DCE-Eurobot: common/can_ids.h Source File

00001 #ifndef _CAN_IDS_H
00002 #define _CAN_IDS_H
00003 
00004 #define to_boa(x) x
00005 #define to_mot(x) x
00006 #define to_per(x) x
00007 #define to_las(x) x
00008 
00009 //ids of laser navigation can messages
00010 #define CAN_LAS1 to_boa(0x10)           /* LAS->BOA */
00011 #define CAN_LAS2 to_boa(0x11)
00012 #define CAN_LAS3 to_boa(0x12)
00013 #define CAN_LAS4 to_boa(0x13)
00014 
00015 #define CAN_MOTION_RESET           to_mot(0x20) /* BOA->MOT */
00016 #define CAN_MOTION_CMD             to_mot(0x21) /* BOA->MOT */
00017 #define CAN_MOTION_ODOMETRY_SIMPLE to_boa(0x22) /* MOT->BOA */
00018 #define CAN_MOTION_STATUS          to_boa(0x23) /* MOT->BOA */
00019 
00020 // ids of can-peripherials
00021 #define CAN_SERVO to_per(0x32)          /* BOA->PER */
00022 #define CAN_ADC_1 to_boa(0x33)          /* PER->BOA */
00023 #define CAN_ADC_2 to_boa(0x34)          /* PER->BOA */
00024 #define CAN_IR    to_boa(0x35)          /* PER->BOA */
00025 #define CAN_LED   to_per(0x36)          /* BOA->PER */
00026 #define CAN_ADC_3 to_boa(0x37)          /* PER->BOA */
00027 
00028 // #undef to_boa
00029 // #undef to_mot
00030 // #undef to_per
00031 // #undef to_las
00032 
00033 #endif