www.gusucode.com > Sphero Connectivity Package 程序工具箱matlab源码 > Sphero Connectivity Package/+sphero/private/spheroApiRev1_50.m
function info= spheroApiRev1_50()
% SPHEROAPIREV1_50 Constants and parameters for Sphero Communication API Rev 1.50
% Copyright 2015-2018, The MathWorks, Inc.
%% Device IDs
info.Constants.DidCore = uint8(hex2dec('00'));
info.Constants.DidBootloader = uint8(hex2dec('01'));
info.Constants.DidSphero = uint8(hex2dec('02'));
%% Command IDs
% For Did = 0
info.Constants.CmdPing = uint8(hex2dec('01'));
info.Constants.CmdVersion = uint8(hex2dec('02'));
info.Constants.CmdControlUartTx = uint8(hex2dec('03'));
info.Constants.CmdSetBtName = uint8(hex2dec('10'));
info.Constants.CmdGetBtName = uint8(hex2dec('11'));
info.Constants.CmdSetAutoReconnect = uint8(hex2dec('12'));
info.Constants.CmdGetAutoReconnect = uint8(hex2dec('13'));
info.Constants.CmdGetPwrState = uint8(hex2dec('20'));
info.Constants.CmdSetPwrNotify = uint8(hex2dec('21'));
info.Constants.CmdSleep = uint8(hex2dec('22'));
info.Constants.GetPowerTrips = uint8(hex2dec('23'));
info.Constants.SetPowerTrips = uint8(hex2dec('24'));
info.Constants.SetInactiveTimer = uint8(hex2dec('25'));
info.Constants.CmdGotoBl = uint8(hex2dec('30'));
info.Constants.CmdRunL1Diags = uint8(hex2dec('40'));
info.Constants.CmdRunL2Diags = uint8(hex2dec('41'));
info.Constants.CmdClearCounters = uint8(hex2dec('42'));
info.Constants.CmdAssignTime = uint8(hex2dec('50'));
info.Constants.CmdPollTime = uint8(hex2dec('51'));
% For Did = 1
info.Constants.BeginReflash = uint8(hex2dec('02'));
info.Constants.HereIsPage = uint8(hex2dec('03'));
info.Constants.LeaveBootloader = uint8(hex2dec('04'));
info.Constants.IsPageBlank = uint8(hex2dec('05'));
info.Constants.CmdEraseUserConfig = uint8(hex2dec('06'));
% For Did = 2
info.Constants.CmdSetCal = uint8(hex2dec('01'));
info.Constants.CmdSetStabiliz = uint8(hex2dec('02'));
info.Constants.CmdSetRotationRate = uint8(hex2dec('03'));
info.Constants.CmdSetCreationDate = uint8(hex2dec('04'));
info.Constants.CmdGetChassisId = uint8(hex2dec('07'));
info.Constants.CmdSetChassisId = uint8(hex2dec('08'));
info.Constants.CmdSelfLevel = uint8(hex2dec('09'));
info.Constants.CmdSetDataStreaming = uint8(hex2dec('11'));
info.Constants.CmdSetCollisionDet = uint8(hex2dec('12'));
info.Constants.CmdLocator = uint8(hex2dec('13'));
info.Constants.CmdSetAccelero = uint8(hex2dec('14'));
info.Constants.CmdReadLocator = uint8(hex2dec('15'));
info.Constants.CmdSetRgbLed = uint8(hex2dec('20'));
info.Constants.CmdSetBackLed = uint8(hex2dec('21'));
info.Constants.CmdGetRgbLed = uint8(hex2dec('22'));
info.Constants.CmdRoll = uint8(hex2dec('30'));
info.Constants.CmdBoost = uint8(hex2dec('31'));
info.Constants.CmdSetRawMotors = uint8(hex2dec('33'));
info.Constants.CmdSetMotionTo = uint8(hex2dec('34'));
info.Constants.CmdSetOptionsFlag = uint8(hex2dec('35'));
info.Constants.CmdGetOptionsFlag = uint8(hex2dec('36'));
info.Constants.CmdSetTempOptionsFlag = uint8(hex2dec('37'));
info.Constants.CmdGetTempOptionsFlag = uint8(hex2dec('38'));
