Diff: protocol.h

Revision:

0:8cfa73bb68e4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/protocol.h	Tue May 31 17:04:59 2016 +0000
@@ -0,0 +1,68 @@
+#ifndef PROTOCOL_H
+#define PROTOCOL_H
+
+#include <stdint.h>
+/**
+ * Packet type characters.
+ */
+#define PKT_TYPE_COMMAND  'C'
+#define PKT_TYPE_SENSOR   'S'
+#define PKT_TYPE_READ     'G'
+#define PKT_TYPE_RESET    'R'
+#define PKT_TYPE_TIME     'T'
+#define PKT_TYPE_PID      'P'
+
+/**
+ * Defines the total maximum size of a packet, including header
+ */
+#define MAX_PACKET_LENGTH 256
+
+/**
+ * Packet structure definitions
+ */
+typedef struct header_t {
+  uint8_t start;
+  uint8_t length;
+  char type;
+  uint8_t flags;
+  uint32_t sequence;
+} header_t;
+
+typedef struct packet_t {
+  header_t header;
+  uint8_t data_crc[MAX_PACKET_LENGTH-sizeof(header_t)];
+} packet_t;
+
+typedef union packet_union_t {
+  packet_t packet;
+  char raw[MAX_PACKET_LENGTH];
+} packet_union_t;
+
+typedef struct command_data_t {
+  float left;
+  float right;
+} command_data_t;
+
+typedef struct sensor_data_t {
+  uint32_t time;
+  float accel[3];
+  float gyro[3];
+  int32_t encoder[2];
+  float velocity[2];
+  float voltage;
+} sensor_data_t;
+
+typedef struct read_data_t {
+  int32_t period;
+} read_data_t;
+
+typedef struct time_data_t {
+  uint32_t time;
+} time_data_t;
+
+typedef struct pid_data_t {
+  float vel[2];
+  float pwm[2];
+} pid_data_t;
+
+#endif
\ No newline at end of file