Diff: ROBO_TX_FW_1_24.h

Revision:

0:7da612835693

diff -r 000000000000 -r 7da612835693 ROBO_TX_FW_1_24.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ROBO_TX_FW_1_24.h	Wed Jun 15 19:12:25 2011 +0000
@@ -0,0 +1,387 @@
+//=============================================================================
+//              |
+// Headerfile   |  robo_tx_fw.h
+//              |
+// Description  |  Header file with definition of the software interface
+//              |  to the ROBO TX Controller firmware.
+//              |  Can be used for building C-programs which can run
+//              |  under control of the ROBO TX Controller firmware in
+//              |  download (local) mode or for building PC-programs which
+//              |  can communicate with the ROBO TX Controller firmware in
+//              |  online mode.
+//              |
+//-----------------------------------------------------------------------------
+// Disclaimer - Exclusion of Liability
+//
+// This software is distributed in the hope that it will be useful,but WITHOUT 
+// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
+// FITNESS FOR A PARTICULAR PURPOSE. It can be used an modified by anyone
+// free of any license obligations or authoring rights.
+//=============================================================================
+
+#ifndef __ROBO_TX_FW_H__
+#define __ROBO_TX_FW_H__
+#define FW_1_24    //my own adaptations to comply with FW version 1.24
+
+#define N_CNT               4           //  number of counters
+#define N_PWM_CHAN          8           //  number of PWM channels
+#define N_MOTOR             4           //  number of motors
+#define N_UNI               8           //  number of universal inputs
+
+// 5kOhm Range
+#define R_MIN               10          //  [Ohm]
+#define R_MAX               4999        //  [Ohm]
+#define R_OVR               5000        //  [Ohm] overload
+
+// 10V Range
+#define U_MIN               0           //  [mV]
+#define U_MAX               9999        //  [mV]
+#define U_OVR               10000       //  [mV] overload
+
+// Ultrasonic Sensor Range
+#define ULTRASONIC_MIN      2           //  [cm]
+#define ULTRASONIC_MAX      1023        //  [cm]
+#define ULTRASONIC_OVR      1024        //  [cm] overload
+#define NO_ULTRASONIC       4096        //  not present
+
+// Length of strings
+#define DEV_NAME_LEN        16          // "ROBO TX-xxxxxxxx"
+#define BLUETOOTH_ADDR_LEN  17          // "xx:xx:xx:xx:xx:xx"
+#define DISPL_MSG_LEN_MAX   64          // max length of a pop-up display message
+
+
+// Identifiers of the Transfer Area parts
+enum ta_id_e
+{
+    TA_LOCAL = 0,           // Local part of Transfer Area. Corresponds to the device on which  
+                            // program is currently running in download (local) mode or to the
+                            // remotely controlled device (seen from controlled device not from
+                            // controlling device) in online mode.
+    TA_EXT_1,               // Extension 1 part of Transfer Area
+    TA_EXT_2,               // Extension 2 part of Transfer Area
+    TA_EXT_3,               // Extension 3 part of Transfer Area
+    TA_EXT_4,               // Extension 4 part of Transfer Area
+    TA_EXT_5,               // Extension 5 part of Transfer Area
+    TA_EXT_6,               // Extension 6 part of Transfer Area
+    TA_EXT_7,               // Extension 7 part of Transfer Area
+    TA_EXT_8,               // Extension 8 part of Transfer Area
+    TA_N_PARTS              // Number of Transfer Area parts
+};
+
+#define N_EXT_DEV           (TA_N_PARTS - 1)    // Number of extension devices = 8
+
+
+// Device functioning modes
+enum dev_mode_e
+{
+    DEV_MODE_LOCAL = 0,
+    DEV_MODE_ONLINE,
+    DEV_MODE_INVALID
+};
+
+
+// State of connection to an extension device
+enum ext_dev_connect_state_e
+{
+    EXT_DEV_OFFLINE = 0,
+    EXT_DEV_ONLINE,
+    EXT_DEV_INVALID
+};
+
+
+// Modes of universal inputs
+enum input_mode_e
+{
+    MODE_U = 0,
+    MODE_R = 1,
+    MODE_ULTRASONIC = 3,
+    MODE_INVALID
+};
+
+
+// Program states
+enum pgm_state_e
+{
+    PGM_STATE_INVALID = 0,
+    PGM_STATE_RUN,
+    PGM_STATE_STOP
+};
+
+
+// Timer units for GetSystemTime hook function
+enum TimerUnit
+{
+    TIMER_UNIT_INVALID        = 0,
+    TIMER_UNIT_SECONDS        = 2,
+    TIMER_UNIT_MILLISECONDS   = 3,
+    TIMER_UNIT_MICROSECONDS   = 4
+};
+
+
+//=============================================================================
+//  Structures for Transfer Area (TA)
+//=============================================================================
+
+typedef char    BD_ADDR[6]; //leftmost byte in lowest address
+
+// Program information, 8 bytes
+typedef struct
+{
+    char          * name;   // name of a program with a full path, for example, "/ramdisk/Program_1"
+    UINT8           state;  // enum pgm_state_e
+    char            reserved[3];
+} PGM_INFO;