info.Constants.CmdGetConfigBlk = uint8(hex2dec('40'));
info.Constants.CmdSetSsbParams = uint8(hex2dec('41'));
info.Constants.CmdSetDeviceMode = uint8(hex2dec('42'));
info.Constants.CmdCdgBlock = uint8(hex2dec('43'));
info.Constants.CmdGetDeviceMode = uint8(hex2dec('44'));
info.Constants.CmdGetSsb = uint8(hex2dec('46'));
info.Constants.CmdSetSsb = uint8(hex2dec('47'));
info.Constants.CmdSsbRefill = uint8(hex2dec('48'));
info.Constants.CmdSsbBuy = uint8(hex2dec('49'));
info.Constants.CmdSsbUseConsumeable = uint8(hex2dec('4A'));
info.Constants.CmdSsbGrantCores = uint8(hex2dec('4B'));
info.Constants.CmdSsbAddXp = uint8(hex2dec('4C'));
info.Constants.CmdSsbLevelUpAttr = uint8(hex2dec('4D'));
info.Constants.CmdGetPwSeed = uint8(hex2dec('4E'));
info.Constants.CmdSsbEnableAsync = uint8(hex2dec('4F'));
info.Constants.CmdRunMacro = uint8(hex2dec('50'));
info.Constants.CmdSaveTempMacro = uint8(hex2dec('51'));
info.Constants.CmdSaveMacro = uint8(hex2dec('52'));
info.Constants.CmdInitMacroExecutive = uint8(hex2dec('54'));
info.Constants.CmdAbortMacro = uint8(hex2dec('55'));
info.Constants.CmdMacroStatus = uint8(hex2dec('56'));
info.Constants.CmdSetMacroParam = uint8(hex2dec('57'));
info.Constants.CmdAppendTempMacroChunk = uint8(hex2dec('58'));
info.Constants.CmdEraseOrbbas = uint8(hex2dec('60'));
info.Constants.CmdAppendFrag = uint8(hex2dec('61'));
info.Constants.CmdExecOrbbas = uint8(hex2dec('62'));
info.Constants.CmdAbortOrbbas = uint8(hex2dec('63'));
info.Constants.CmdAnswerInput = uint8(hex2dec('64'));
info.Constants.CmdCommitToFlash = uint8(hex2dec('65'));
%% Dlen for Commands sent to Sphero
% Did = 0
info.Constants.CmdPingDlen = uint8(hex2dec('01'));
info.Constants.CmdVersionDlen = uint8(hex2dec('01'));
info.Constants.CmdControlUartTxDlen = uint8(hex2dec('02'));
info.Constants.CmdGetBtNameDlen = uint8(hex2dec('01'));
info.Constants.CmdSetAutoReconnectDlen = uint8(hex2dec('03'));
info.Constants.CmdGetAutoReconnectDlen = uint8(hex2dec('01'));
info.Constants.CmdGetPwrStateDlen = uint8(hex2dec('01'));
info.Constants.CmdSetPwrNotifyDlen = uint8(hex2dec('02'));
info.Constants.CmdSleepDlen = uint8(hex2dec('06'));
info.Constants.GetPowerTripsDlen = uint8(hex2dec('01'));
info.Constants.SetPowerTripsDlen = uint8(hex2dec('05'));
info.Constants.SetInactiveTimerDlen = uint8(hex2dec('03'));
info.Constants.CmdGotoBlDlen = uint8(hex2dec('01'));
info.Constants.CmdRunL1DiagsDlen = uint8(hex2dec('01'));
info.Constants.CmdRunL2DiagsDlen = uint8(hex2dec('01'));
info.Constants.CmdClearCountersDlen = uint8(hex2dec('01'));
info.Constants.CmdAssignTimeDlen = uint8(hex2dec('05'));
info.Constants.CmdPollTimeDlen = uint8(hex2dec('05'));
% For Did = 2
info.Constants.CmdSetCalDlen = uint8(hex2dec('03'));
info.Constants.CmdSetStabilizDlen = uint8(hex2dec('02'));
info.Constants.CmdSetRotationRateDlen = uint8(hex2dec('02'));
info.Constants.CmdSetCreationDateDlen = uint8(hex2dec('21'));
info.Constants.CmdGetChassisIdDlen = uint8(hex2dec('01'));
