Ad van der Weiden / Mbed 2 deprecated tcpft

Program the control the fischertechnik robo interface or intelligent interface via tcp socket or via a java gui.

Dependencies:   mbed ConfigFile

ROBO_TX_FW.h@0:7f26f0680202, 2010-12-31 (annotated)

Committer:
networker
Date:
Fri Dec 31 14:01:14 2010 +0000
Revision:
0:7f26f0680202
initial release: comprises ftlib (no usb), ft-over-ip socket server, and the http server (the html page and java jar I still have to publish somewhere)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
networker 0:7f26f0680202 1 //=============================================================================
networker 0:7f26f0680202 2 // Description | Header file with definition of the software interface
networker 0:7f26f0680202 3 // | to the ROBO TX Controller firmware.
networker 0:7f26f0680202 4 // | Can be used for building C-programs which can run
networker 0:7f26f0680202 5 // | under control of the ROBO TX Controller firmware in
networker 0:7f26f0680202 6 // | download (local) mode or for building PC-programs which
networker 0:7f26f0680202 7 // | can communicate with the ROBO TX Controller firmware in
networker 0:7f26f0680202 8 // | online mode.
networker 0:7f26f0680202 9 // |
networker 0:7f26f0680202 10 // Copyright | � 2009 MSC Vertriebs GmbH, Germany.
networker 0:7f26f0680202 11 // |
networker 0:7f26f0680202 12 // | This software is distributed in the hope that it will be useful,
networker 0:7f26f0680202 13 // | but WITHOUT ANY WARRANTY; without even the implied warranty of
networker 0:7f26f0680202 14 // | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
networker 0:7f26f0680202 15 //=============================================================================
networker 0:7f26f0680202 16
networker 0:7f26f0680202 17 #ifndef __ROBO_TX_FW_H__
networker 0:7f26f0680202 18 #define __ROBO_TX_FW_H__
networker 0:7f26f0680202 19
networker 0:7f26f0680202 20
networker 0:7f26f0680202 21 #define N_CNT 4 // number of counters
networker 0:7f26f0680202 22 #define N_PWM_CHAN 8 // number of PWM channels
networker 0:7f26f0680202 23 #define N_MOTOR 4 // number of motors
networker 0:7f26f0680202 24 #define N_UNI 8 // number of universal inputs
networker 0:7f26f0680202 25
networker 0:7f26f0680202 26 // 5kOhm range
networker 0:7f26f0680202 27 #define R_MIN 10 // [Ohm]
networker 0:7f26f0680202 28 #define R_MAX 4999 // [Ohm]
networker 0:7f26f0680202 29 #define R_OVR 5000 // [Ohm] overload
networker 0:7f26f0680202 30
networker 0:7f26f0680202 31 // 10V range
networker 0:7f26f0680202 32 #define U_MIN 0 // [mV]
networker 0:7f26f0680202 33 #define U_MAX 9999 // [mV]
networker 0:7f26f0680202 34 #define U_OVR 10000 // [mV] overload
networker 0:7f26f0680202 35
networker 0:7f26f0680202 36 // Ultrasonic Sensor range
networker 0:7f26f0680202 37 #define ULTRASONIC_MIN 2 // [cm]
networker 0:7f26f0680202 38 #define ULTRASONIC_MAX 1023 // [cm]
networker 0:7f26f0680202 39 #define ULTRASONIC_OVR 1024 // [cm] overload
networker 0:7f26f0680202 40 #define NO_ULTRASONIC 4096 // not present
networker 0:7f26f0680202 41
networker 0:7f26f0680202 42 // Motor outputs PWM values range
networker 0:7f26f0680202 43 #define DUTY_MIN 0
networker 0:7f26f0680202 44 #define DUTY_MAX 512
networker 0:7f26f0680202 45
networker 0:7f26f0680202 46 // Length of strings
networker 0:7f26f0680202 47 #define DEV_NAME_LEN_MAX 16 // "ROBO TX-xxxxxxxx"
networker 0:7f26f0680202 48 #define BLUETOOTH_ADDR_LEN 17 // "xx:xx:xx:xx:xx:xx"
networker 0:7f26f0680202 49 #define DISPL_MSG_LEN_MAX 64 // max length of a pop-up display message
networker 0:7f26f0680202 50
networker 0:7f26f0680202 51
networker 0:7f26f0680202 52 // Identifiers of the Transfer Area
networker 0:7f26f0680202 53 enum ta_id_e
networker 0:7f26f0680202 54 {
networker 0:7f26f0680202 55 TA_LOCAL = 0, // Transfer Area for local Controller. Corresponds to the Controller
networker 0:7f26f0680202 56 // on which program is currently running in download (local) mode or
networker 0:7f26f0680202 57 // to the remotely controlled Controller (seen from controlled device,
networker 0:7f26f0680202 58 // not from controlling device) in online mode.
