Diff: net.hpp

Revision:

0:8097eeede645

Child:

1:8446a0d14877

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/net.hpp	Sun Aug 02 12:55:55 2015 +0000
@@ -0,0 +1,124 @@
+#ifndef __NET_H__
+#define __NET_H__
+
+#include "common_types.h"
+
+#define CAN_FLAG_EMPTY          0x00
+#define CAN_FLAG_RECEIVED       0x01
+#define CAN_FLAG_SEND           0x02
+
+
+/**************************************************
+ * GLOBAL DEFINES
+ **************************************************/
+#define CAN_CMD_BODY_ID         0xAA
+#define CAN_STS_BODY_ID         0xAB
+#define CAN_CMD_ENGINE_ID       0x0A
+#define CAN_CMD_TIME_ID         0xBB
+#define CAN_CMD_DRIVER_ID       0x11
+#define CAN_STS_DRIVER_ID       0x10
+
+#define PERIOD_1s               10
+#define PERIOD_500ms            5
+
+#define CAN_STS_BODY_PERIOD     PERIOD_500ms
+
+/**************************************************
+ * GLOBAL TYPES
+ **************************************************/
+#define CAN_CMD_PAYLOAD_BODY    4
+#define CAN_STS_PAYLOAD_BODY    8
+#define CAN_CMD_PAYLOAD_ENGINE  4
+#define CAN_CMD_PAYLOAD_TIME    4
+#define CAN_CMD_PAYLOAD_DRIVER  8
+#define CAN_STS_PAYLOAD_DRIVER  4
+
+typedef union can_cmd_body_payload_s {
+    uint8 buf[CAN_CMD_PAYLOAD_BODY];
+    struct {
+        uint32 light_r:1;
+        uint32 light_c:1;
+        uint32 light_l:1;
+        uint32 unused:29;
+    } msg;
+} can_cmd_body_payload_t;
+typedef struct can_cmd_body_s {
+    can_cmd_body_payload_t payload;
+    uint8 flag;
+} can_cmd_body_t;
+
+typedef union can_sts_body_payload_s {
+    uint8 buf[CAN_STS_PAYLOAD_BODY];
+    struct {
+        uint32 hit_front:1;
+        uint32 hit_rear:1;
+        uint32 hit_left:1;
+        uint32 hit_right:1;
+        uint32 light_sens:1;
+        uint32 unused:3;
+        uint32 eye_back_l:8;
+        uint32 eye_back_r:8;
+        uint32 eye_front:16;
+    } msg;
+} can_sts_body_payload_t;
+typedef struct can_sts_body_s {
+    can_sts_body_payload_t payload;
+    uint8 flag;
+} can_sts_body_t;
+
+typedef union can_cmd_engine_payload_s {
+    uint8 buf[CAN_CMD_PAYLOAD_BODY];
+    struct {
+        uint32 steering:8;
+        uint32 power:8;
+        uint32 direction:1;
+        uint32 breaking:1;
+        uint32 unused:14;
+    } msg;
+} can_cmd_engine_payload_t;
+typedef struct can_cmd_engine_s {
+    can_cmd_engine_payload_t payload;
+    uint8 flag;
+} can_cmd_engine_t;
+
+typedef union can_cmd_time_payload_s {
+    uint8 buf[CAN_CMD_PAYLOAD_TIME];
+    struct {
+        uint32 time;
+    } msg;
+} can_cmd_time_payload_t;
+typedef struct can_cmd_time_s {
+    can_cmd_time_payload_t payload;
+    uint8 flag;
+} can_cmd_time_t;
+
+typedef union can_cmd_driver_payload_s {
+    uint8 buf[CAN_CMD_PAYLOAD_DRIVER];
+    struct {
+        uint32 cmd:16;
+        uint32 opt:16;
+        uint32 data;
+    } msg;
+} can_cmd_driver_payload_t;
+typedef struct can_driver_time_s {
+    can_cmd_driver_payload_t payload;
+    uint8 flag;
+} can_cmd_driver_t;
+
+typedef union can_sts_driver_payload_s {
+    uint8 buf[CAN_STS_PAYLOAD_DRIVER];
+    struct {
+        uint32 data;
+    } msg;
+} can_sts_driver_payload_t;
+typedef struct can_sts_driver_time_s {
+    can_sts_driver_payload_t payload;
+    uint8 flag;
+} can_sts_driver_t;
+
+/**************************************************
+ * DATA STRUCTURES
+ **************************************************/
+void init_can(CAN *device);
+
+#endif //__NET_H__