DC *desc );

extern EV3_DC *ev3_dc_desc( uint8_t sn );

extern INX_T ev3_dc_desc_type_inx( uint8_t sn );

extern uint8_t ev3_dc_desc_port( uint8_t sn );

extern uint8_t ev3_dc_desc_extport( uint8_t sn );

extern char *ev3_dc_port_name( uint8_t sn, char *buf );

extern bool ev3_search_dc( INX_T type_inx, uint8_t *sn, uint8_t from );

extern bool ev3_search_dc_plugged_in( uint8_t port, uint8_t extport, uint8_t *sn, uint8_t from );

extern const char *ev3_dc_command( INX_T command_inx );

extern size_t set_dc_command_inx( uint8_t sn, INX_T command_inx );

extern size_t multi_set_dc_command_inx( uint8_t *sn, INX_T command_inx );

extern const char *ev3_dc_polarity( INX_T polarity_inx );

extern INX_T get_dc_polarity_inx( uint8_t sn );

extern size_t set_dc_polarity_inx( uint8_t sn, INX_T polarity_inx );

extern size_t multi_set_dc_polarity_inx( uint8_t *sn, INX_T polarity_inx );

extern const char *ev3_dc_stop_action( INX_T stop_action_inx );

extern size_t set_dc_stop_action_inx( uint8_t sn, INX_T stop_action_inx );

extern size_t multi_set_dc_stop_action_inx( uint8_t *sn, INX_T stop_action_inx );

extern size_t get_dc_state_flags( uint8_t sn, FLAGS_T *flags );

extern int ev3_dc_init( void );

#ifdef __cplusplus
}
#endif

#undef EV3_DC_VAR
#undef EV3_DC_VAR_INIT
#undef EV3_DC_INL
#endif