networker 0:7f26f0680202 59 TA_EXT_1, // Transfer Area for Extension 1 Controller
networker 0:7f26f0680202 60 TA_EXT_2, // Transfer Area for Extension 2 Controller
networker 0:7f26f0680202 61 TA_EXT_3, // Transfer Area for Extension 3 Controller
networker 0:7f26f0680202 62 TA_EXT_4, // Transfer Area for Extension 4 Controller
networker 0:7f26f0680202 63 TA_EXT_5, // Transfer Area for Extension 5 Controller
networker 0:7f26f0680202 64 TA_EXT_6, // Transfer Area for Extension 6 Controller
networker 0:7f26f0680202 65 TA_EXT_7, // Transfer Area for Extension 7 Controller
networker 0:7f26f0680202 66 TA_EXT_8, // Transfer Area for Extension 8 Controller
networker 0:7f26f0680202 67 TA_COUNT // Number of Transfer Areas in array = 9
networker 0:7f26f0680202 68 };
networker 0:7f26f0680202 69
networker 0:7f26f0680202 70 #define N_EXT (TA_COUNT - 1) // Number of extension Controllers = 8
networker 0:7f26f0680202 71
networker 0:7f26f0680202 72
networker 0:7f26f0680202 73 // Device (Controller) functioning modes
networker 0:7f26f0680202 74 enum dev_mode_e
networker 0:7f26f0680202 75 {
networker 0:7f26f0680202 76 DEV_MODE_LOCAL = 0,
networker 0:7f26f0680202 77 DEV_MODE_ONLINE,
networker 0:7f26f0680202 78 DEV_MODE_INVALID
networker 0:7f26f0680202 79 };
networker 0:7f26f0680202 80
networker 0:7f26f0680202 81
networker 0:7f26f0680202 82 // State of connection to an extension device (Controller)
networker 0:7f26f0680202 83 enum ext_dev_connect_state_e
networker 0:7f26f0680202 84 {
networker 0:7f26f0680202 85 EXT_DEV_OFFLINE = 0,
networker 0:7f26f0680202 86 EXT_DEV_ONLINE,
networker 0:7f26f0680202 87 EXT_DEV_INVALID
networker 0:7f26f0680202 88 };
networker 0:7f26f0680202 89
networker 0:7f26f0680202 90
networker 0:7f26f0680202 91 // Modes of universal inputs
networker 0:7f26f0680202 92 enum input_mode_e
networker 0:7f26f0680202 93 {
networker 0:7f26f0680202 94 MODE_U = 0,
networker 0:7f26f0680202 95 MODE_R = 1,
networker 0:7f26f0680202 96 MODE_ULTRASONIC = 3,
networker 0:7f26f0680202 97 MODE_INVALID
networker 0:7f26f0680202 98 };
networker 0:7f26f0680202 99
networker 0:7f26f0680202 100
networker 0:7f26f0680202 101 // Program states
networker 0:7f26f0680202 102 enum pgm_state_e
networker 0:7f26f0680202 103 {
networker 0:7f26f0680202 104 PGM_STATE_INVALID = 0,
networker 0:7f26f0680202 105 PGM_STATE_RUN,
networker 0:7f26f0680202 106 PGM_STATE_STOP
networker 0:7f26f0680202 107 };
networker 0:7f26f0680202 108
networker 0:7f26f0680202 109
networker 0:7f26f0680202 110 // Timer units for GetSystemTime hook function
networker 0:7f26f0680202 111 enum TimerUnit
networker 0:7f26f0680202 112 {
networker 0:7f26f0680202 113 TIMER_UNIT_INVALID = 0,
networker 0:7f26f0680202 114 TIMER_UNIT_SECONDS = 2,
networker 0:7f26f0680202 115 TIMER_UNIT_MILLISECONDS = 3,
networker 0:7f26f0680202 116 TIMER_UNIT_MICROSECONDS = 4
networker 0:7f26f0680202 117 };
networker 0:7f26f0680202 118
networker 0:7f26f0680202 119
networker 0:7f26f0680202 120 //=============================================================================
networker 0:7f26f0680202 121 // Structures for Transfer Area (TA)
networker 0:7f26f0680202 122 //=============================================================================
networker 0:7f26f0680202 123
networker 0:7f26f0680202 124
