protocol.h

00001 #ifndef PROTOCOL_H
00002 #define PROTOCOL_H
00003 
00004 #include <stdint.h>
00005 /**
00006  * Packet type characters.
00007  */
00008 #define PKT_TYPE_COMMAND  'C'
00009 #define PKT_TYPE_SENSOR   'S'
00010 
00011 /**
00012  * Defines the total maximum size of a packet, including header
00013  */
00014 #define MAX_PACKET_LENGTH 256
00015 
00016 /**
00017  * Packet structure definitions
00018  */
00019 typedef struct header_t {
00020   uint8_t start;
00021   uint8_t length;
00022   char type;
00023   uint8_t flags;
00024   uint32_t sequence;
00025 } header_t;
00026 
00027 typedef struct packet_t {
00028   header_t header;
00029   uint8_t data_crc[MAX_PACKET_LENGTH-sizeof(header_t)];
00030 } packet_t;
00031 
00032 typedef union packet_union_t {
00033   packet_t packet;
00034   char raw[MAX_PACKET_LENGTH];
00035 } packet_union_t;
00036 
00037 typedef struct command_data_t {
00038   int32_t position_setpoint;
00039   uint16_t current_setpoint;
00040 } command_data_t;
00041 
00042 typedef struct sensor_data_t {
00043   uint32_t time;
00044   int32_t position;
00045   int32_t velocity;
00046   uint16_t current;
00047   uint16_t voltage;
00048   uint16_t temperature;
00049 } sensor_data_t;
00050 
00051 #endif