+
+
+// Display message, 68 bytes. Used to show pop-up message box on the boards display
+typedef struct
+{
+    unsigned char   id; // should be increased by 1 each time a new pop-up message is to be shown
+    char            text[DISPL_MSG_LEN_MAX + 1];
+    char            reserved[2];
+} DISPLAY_MSG;
+
+
+// Display frame, 8 bytes. Used to refresh boards display with a bitmap image frame
+typedef struct
+{
+    unsigned char * frame;  // contents of a frame as a 128x64 pixels bitmap
+    UINT16          id;     // should be increased by 1 each time a new display frame is to be shown
+    BOOL16          is_pgm_master_of_display;   // ++ if program wants to have control over display,
+                                                // i.e. image frame is displayed over firmware menus;
+                                                // -- if program wants to return control over display
+                                                // to the firmware menus
+} DISPLAY_FRAME;
+
+
+// Version structure definition, 4 bytes
+typedef union
+{
+    unsigned long abcd;
+    struct
+    {
+        unsigned char   a;
+        unsigned char   b;
+        unsigned char   c;
+        unsigned char   d;
+    } part;
+} FT_VER;
+
+
+// Versions of hardware and firmware components, 16 bytes
+typedef struct//verified
+{
+    FT_VER          hardware;   // version of hardware (hardware.part.a = 'A' or 'B' or 'C')
+    FT_VER          firmware;   // version of firmware ("V %d.%02d", firmware.part.c, firmware.part.d) firmware.part.b = DLL version
+    FT_VER          ta;         // version of transfer area ("V %d.%02d", ta.part.c, ta.part.d)
+    char            reserved[4];
+} FT_VERSION;
+
+
+// Info structure, 64 bytes
+typedef struct //verified
+{
+    char            device_name[DEV_NAME_LEN + 1];
+    char            bt_addr[BLUETOOTH_ADDR_LEN + 1];
+    char            reserved;
+    unsigned long   ta_start_addr;
+    unsigned long   pgm_area_start_addr;
+    unsigned long   pgm_area_size;
+    FT_VERSION      version;
+} TA_INFO;
+
+
+// State structure, 36 bytes
+//changed in 1.24 to 24 bytes
+typedef struct
+{
+    // Used by local program
+//    BOOL8           pgm_initialized;
+//    char            reserved_1[7];
+
+    // Public state info
+//    BOOL8           dev_mode;   // enum dev_mode_e
+//    UCHAR8          id;         // Should be increased by 1 each time something (except id fields)
+                                // is changed in this state structure
+//    UCHAR8          info_id;    // Should be increased by 1 each time something is changed in info structure
+//    UCHAR8          config_id;  // Should be increased by 1 each time something is changed in config structure
+    BOOL8           ext_dev_connect_state[N_EXT_DEV];    // enum ext_dev_connect_state_e //verified
+    char            reserved_2[8];
+    PGM_INFO        local_pgm;  // Corresponds to the program currently being in the program memory
+} TA_STATE;
+
+
+// Universal inputs configuration, 4 bytes
+//changed in 1.24 to 1 byte
+typedef struct //verified
+{
+    UINT8           mode;       // enum input_mode_e, for digital inputs msb=1, for analog msb=0
+//    BOOL8           digital;    // FALSE = analog input, TRUE = digital input
+//    unsigned char   reserved[2];
+} UNI_CONFIG;
+
+
+// Counter inputs configuration, 4 bytes
+//changed in 1.24 to 1 byte
+typedef struct
+{
+    UINT8           mode;       // enum input_mode_e
+//    unsigned char   reserved[3];
+} CNT_CONFIG;
+
+
+// Config structure, 88 bytes
+//changed in 1.24 to 48 bytes
+typedef struct
+{
+    //UINT8           pgm_state_req;  // enum pgm_state_e
+    //char            reserved_1[3];
+    BOOL8           motor[N_MOTOR];//verified
+    UNI_CONFIG      uni[N_UNI];//verified
+    CNT_CONFIG      cnt[N_CNT];//verfied 1=normal, 0=inverted
+    char            reserved_2[32];
+} TA_CONFIG;
+
+
+// Input structure, 40 bytes (wrong! 44 bytes)
+//changed in 1.24 to 48 bytes
+typedef struct
+{
+    INT16           uni[N_UNI];//verified
+    BOOL8           cnt_in[N_CNT];//was INT16
+    INT16           counter[N_CNT];//verified
+    // Number of milliseconds during which the left display button is being kept pressed
+    INT16           display_button_left;//verified
+    // Number of milliseconds during which the right display button is being kept pressed
+    INT16           display_button_right;//verified
+    char            unknown[8];//new in 1.24
+    // Set to 1 by motor control if target position is reached
+    INT16           motor_pos_reached[N_MOTOR];//verified
+} TA_INPUT;
+
+
+// Output structure, 36 bytes
+//changed in 1.24 to 44 bytes, don't know what changed, 4 bytes added before duty. 4 after
+typedef struct
+{
+    // Counter reset requests
+    INT16           cnt_reset[N_CNT];//was BOOL8
+    // If not 0, synchronize this channel with the given channel (1:channel 0, ...)
