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#ifndef _CONTROL_H_
#define _CONTROL_H_
#define DATA_FIFO_1 0
#define DATA_FIFO_2 1
#define DATA_SIZE 100000
#define COMMAND_FIFO 2
#define TASK_CONTROL_FIFO 3
#define SEMEPHORE_FIFO 4
#define SEMEPHORE_SIZE 100000
#define START_TASK 1
#define STOP_TASK 2
#define PLAY_TASK 3
#define RESET_TASK 4
#define CALIBRATE_TASK 5
#define CLOSE_TASK 6
#define TROLLEY_STEP_LEFT 7
#define TROLLEY_STEP_RIGHT 8
#define TROLLEY_CONT_LEFT 9
#define TROLLEY_CONT_RIGHT 10
#define TROLLEY_STOP 11
#define TROLLEY_BRAKE 12
#define TROLLEY_UNBRAKE 13
#define TROLLEY_SPEED_UP 14
#define TROLLEY_SPEED_DOWN 15
#define TICK_RESOLUTION 92.5e3
//#define TICK_RESOLUTION 100e3 //100000 nano seconds = 10KHz
#define FIFO_0_READY 1
#define FIFO_1_READY 0
#define FIFO0 "./fifo/rtf0"
#define FIFO1 "./fifo/rtf1"
#define FIFO2 "./fifo/rtf2"
#define FIFO3 "./fifo/rtf3"
#define FIFO4 "./fifo/rtf4"
struct msg_struct
{
short int command;
unsigned char conf;
int period;
int buffer_size;
int dataPts;
};
#endif
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