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Kinova.DLL.CommData.General.CCommDef Class Reference

It is a class that define every communication constant used in the communication process. More...

Public Attributes

const int COMMAND_SUCCESS = 0
 The error code for a success command. More...
 
const int JACO_NACK_FIRST = 1
 The error code for receiving a NACK on the first packet from the DSP. More...
 
const int JACO_NACK_NORMAL = 2
 The error code for receiving a NACK on any packet except the first from the DSP. More...
 
const int JACO_FAIL = 3
 The error code for receiving a FAIL from the DSP. More...
 
const int KINOVA_NACK_ERROR_0 = 4
 The error code for receiving a type 0 error from the USBManager. More...
 
const int KINOVA_NACK_ERROR_1 = 5
 The error code for receiving a type 1 error from the USBManager. More...
 
const int KINOVA_NACK_ERROR_2 = 6
 The error code for receiving a type 2 error from the USBManager. More...
 
const int KINOVA_NACK_ERROR_3 = 7
 The error code for receiving a type 3 error from the USBManager. More...
 
const int PAGE_SIZE = 2048
 The size in byte of a flash page inside the DSP. More...
 
const int ADDRESS_PAGE_SIZE = 4
 Index of the parameter [Address page size] in the header. More...
 
const int PACKET_PER_PAGE_QTY = 40
 Quantity of packet in a flash page. More...
 
const int PAGEPACKET_SIZE = 52
 Packet size of a flash page. More...
 
const int JACO_HEADER_IDPACKET = 0
 Parameter [Packet's id] index in the JACO header. More...
 
const int JACO_HEADER_PACKETQTY = 2
 Parameter [Packet quantity] in the JACO header. More...
 
const int JACO_HEADER_IDCOMMAND = 4
 Parameter [Command's id] index in the JACO header. More...
 
const int JACO_HEADER_COMMANDSIZE = 6
 Parameter [Command's size] index in the JACO header. More...
 
const int KINOVA_HEADER_SOURCE = 0
 Parameter [source] index in the Kinova header. More...
 
const int KINOVA_HEADER_DEST = 4
 Parameter [destination] index in the Kinova header. More...
 
const int KINOVA_HEADER_ACK = 8
 Parameter [ACK/NACK] index in the Kinova header. More...
 
const int KINOVA_HEADER_SPEED = 9
 Parameter [speed] index in the Kinova header. More...
 
const int KINOVA_HEADER_OPTION = 10
 Parameter [option] index in the Kinova header. More...
 
const int KINOVA_HEADER_ERROR = 12
 Parameter [error] index in the Kinova header. More...
 
const int USB_HEADER_SIZE = 8
 Size of the header within a packet. More...
 
const int KINOVA_HEADER_SIZE = 16
 Kinova header's size in byte. More...
 
const short USB_DATA_SIZE = 56
 Size of the data within a packet. More...
 
const short USB_PACKET_SIZE = USB_DATA_SIZE + USB_HEADER_SIZE
 Size of the JACO USB packet. More...
 
const short KINOVA_PACKET_SIZE = USB_PACKET_SIZE + KINOVA_HEADER_SIZE
 Size of the Kinova USB packet. More...
 
const short KINOVA_DATA_SIZE = USB_PACKET_SIZE
 Size of the data portion in a kinova USB packet. More...
 
const long ERASE_FLASH_DELAY = 100
 Delay between erasing the flash and starting the flash reprogrammation. More...
 
const long WRITTING_PAGE_DELAY = 10
 Delay between the write of each flash pages More...
 
const int JACO_NACK_BIT_VALUE = 32768
 
const int JACO_FAIL_BIT_VALUE = 16384
 

Detailed Description

It is a class that define every communication constant used in the communication process.

Member Data Documentation

const int Kinova.DLL.CommData.General.CCommDef.ADDRESS_PAGE_SIZE = 4

Index of the parameter [Address page size] in the header.

const int Kinova.DLL.CommData.General.CCommDef.COMMAND_SUCCESS = 0

The error code for a success command.

const long Kinova.DLL.CommData.General.CCommDef.ERASE_FLASH_DELAY = 100

Delay between erasing the flash and starting the flash reprogrammation.

const int Kinova.DLL.CommData.General.CCommDef.JACO_FAIL = 3

The error code for receiving a FAIL from the DSP.

const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_COMMANDSIZE = 6

Parameter [Command's size] index in the JACO header.

const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_IDCOMMAND = 4

Parameter [Command's id] index in the JACO header.

const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_IDPACKET = 0

Parameter [Packet's id] index in the JACO header.

const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_PACKETQTY = 2

Parameter [Packet quantity] in the JACO header.

const int Kinova.DLL.CommData.General.CCommDef.JACO_NACK_FIRST = 1

The error code for receiving a NACK on the first packet from the DSP.

const int Kinova.DLL.CommData.General.CCommDef.JACO_NACK_NORMAL = 2

The error code for receiving a NACK on any packet except the first from the DSP.

const short Kinova.DLL.CommData.General.CCommDef.KINOVA_DATA_SIZE = USB_PACKET_SIZE

Size of the data portion in a kinova USB packet.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_ACK = 8

Parameter [ACK/NACK] index in the Kinova header.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_DEST = 4

Parameter [destination] index in the Kinova header.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_ERROR = 12

Parameter [error] index in the Kinova header.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_OPTION = 10

Parameter [option] index in the Kinova header.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_SIZE = 16

Kinova header's size in byte.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_SOURCE = 0

Parameter [source] index in the Kinova header.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_SPEED = 9

Parameter [speed] index in the Kinova header.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_0 = 4

The error code for receiving a type 0 error from the USBManager.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_1 = 5

The error code for receiving a type 1 error from the USBManager.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_2 = 6

The error code for receiving a type 2 error from the USBManager.

const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_3 = 7

The error code for receiving a type 3 error from the USBManager.

const short Kinova.DLL.CommData.General.CCommDef.KINOVA_PACKET_SIZE = USB_PACKET_SIZE + KINOVA_HEADER_SIZE

Size of the Kinova USB packet.

const int Kinova.DLL.CommData.General.CCommDef.PACKET_PER_PAGE_QTY = 40

Quantity of packet in a flash page.

const int Kinova.DLL.CommData.General.CCommDef.PAGE_SIZE = 2048

The size in byte of a flash page inside the DSP.

const int Kinova.DLL.CommData.General.CCommDef.PAGEPACKET_SIZE = 52

Packet size of a flash page.

const short Kinova.DLL.CommData.General.CCommDef.USB_DATA_SIZE = 56

Size of the data within a packet.

const int Kinova.DLL.CommData.General.CCommDef.USB_HEADER_SIZE = 8

Size of the header within a packet.

const short Kinova.DLL.CommData.General.CCommDef.USB_PACKET_SIZE = USB_DATA_SIZE + USB_HEADER_SIZE

Size of the JACO USB packet.

const long Kinova.DLL.CommData.General.CCommDef.WRITTING_PAGE_DELAY = 10

Delay between the write of each flash pages


The documentation for this class was generated from the following file: