File content as of revision 1:8446a0d14877:

#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

#define CAN_THREAD_PERIOD       100 //ms



#define CMD_ECHO                0x0A0A

/**************************************************
 * 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_3s               (3000/CAN_THREAD_PERIOD)
#define PERIOD_1s               (1000/CAN_THREAD_PERIOD)
#define PERIOD_500ms            (500/CAN_THREAD_PERIOD)
#define PERIOD_400ms            (400/CAN_THREAD_PERIOD)
#define PERIOD_300ms            (300/CAN_THREAD_PERIOD)
#define PERIOD_200ms            (200/CAN_THREAD_PERIOD)
#define PERIOD_100ms            (100/CAN_THREAD_PERIOD)

#define CAN_STS_BODY_PERIOD     PERIOD_1s


#define CAN_MISSING_DETECTION   PERIOD_3s

#define CAN_MISSING_BODY_ID     0
#define CAN_MISSING_ENGINE_ID   1
#define CAN_MISSING_TIME_ID     2

#define CAN_RX_PERIODIC_MSG     3

/**************************************************
 * 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_cmd_driver_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
 **************************************************/


#endif //__NET_H__