Diff: net.hpp

Revision:

2:7dfc8dd6aab3

Child:

3:bfc20ec72b15

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/net.hpp	Thu Oct 08 13:36:17 2015 +0000
@@ -0,0 +1,174 @@
+#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 CMD_ECHO                0x0A0A
+
+/**************************************************
+ * MESSAGE IDs
+ **************************************************/
+
+#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 CAN_CMD_CAMERA_ID       0x22
+
+/**************************************************
+ * PERIODs
+ **************************************************/
+
+#define PERIOD_60s              (60000/CAN_THREAD_PERIOD)
+#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_CMD_BODY_PERIOD     PERIOD_1s
+#define CAN_STS_BODY_PERIOD     PERIOD_1s
+#define CAN_CMD_ENGINE_PERIOD   PERIOD_500ms
+#define CAN_CMD_CAMERA_PERIOD   PERIOD_1s
+
+#define CAN_MISSING_DETECTION   PERIOD_3s
+
+#define CAN_MISSING_CMD_BODY_ID     0
+#define CAN_MISSING_CMD_ENGINE_ID   1
+#define CAN_MISSING_CMD_CAMERA_ID   2
+#define CAN_MISSING_STS_BODY_ID     3
+
+#define CAN_RX_PERIODIC_MSG         4
+
+/**************************************************
+ * MESSAGE SIZEs
+ **************************************************/
+
+#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
+#define CAN_CMD_PAYLOAD_CAMERA  2
+
+/**************************************************
+ * MESSAGE TYPEs
+ **************************************************/
+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;
+
+typedef union can_cmd_camera_payload_s {
+    uint8 buf[CAN_CMD_PAYLOAD_CAMERA];
+    struct {
+        uint16 x:7;
+        uint16 y:7;
+        uint16 mode:2;
+    } msg;
+} can_cmd_camera_payload_t;
+typedef struct can_cmd_camera_s {
+    can_cmd_camera_payload_t payload;
+    uint8 flag;
+} can_cmd_camera_t;
+
+/**************************************************
+ * MESSAGE BUFFERs
+ **************************************************/
+
+extern can_cmd_body_t can_cmd_body;
+extern can_sts_body_t can_sts_body;
+extern can_cmd_engine_t can_cmd_engine;
+extern can_cmd_time_t can_cmd_time;
+extern can_cmd_driver_t can_cmd_driver;
+extern can_sts_driver_t can_sts_driver;
+extern can_cmd_camera_t can_cmd_camera;
+
+#endif //__NET_H__