net.hpp

00001 #ifndef __NET_H__
00002 #define __NET_H__
00003 
00004 #include "common_types.h"
00005 
00006 #define CAN_FLAG_EMPTY          0x00
00007 #define CAN_FLAG_RECEIVED       0x01
00008 #define CAN_FLAG_SEND           0x02
00009 
00010 #define CAN_THREAD_PERIOD       100 //ms
00011 
00012 
00013 
00014 #define CMD_ECHO                0x0A0A
00015 
00016 /**************************************************
00017  * GLOBAL DEFINES
00018  **************************************************/
00019 #define CAN_CMD_BODY_ID         0xAA
00020 #define CAN_STS_BODY_ID         0xAB
00021 #define CAN_CMD_ENGINE_ID       0x0A
00022 #define CAN_CMD_TIME_ID         0xBB
00023 #define CAN_CMD_DRIVER_ID       0x11
00024 #define CAN_STS_DRIVER_ID       0x10
00025 
00026 #define PERIOD_3s               (3000/CAN_THREAD_PERIOD)
00027 #define PERIOD_1s               (1000/CAN_THREAD_PERIOD)
00028 #define PERIOD_500ms            (500/CAN_THREAD_PERIOD)
00029 #define PERIOD_400ms            (400/CAN_THREAD_PERIOD)
00030 #define PERIOD_300ms            (300/CAN_THREAD_PERIOD)
00031 #define PERIOD_200ms            (200/CAN_THREAD_PERIOD)
00032 #define PERIOD_100ms            (100/CAN_THREAD_PERIOD)
00033 
00034 #define CAN_STS_BODY_PERIOD     PERIOD_1s
00035 
00036 
00037 #define CAN_MISSING_DETECTION   PERIOD_3s
00038 
00039 #define CAN_MISSING_BODY_ID     0
00040 #define CAN_MISSING_ENGINE_ID   1
00041 #define CAN_MISSING_TIME_ID     2
00042 
00043 #define CAN_RX_PERIODIC_MSG     3
00044 
00045 /**************************************************
00046  * GLOBAL TYPES
00047  **************************************************/
00048 #define CAN_CMD_PAYLOAD_BODY    4
00049 #define CAN_STS_PAYLOAD_BODY    8
00050 #define CAN_CMD_PAYLOAD_ENGINE  4
00051 #define CAN_CMD_PAYLOAD_TIME    4
00052 #define CAN_CMD_PAYLOAD_DRIVER  8
00053 #define CAN_STS_PAYLOAD_DRIVER  4
00054 
00055 typedef union can_cmd_body_payload_s {
00056     uint8 buf[CAN_CMD_PAYLOAD_BODY];
00057     struct {
00058         uint32 light_r:1;
00059         uint32 light_c:1;
00060         uint32 light_l:1;
00061         uint32 unused:29;
00062     } msg;
00063 } can_cmd_body_payload_t;
00064 typedef struct can_cmd_body_s {
00065     can_cmd_body_payload_t payload;
00066     uint8 flag;
00067 } can_cmd_body_t;
00068 
00069 typedef union can_sts_body_payload_s {
00070     uint8 buf[CAN_STS_PAYLOAD_BODY];
00071     struct {
00072         uint32 hit_front:1;
00073         uint32 hit_rear:1;
00074         uint32 hit_left:1;
00075         uint32 hit_right:1;
00076         uint32 light_sens:1;
00077         uint32 unused:3;
00078         uint32 eye_back_l:8;
00079         uint32 eye_back_r:8;
00080         uint32 eye_front:16;
00081     } msg;
00082 } can_sts_body_payload_t;
00083 typedef struct can_sts_body_s {
00084     can_sts_body_payload_t payload;
00085     uint8 flag;
00086 } can_sts_body_t;
00087 
00088 typedef union can_cmd_engine_payload_s {
00089     uint8 buf[CAN_CMD_PAYLOAD_BODY];
00090     struct {
00091         uint32 steering:8;
00092         uint32 power:8;
00093         uint32 direction:1;
00094         uint32 breaking:1;
00095         uint32 unused:14;
00096     } msg;
00097 } can_cmd_engine_payload_t;
00098 typedef struct can_cmd_engine_s {
00099     can_cmd_engine_payload_t payload;
00100     uint8 flag;
00101 } can_cmd_engine_t;
00102 
00103 typedef union can_cmd_time_payload_s {
00104     uint8 buf[CAN_CMD_PAYLOAD_TIME];
00105     struct {
00106         uint32 time;
00107     } msg;
00108 } can_cmd_time_payload_t;
00109 typedef struct can_cmd_time_s {
00110     can_cmd_time_payload_t payload;
00111     uint8 flag;
00112 } can_cmd_time_t;
00113 
00114 typedef union can_cmd_driver_payload_s {
00115     uint8 buf[CAN_CMD_PAYLOAD_DRIVER];
00116     struct {
00117         uint32 cmd:16;
00118         uint32 opt:16;
00119         uint32 data;
00120     } msg;
00121 } can_cmd_driver_payload_t;
00122 typedef struct can_cmd_driver_s {
00123     can_cmd_driver_payload_t payload;
00124     uint8 flag;
00125 } can_cmd_driver_t;
00126 
00127 typedef union can_sts_driver_payload_s {
00128     uint8 buf[CAN_STS_PAYLOAD_DRIVER];
00129     struct {
00130         uint32 data;
00131     } msg;
00132 } can_sts_driver_payload_t;
00133 typedef struct can_sts_driver_time_s {
00134     can_sts_driver_payload_t payload;
00135     uint8 flag;
00136 } can_sts_driver_t;
00137 
00138 /**************************************************
00139  * DATA STRUCTURES
00140  **************************************************/
00141 
00142 
00143 #endif //__NET_H__