+    UINT8           master[N_MOTOR];
+    // Selected motor PWM values
+    INT16           duty[N_PWM_CHAN];//verified
+    // Selected distane (counter value) at which motor shall stop
+    UINT16          distance[N_MOTOR];//verified
+    UINT16            reserved[4];//was char
+} TA_OUTPUT;
+
+
+// Display structure, 76 bytes
+typedef struct
+{
+    DISPLAY_MSG     display_msg;
+    DISPLAY_FRAME   display_frame;
+} TA_DISPLAY;
+
+//new in 1.24 message structure, 24 bytes
+typedef struct
+{
+    UINT16            index;
+    UINT16            status;
+    UINT16            length;
+    UINT8            hwid;
+    UINT8            subid;
+    UINT16            cmd;
+    UINT16            val;
+    UINT16            unknown2[6];//possibly another message or room for larger messages
+} TA_MESSAGE;
+
+//new in 1.24 message structure, 32 bytes, note: this struct is not preceded by a transferarea-ID
+typedef struct
+{
+    UINT16            result; //??? 1 for the first (empty) result, 2 for each real result, 5 for the last (empty) result.
+    BD_ADDR            bd_addr;
+    UINT16            unknown;
+    char            device_name[DEV_NAME_LEN + 1];
+    char            pad[1];
+    UINT32            unknown2;
+} TA_INQUIRY;
+
+// Change structure (only for ftMscLib), 8 bytes
+typedef struct
+{
+    char            reserved_1[2];
+    UINT8           ChangeStatus;
+    UINT8           ChangeUni;
+    UINT8           ChangeCntIn;
+    UINT8           ChangeCounter;
+    char            reserved_2[2];
+} TA_CHANGE;
+
+
+// 16-bit timers, 12 bytes
+typedef struct
+{
+    UINT16          Timer1ms;
+    UINT16          Timer10ms;
+    UINT16          Timer100ms;
+    UINT16          Timer1s;
+    UINT16          Timer10s;
+    UINT16          Timer1min;
+} TA_TIMER;
+
+
+// Hook table with pointers to the firmware functions,
+// that can be called by local program, 4 bytes
+typedef struct
+{
+    INT32   (*IsRunAllowed) (void);
+    UINT32  (*GetSystemTime)(enum TimerUnit unit);
+} TA_HOOK_TABLE;
+
+
+
+// ============================================================================
+//  Transfer Area (TA) of ROBO TX Controller (one part of TA_N_PARTS)
+// ============================================================================
+#define RESERVED_1_SIZE  4
+#define RESERVED_2_SIZE  28
+#define RESERVED_3_SIZE \
+    (512 - ( \
+    sizeof(TA_INFO)         + \
+    sizeof(TA_STATE)        + \
+    sizeof(TA_CONFIG)       + \
+    sizeof(TA_INPUT)        + \
+    sizeof(TA_OUTPUT)       + \
+    sizeof(TA_DISPLAY)      + \
+    RESERVED_1_SIZE         + \
+    sizeof(TA_CHANGE)       + \
+    sizeof(TA_TIMER)        + \
+    RESERVED_2_SIZE         + \
+    sizeof(TA_HOOK_TABLE)     \
+    ))
+
+
+typedef struct
+{
+    TA_INFO             info;           // info structure
+    TA_STATE            state;          // state structure
+    TA_CONFIG           config;         // config structure   
+    TA_INPUT            input;          // input structure
+    TA_OUTPUT           output;         // output structure
+    TA_DISPLAY          display;        // display structure
+
+    char                reserved_1[RESERVED_1_SIZE];
+
+    TA_CHANGE           change;         // change structure
+    TA_TIMER            timer;          // 16-bit timers
+
+    char                reserved_2[RESERVED_2_SIZE];
+
+    TA_HOOK_TABLE       hook_table;     // hook table with functions pointers
+
+    char                reserved_3[RESERVED_3_SIZE];
+} TA;
+
+
+#endif // __ROBO_TX_FW_H__