info.Constants.CmdSetChassisIdDlen = uint8(hex2dec('03'));
info.Constants.CmdSelfLevelDlen = uint8(hex2dec('05'));
info.Constants.CmdSetDataStreamingDlen = uint8(hex2dec('0e'));
info.Constants.CmdSetCollisionDetDlen = uint8(hex2dec('07'));
info.Constants.CmdLocatorDlen = uint8(hex2dec('08'));
info.Constants.CmdSetAcceleroDlen = uint8(hex2dec('02'));
info.Constants.CmdReadLocatorDlen = uint8(hex2dec('01'));
info.Constants.CmdSetRgbLedDlen = uint8(hex2dec('05'));
info.Constants.CmdSetBackLedDlen = uint8(hex2dec('02'));
info.Constants.CmdGetRgbLedDlen = uint8(hex2dec('01'));
info.Constants.CmdRollDlen = uint8(hex2dec('05'));
info.Constants.CmdBoostDlen = uint8(hex2dec('02'));
info.Constants.CmdSetRawMotorsDlen = uint8(hex2dec('05'));
info.Constants.CmdSetMotionToDlen = uint8(hex2dec('03'));
info.Constants.CmdSetOptionsFlagDlen = uint8(hex2dec('05'));
info.Constants.CmdGetOptionsFlagDlen = uint8(hex2dec('01'));
info.Constants.CmdSetTempOptionsFlagDlen = uint8(hex2dec('05'));
info.Constants.CmdGetTempOptionsFlagDlen = uint8(hex2dec('01'));
info.Constants.CmdGetConfigBlkDlen = uint8(hex2dec('02'));
info.Constants.CmdSetSsbParamsDlen = uint8(hex2dec('FF'));
info.Constants.CmdSetDeviceModeDlen = uint8(hex2dec('02'));
info.Constants.CmdCdgBlockDlen = uint8(hex2dec('FF'));
info.Constants.CmdGetDeviceModeDlen = uint8(hex2dec('01'));
info.Constants.CmdGetSsbDlen = uint8(hex2dec('01'));
info.Constants.CmdSetSsbDlen = uint8(hex2dec('FF'));
info.Constants.CmdSsbRefillDlen = uint8(hex2dec('02'));
info.Constants.CmdSsbBuyDlen = uint8(hex2dec('03'));
info.Constants.CmdSsbUseConsumeableDlen = uint8(hex2dec('02'));
info.Constants.CmdSsbGrantCoresDlen = uint8(hex2dec('09'));
info.Constants.CmdSsbAddXpDlen = uint8(hex2dec('06'));
info.Constants.CmdSsbLevelUpAttrDlen = uint8(hex2dec('06'));
info.Constants.CmdGetPwSeedDlen = uint8(hex2dec('01'));
info.Constants.CmdSsbEnableAsyncDlen = uint8(hex2dec('02'));
info.Constants.CmdRunMacroDlen = uint8(hex2dec('02'));
info.Constants.CmdInitMacroExecutiveDlen = uint8(hex2dec('01'));
info.Constants.CmdAbortMacroDlen = uint8(hex2dec('01'));
info.Constants.CmdMacroStatusDlen = uint8(hex2dec('01'));
info.Constants.CmdSetMacroParamDlen = uint8(hex2dec('04'));
info.Constants.CmdEraseOrbbasDlen = uint8(hex2dec('02'));
info.Constants.CmdExecOrbbasDlen = uint8(hex2dec('04'));
info.Constants.CmdAbortOrbbasDlen = uint8(hex2dec('01'));
info.Constants.CmdAnswerInputDlen = uint8(hex2dec('05'));
info.Constants.CmdCommitToFlashDlen = uint8(hex2dec('01'));
%% Dlen of Response received from Sphero
% Dlen of Synchronous responses
info.Constants.RspVersionDlen = uint8(hex2dec('09'));
info.Constants.RspGetBtNameDlen = uint8(hex2dec('21'));
info.Constants.RspGetAutoReconnectDlen = uint8(hex2dec('03'));
info.Constants.RspGetPwrStateDlen = uint8(hex2dec('09'));
info.Constants.RspGetPowerTripsDlen = uint8(hex2dec('05'));
info.Constants.RspRunL2DiagsDlen = uint8(hex2dec('59'));
info.Constants.RspPollTimesDlen = uint8(hex2dec('0D'));
info.Constants.RspReadLocatorDlen = uint8(hex2dec('0B'));
