Arsapol Manamunchaiyaporn / Communication_Robot

before test

Fork of Communication_Robot by Betago

protocol.h@0:0c88691e3904, 2015-03-01 (annotated)

Committer:
soulx
Date:
Sun Mar 01 06:28:01 2015 +0000
Revision:
0:0c88691e3904
Child:
2:56c1de1612dd
create lib communication for robot

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 0:0c88691e3904 8 #define ANDANTE_PROTOCOL_COMMAND_RESPONSE_TIMEOUT_MS 20
soulx 0:0c88691e3904 9
soulx 0:0c88691e3904 10 #define ANDANTE_PROTOCOL_HEADER_0 0xEF
soulx 0:0c88691e3904 11 #define ANDANTE_PROTOCOL_HEADER_1 0x0F
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 0:0c88691e3904 29 struct ANDANTE_PROTOCOL_PACKET
soulx 0:0c88691e3904 30 {
soulx 0:0c88691e3904 31 uint8_t robotId;
soulx 0:0c88691e3904 32 uint8_t length;
soulx 0:0c88691e3904 33 uint8_t instructionErrorId;
soulx 0:0c88691e3904 34 uint8_t parameter[ANDANTE_BUFFER_SIZE];
soulx 0:0c88691e3904 35 uint8_t checkSum;
soulx 0:0c88691e3904 36 };
soulx 0:0c88691e3904 37
soulx 0:0c88691e3904 38 enum ANDANTE_PROTOCOL_ENCODER_DECODER_STATE
soulx 0:0c88691e3904 39 {
soulx 0:0c88691e3904 40 WAIT_ON_HEADER_0,
soulx 0:0c88691e3904 41 WAIT_ON_HEADER_1,
soulx 0:0c88691e3904 42 WAIT_ON_ROBOT_ID,
soulx 0:0c88691e3904 43 WAIT_ON_LENGTH,
soulx 0:0c88691e3904 44 WAIT_ON_INSTRUCTION_ERROR_ID,
soulx 0:0c88691e3904 45 WAIT_ON_PARAMETER,
soulx 0:0c88691e3904 46 WAIT_ON_CHECK_SUM
soulx 0:0c88691e3904 47 };
soulx 0:0c88691e3904 48
soulx 0:0c88691e3904 49 #endif // ANDANTE_PROTOCOL_H