Merge branch 'develop'

1 files changed, 26 insertions, 7 deletions

diff --git a/simplemotion_private.h b/simplemotion_private.h
index d1e37a3..e46dc1c 100644
--- a/simplemotion_private.h
+++ b/simplemotion_private.h
@@ -30,6 +30,7 @@
 #define BUSDEV_FTDI 2 /*not implemented yet: direct FTDI lib support*/

 

 #define SM_BUSDEVICENAME_LEN 64

+extern unsigned long SMBusBaudrate; //the next opened port (with smOpenBus) will be opened with the PBS defined here (default 460800 BPS)

 

 //default timeout in ms

 //Argon drive's worst case response time should be ~20ms with max length packets

@@ -46,6 +47,13 @@ void smDebug( smbus handle, smVerbosityLevel verbositylevel, char *format, ...);
 

 SM_STATUS smRawCmd( const char *axisname, smuint8 cmd, smuint16 val, smuint32 *retdata );

 

+/*Workaround to have packed structs that compile on GCC and MSVC*/

+#ifdef __GNUC__

+#define PACKED __attribute__ ((__packed__))

+#else/*Assuming MSVC*/

+#define PACKED

+#pragma pack(push,1)

+#endif

 

 typedef struct {

         /* ID=0 param size 30 bits (cmd total 4 bytes)

@@ -55,7 +63,7 @@ typedef struct {
          */

         long param :30; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommand32;

+} PACKED SMPayloadCommand32;

 

 typedef struct {

         /* ID=0 param size 30 bits (cmd total 4 bytes)

@@ -65,7 +73,7 @@ typedef struct {
          */

         long param :14; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommand16;

+} PACKED SMPayloadCommand16;

 

 typedef struct {

         /* ID=0 param size 30 bits (cmd total 4 bytes)

@@ -75,7 +83,7 @@ typedef struct {
          */

         long param :22; //MSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommand24;

+} PACKED SMPayloadCommand24;

 

 //SM payload command return data structure

 typedef struct {

@@ -86,7 +94,8 @@ typedef struct {
          */

         long retData: 30; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet32;

+} PACKED SMPayloadCommandRet32;

+

 //SM payload command return data structure

 typedef struct {

         /* ID=0 ret data 30 bits (tot 4 bytes)

@@ -96,7 +105,8 @@ typedef struct {
          */

         long retData: 22; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet24;

+} PACKED SMPayloadCommandRet24;

+

 //SM payload command return data structure

 typedef struct {

         /* ID=0 ret data 30 bits (tot 4 bytes)

@@ -106,7 +116,8 @@ typedef struct {
          */

         long retData: 14; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet16;

+} PACKED SMPayloadCommandRet16;

+

 //SM payload command return data structure

 typedef struct {

         /* ID=0 ret data 30 bits (tot 4 bytes)

@@ -116,6 +127,14 @@ typedef struct {
          */

         long retData: 6; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet8;

+} PACKED SMPayloadCommandRet8;

+

+/*Workaround to have packed structs that compile on GCC and MSVC*/

+#ifdef __GNUC__

+#else/*Assuming MSVC*/

+#pragma pack(pop)

+#undef PACKED

+#endif

+

 

 #endif // SIMPLEMOTION_PRIVATE_H