info.Constants.RspGetRgbLedDlen = uint8(hex2dec('04'));
info.Constants.RspGetOptionsFlagDlen = uint8(hex2dec('05'));
info.Constants.RspGetTempOptionsFlagDlen = uint8(hex2dec('05'));
info.Constants.RspGetDeviceModeDlen = uint8(hex2dec('02'));
info.Constants.RspSsbRefillDlen = uint8(hex2dec('05'));
info.Constants.RspSsbBuyDlen = uint8(hex2dec('06'));
info.Constants.RspSsbUseConsumeableDlen = uint8(hex2dec('03'));
info.Constants.RspSsbGrantCoresDlen = uint8(hex2dec('05'));
info.Constants.RspSsbAddXpDlen = uint8(hex2dec('05'));
info.Constants.RspSsbLevelUpAttrDlen = uint8(hex2dec('05'));
info.Constants.RspGetPwSeedDlen = uint8(hex2dec('05'));
info.Constants.RspAbortMacroDlen = uint8(hex2dec('04'));
info.Constants.RspMacroStatusDlen = uint8(hex2dec('04'));
% Dlen of asynchronous responses
info.Constants.RspPowerDlen = uint8(hex2dec('02'));
info.Constants.RspPreSleepDlen = uint8(hex2dec('01'));
info.Constants.RspCollisionDlen = uint8(hex2dec('11'));
info.Constants.RspGyroAxisLimitDlen = uint8(hex2dec('01'));
info.Constants.RspSimpleDlen = uint8(hex2dec('01'));
%% Message Response Codes
info.Constants.RspCodeOk = hex2dec('00');
info.Constants.RspCodeEgen = hex2dec('01');
info.Constants.RspCodeEchksum = hex2dec('02');
info.Constants.RspCodeEfrag = hex2dec('03');
info.Constants.RspCodeEbadCmd = hex2dec('04');
info.Constants.RspCodeEunsupp = hex2dec('05');
info.Constants.RspCodeEbadMsg = hex2dec('06');
info.Constants.RspCodeEparam = hex2dec('07');
info.Constants.RspCodeEexec = hex2dec('08');
info.Constants.RspCodeEbadDid = hex2dec('09');
info.Constants.RspCodeMemBusy = hex2dec('0A');
info.Constants.RspCodeBadPassword = hex2dec('0B');
info.Constants.RspCodePowerNogood = hex2dec('31');
info.Constants.RspCodePageIllegal = hex2dec('32');
info.Constants.RspCodeFlashFail = hex2dec('33');
info.Constants.RspCodeMaCorrupt = hex2dec('34');
info.Constants.RspCodeMsgTimeout = hex2dec('35');
% info.Constants.RspAsyncPower = uint8(hex2dec('01'));
% info.Constants.RspAsyncL1Diag = uint8(hex2dec('02'));
%% Sequence of the asynchronous response that can be returned by Sphero
%Needs to be changed to a struct for code generation
info.Constants.RspAsync = {'power';
'level1diag';
'sensor';
'configblk';
'presleep';
'macro';
'collision';
'orbbasicprint';
'orbbasicerrorascii';
'orbbasicerrorbinary';
'selflevel';
'gyroaxislimit';
'ssb';
'levelup';
'shielddamage';
'xpupdate';
'boostupdate'};
%% Other constants
info.Constants.expectedSop1 = uint8(hex2dec('FF'));
info.Constants.sop2Acknowledgement = uint8(hex2dec('FF'));
info.Constants.sop2Asynchronous = uint8(hex2dec('FE'));
% info.Constants.seqAsynchronous = uint8(hex2dec('00'));
%% Bit number for different parts of Sphero Response
info.SpheroResponse.sop1 = 1;
info.SpheroResponse.sop2 = 2;
info.SpheroResponse.mrsp = 3;
info.SpheroResponse.seq = 4;
info.SpheroResponse.dlen = 5;
info.SpheroResponse.data = 6;
info.SpheroResponse.chk = 7;
info.SpheroResponse.idcode = 3;
info.SpheroResponse.dlenmsb = 4;
info.SpheroResponse.dlenlsb = 5;
end