ev3_servo.h

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/*  ev3_servo.h was generated by yup.py (yupp) 1.0c3
    out of ev3_servo.yu-h 
 */
#ifndef EV3_SERVO_H
#define EV3_SERVO_H

#ifdef  EV3_SERVO_IMPLEMENT
#define EV3_SERVO_VAR( decl ) \
    decl
#define EV3_SERVO_VAR_INIT( decl, ... ) \
    decl = __VA_ARGS__

#define EV3_SERVO_INL

#else  /* EV3_SERVO_IMPLEMENT */
#define EV3_SERVO_VAR( decl ) \
    extern decl
#define EV3_SERVO_VAR_INIT( decl, ... ) \
    extern decl

#if __GNUC__ && !__GNUC_STDC_INLINE__
#define EV3_SERVO_INL \
    extern inline
#else
#define EV3_SERVO_INL \
    inline
#endif

#endif /* EV3_SERVO_IMPLEMENT */

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

#ifdef __cplusplus
extern "C" {
#endif

#define SERVO_DIR  "/sys/class/servo-motor"  
typedef struct {
    INX_T type_inx;  
    uint8_t port;  
    uint8_t extport;  
    uint8_t addr;  
} EV3_SERVO;

#define SERVO_DESC__LIMIT_  DESC_LIMIT  
#define SERVO__NONE_  SERVO_DESC__LIMIT_  
EV3_SERVO_VAR( EV3_SERVO ev3_servo[ SERVO_DESC__LIMIT_ ] );

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

    SERVO_MOTOR,

    SERVO_TYPE__COUNT_,  
    SERVO_TYPE__UNKNOWN_ = SERVO_TYPE__COUNT_
};

enum {
    SERVO_COMMAND__NONE_ = 0,

    SERVO_RUN,
    SERVO_FLOAT,

    SERVO_COMMAND__COUNT_,  
    SERVO_COMMAND__UNKNOWN_ = SERVO_COMMAND__COUNT_
};

enum {
    SERVO_POLARITY__NONE_ = 0,

    SERVO_NORMAL,
    SERVO_INVERSED,

    SERVO_POLARITY__COUNT_,  
    SERVO_POLARITY__UNKNOWN_ = SERVO_POLARITY__COUNT_
};

enum {
    SERVO_STATE__NONE_ = 0,

    SERVO_RUNNING = 0x1L,

};

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

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

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

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

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

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

extern size_t set_servo_max_pulse_sp( uint8_t sn, int value );

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

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

extern size_t set_servo_mid_pulse_sp( uint8_t sn, int value );

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

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

extern size_t set_servo_min_pulse_sp( uint8_t sn, int value );

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

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

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

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

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

extern size_t set_servo_position_sp( uint8_t sn, int value );

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

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

extern size_t set_servo_rate_sp( uint8_t sn, int value );

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

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

extern const char *ev3_servo_type( INX_T type_inx );

extern INX_T get_servo_type_inx( uint8_t sn );

extern size_t get_servo_desc( uint8_t sn, EV3_SERVO *desc );

extern EV3_SERVO *ev3_servo_desc( uint8_t sn );

extern INX_T ev3_servo_desc_type_inx( uint8_t sn );

extern uint8_t ev3_servo_desc_port( uint8_t sn );

extern uint8_t ev3_servo_desc_extport( uint8_t sn );

extern uint8_t ev3_servo_desc_addr( uint8_t sn );

extern char *ev3_servo_port_name( uint8_t sn, char *buf );

extern bool ev3_search_servo( INX_T type_inx, uint8_t *sn, uint8_t from );

extern bool ev3_search_servo_plugged_in( uint8_t port, uint8_t extport, uint8_t *sn, uint8_t from );

extern const char *ev3_servo_command( INX_T command_inx );

extern INX_T get_servo_command_inx( uint8_t sn );

extern size_t set_servo_command_inx( uint8_t sn, INX_T command_inx );

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

extern const char *ev3_servo_polarity( INX_T polarity_inx );

extern INX_T get_servo_polarity_inx( uint8_t sn );

extern size_t set_servo_polarity_inx( uint8_t sn, INX_T polarity_inx );

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

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

extern int ev3_servo_init( void );

#ifdef __cplusplus
}
#endif

#undef EV3_SERVO_VAR
#undef EV3_SERVO_VAR_INIT
#undef EV3_SERVO_INL
#endif