ev3_tacho.h

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/*  ev3_tacho.h was generated by yup.py (yupp) 1.0c3
    out of ev3_tacho.yu-h 
 */
#ifndef EV3_TACHO_H
#define EV3_TACHO_H

#ifdef  EV3_TACHO_IMPLEMENT
#define EV3_TACHO_VAR( decl ) \
    decl
#define EV3_TACHO_VAR_INIT( decl, ... ) \
    decl = __VA_ARGS__

#define EV3_TACHO_INL

#else  /* EV3_TACHO_IMPLEMENT */
#define EV3_TACHO_VAR( decl ) \
    extern decl
#define EV3_TACHO_VAR_INIT( decl, ... ) \
    extern decl

#if __GNUC__ && !__GNUC_STDC_INLINE__
#define EV3_TACHO_INL \
    extern inline
#else
#define EV3_TACHO_INL \
    inline
#endif

#endif /* EV3_TACHO_IMPLEMENT */

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

#ifdef __cplusplus
extern "C" {
#endif

#define TACHO_DIR  "/sys/class/tacho-motor"  
typedef struct {
    INX_T type_inx;  
    uint8_t port;  
    uint8_t extport;  
} EV3_TACHO;

#define TACHO_DESC__LIMIT_  DESC_LIMIT  
#define TACHO__NONE_  TACHO_DESC__LIMIT_  
EV3_TACHO_VAR( EV3_TACHO ev3_tacho[ TACHO_DESC__LIMIT_ ] );

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

    LEGO_EV3_L_MOTOR,
    LEGO_EV3_M_MOTOR,
    FI_L12_EV3,

    TACHO_TYPE__COUNT_,  
    TACHO_TYPE__UNKNOWN_ = TACHO_TYPE__COUNT_
};

enum {
    TACHO_COMMAND__NONE_ = 0,

    TACHO_RUN_FOREVER,
    TACHO_RUN_TO_ABS_POS,
    TACHO_RUN_TO_REL_POS,
    TACHO_RUN_TIMED,
    TACHO_RUN_DIRECT,
    TACHO_STOP,
    TACHO_RESET,

    TACHO_COMMAND__COUNT_,  
    TACHO_COMMAND__UNKNOWN_ = TACHO_COMMAND__COUNT_
};

enum {
    TACHO_POLARITY__NONE_ = 0,

    TACHO_NORMAL,
    TACHO_INVERSED,

    TACHO_POLARITY__COUNT_,  
    TACHO_POLARITY__UNKNOWN_ = TACHO_POLARITY__COUNT_
};

enum {
    TACHO_STOP_ACTION__NONE_ = 0,

    TACHO_COAST,
    TACHO_BRAKE,
    TACHO_HOLD,

    TACHO_STOP_ACTION__COUNT_,  
    TACHO_STOP_ACTION__UNKNOWN_ = TACHO_STOP_ACTION__COUNT_
};

enum {
    TACHO_STATE__NONE_ = 0,

    TACHO_RUNNING = 0x1L,
    TACHO_RAMPING = 0x2L,
    TACHO_HOLDING = 0x4L,
    TACHO_OVERLOADED = 0x8L,
    TACHO_STALLED = 0x10L,

};

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

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

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

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

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

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

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

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

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

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

extern size_t set_tacho_duty_cycle_sp( uint8_t sn, int value );

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

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

extern size_t set_tacho_hold_pid_Kd( uint8_t sn, int value );

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

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

extern size_t set_tacho_hold_pid_Ki( uint8_t sn, int value );

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

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

extern size_t set_tacho_hold_pid_Kp( uint8_t sn, int value );

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

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

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

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

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

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

extern size_t set_tacho_position( uint8_t sn, int value );

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

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

extern size_t set_tacho_position_sp( uint8_t sn, int value );

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

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

extern size_t set_tacho_ramp_down_sp( uint8_t sn, int value );

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

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

extern size_t set_tacho_ramp_up_sp( uint8_t sn, int value );

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

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

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

extern size_t set_tacho_speed_pid_Kd( uint8_t sn, int value );

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

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

extern size_t set_tacho_speed_pid_Ki( uint8_t sn, int value );

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

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

extern size_t set_tacho_speed_pid_Kp( uint8_t sn, int value );

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

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

extern size_t set_tacho_speed_sp( uint8_t sn, int value );

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

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

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

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

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

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

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

extern size_t set_tacho_time_sp( uint8_t sn, int value );

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

extern const char *ev3_tacho_type( INX_T type_inx );

extern INX_T get_tacho_type_inx( uint8_t sn );

extern size_t get_tacho_desc( uint8_t sn, EV3_TACHO *desc );

extern EV3_TACHO *ev3_tacho_desc( uint8_t sn );

extern INX_T ev3_tacho_desc_type_inx( uint8_t sn );

extern uint8_t ev3_tacho_desc_port( uint8_t sn );

extern uint8_t ev3_tacho_desc_extport( uint8_t sn );

extern char *ev3_tacho_port_name( uint8_t sn, char *buf );

extern bool ev3_search_tacho( INX_T type_inx, uint8_t *sn, uint8_t from );

extern bool ev3_search_tacho_plugged_in( uint8_t port, uint8_t extport, uint8_t *sn, uint8_t from );

extern const char *ev3_tacho_command( INX_T command_inx );

extern size_t set_tacho_command_inx( uint8_t sn, INX_T command_inx );

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

extern const char *ev3_tacho_polarity( INX_T polarity_inx );

extern INX_T get_tacho_polarity_inx( uint8_t sn );

extern size_t set_tacho_polarity_inx( uint8_t sn, INX_T polarity_inx );

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

extern const char *ev3_tacho_stop_action( INX_T stop_action_inx );

extern INX_T get_tacho_stop_action_inx( uint8_t sn );

extern size_t set_tacho_stop_action_inx( uint8_t sn, INX_T stop_action_inx );

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

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

extern int ev3_tacho_init( void );

#ifdef __cplusplus
}
#endif

#undef EV3_TACHO_VAR
#undef EV3_TACHO_VAR_INIT
#undef EV3_TACHO_INL
#endif