palm and chin / Communication_Robot

v1

Fork of Fork_Boss_Communication_Robot by BE@R lab

protocol.h@11:3c11a0355a3e, 2016-03-21 (annotated)

Committer:
palmdotax
Date:
Mon Mar 21 20:20:42 2016 +0000
Revision:
11:3c11a0355a3e
Parent:
9:dd0f35b36473 
007

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 0:0c88691e3904 1 #ifndef ANDANTE_PROTOCOL_H
soulx 0:0c88691e3904 2 #define ANDANTE_PROTOCOL_H
soulx 0:0c88691e3904 3
soulx 0:0c88691e3904 4 #include "mbed.h"
soulx 0:0c88691e3904 5
soulx 0:0c88691e3904 6 #define ANDANTE_BUFFER_SIZE 0x8F
soulx 0:0c88691e3904 7
soulx 9:dd0f35b36473 8 #define ANDANTE_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS 20
soulx 0:0c88691e3904 9
soulx 2:56c1de1612dd 10 #define ANDANTE_PROTOCOL_HEADER_0 0xFF
soulx 2:56c1de1612dd 11 #define ANDANTE_PROTOCOL_HEADER_1 0xFF
soulx 0:0c88691e3904 12
soulx 0:0c88691e3904 13 // Errors
soulx 0:0c88691e3904 14 #define ANDANTE_ERRBIT_NONE 0x00
soulx 0:0c88691e3904 15 #define ANDANTE_ERRBIT_VOLTAGE 0x01
soulx 0:0c88691e3904 16 #define ANDANTE_ERRBIT_ANGLE 0x02
soulx 0:0c88691e3904 17 #define ANDANTE_ERRBIT_OVERHEAT 0x04
soulx 0:0c88691e3904 18 #define ANDANTE_ERRBIT_RANGE 0x08
soulx 0:0c88691e3904 19 #define ANDANTE_ERRBIT_CHECKSUM 0x10
soulx 0:0c88691e3904 20 #define ANDANTE_ERRBIT_OVERLOAD 0x20
soulx 0:0c88691e3904 21 #define ANDANTE_ERRBIT_INSTRUCTION 0x40
soulx 0:0c88691e3904 22
soulx 0:0c88691e3904 23 // Extra errors
soulx 0:0c88691e3904 24 #define ANDANTE_ERRBIT_WRITE_TIMEOUT 0xFD
soulx 0:0c88691e3904 25 #define ANDANTE_ERRBIT_READ_TIMEOUT 0xFE
soulx 0:0c88691e3904 26 #define ANDANTE_ERRBIT_MASTER_CHECKSUM 0xFF
soulx 0:0c88691e3904 27
soulx 0:0c88691e3904 28
soulx 3:2f334f0cee75 29 //Instruction Control
soulx 3:2f334f0cee75 30 #define ANDANTE_SPEED_CONTROL 0x01
soulx 3:2f334f0cee75 31 #define ANDANTE_FRONT_ANGLE 0x02
soulx 3:2f334f0cee75 32 #define ANDANTE_REAR_ANGLE 0x04
soulx 3:2f334f0cee75 33
soulx 3:2f334f0cee75 34 //Instruction Sensor
soulx 3:2f334f0cee75 35
soulx 3:2f334f0cee75 36
soulx 0:0c88691e3904 37 struct ANDANTE_PROTOCOL_PACKET
soulx 0:0c88691e3904 38 {
soulx 0:0c88691e3904 39 uint8_t robotId;
soulx 0:0c88691e3904 40 uint8_t length;
soulx 0:0c88691e3904 41 uint8_t instructionErrorId;
soulx 0:0c88691e3904 42 uint8_t parameter[ANDANTE_BUFFER_SIZE];
soulx 0:0c88691e3904 43 uint8_t checkSum;
soulx 0:0c88691e3904 44 };
soulx 0:0c88691e3904 45
soulx 0:0c88691e3904 46 enum ANDANTE_PROTOCOL_ENCODER_DECODER_STATE
soulx 0:0c88691e3904 47 {
soulx 0:0c88691e3904 48 WAIT_ON_HEADER_0,
soulx 0:0c88691e3904 49 WAIT_ON_HEADER_1,
soulx 0:0c88691e3904 50 WAIT_ON_ROBOT_ID,
soulx 0:0c88691e3904 51 WAIT_ON_LENGTH,
soulx 0:0c88691e3904 52 WAIT_ON_INSTRUCTION_ERROR_ID,
soulx 0:0c88691e3904 53 WAIT_ON_PARAMETER,
soulx 0:0c88691e3904 54 WAIT_ON_CHECK_SUM
soulx 0:0c88691e3904 55 };
soulx 0:0c88691e3904 56
soulx 0:0c88691e3904 57 #endif // ANDANTE_PROTOCOL_H