networker 0:7f26f0680202 125 // Program information, 8 bytes
networker 0:7f26f0680202 126 typedef struct
networker 0:7f26f0680202 127 {
networker 0:7f26f0680202 128 char * name; // Name of a program with a full path, for example, "/ramdisk/Program_1"
networker 0:7f26f0680202 129 UINT8 state; // enum pgm_state_e
networker 0:7f26f0680202 130 char reserved[3];
networker 0:7f26f0680202 131 } PGM_INFO;
networker 0:7f26f0680202 132
networker 0:7f26f0680202 133
networker 0:7f26f0680202 134 // Display message, 36 bytes. Used to show pop-up message box on the boards display
networker 0:7f26f0680202 135 typedef struct
networker 0:7f26f0680202 136 {
networker 0:7f26f0680202 137 unsigned char id; // Should be increased by 1 each time a new pop-up message is to be shown
networker 0:7f26f0680202 138 char text[DISPL_MSG_LEN_MAX + 1];
networker 0:7f26f0680202 139 char reserved[2];
networker 0:7f26f0680202 140 } DISPLAY_MSG;
networker 0:7f26f0680202 141
networker 0:7f26f0680202 142
networker 0:7f26f0680202 143 // Display frame, 8 bytes. Used to refresh boards display with a bitmap image frame
networker 0:7f26f0680202 144 typedef struct
networker 0:7f26f0680202 145 {
networker 0:7f26f0680202 146 unsigned char * frame; // Contents of a frame as a 128x64 pixels bitmap
networker 0:7f26f0680202 147 UINT16 id; // Should be increased by 1 each time a new display frame is to be shown
networker 0:7f26f0680202 148 BOOL16 is_pgm_master_of_display; // ++ if program wants to have control over display,
networker 0:7f26f0680202 149 // i.e. image frame is displayed over firmware menus;
networker 0:7f26f0680202 150 // -- if program wants to return control over display
networker 0:7f26f0680202 151 // to the firmware menus
networker 0:7f26f0680202 152 } DISPLAY_FRAME;
networker 0:7f26f0680202 153
networker 0:7f26f0680202 154
networker 0:7f26f0680202 155 // Version structure definition, 4 bytes
networker 0:7f26f0680202 156 typedef union
networker 0:7f26f0680202 157 {
networker 0:7f26f0680202 158 unsigned long abcd;
networker 0:7f26f0680202 159 struct
networker 0:7f26f0680202 160 {
networker 0:7f26f0680202 161 unsigned char a;
networker 0:7f26f0680202 162 unsigned char b;
networker 0:7f26f0680202 163 unsigned char c;
networker 0:7f26f0680202 164 unsigned char d;
networker 0:7f26f0680202 165 } part;
networker 0:7f26f0680202 166 } FT_VER;
networker 0:7f26f0680202 167
networker 0:7f26f0680202 168
networker 0:7f26f0680202 169 // Versions of hardware and firmware components, 16 bytes
networker 0:7f26f0680202 170 typedef struct
networker 0:7f26f0680202 171 {
networker 0:7f26f0680202 172 FT_VER hardware; // Version of hardware (hardware.part.a = 'A' or 'B' or 'C')
networker 0:7f26f0680202 173 FT_VER firmware; // Version of firmware ("V %d.%02d, DLL %d", firmware.part.c,
networker 0:7f26f0680202 174 // firmware.part.d, firmware.part.b)
networker 0:7f26f0680202 175 FT_VER ta; // Version of transfer area ("V %d.%02d", ta.part.c, ta.part.d)
networker 0:7f26f0680202 176 char reserved[4];
networker 0:7f26f0680202 177 } FT_VERSION;
networker 0:7f26f0680202 178
networker 0:7f26f0680202 179
networker 0:7f26f0680202 180 // Info structure, 64 bytes
networker 0:7f26f0680202 181 typedef struct
networker 0:7f26f0680202 182 {
networker 0:7f26f0680202 183 char device_name[DEV_NAME_LEN_MAX + 1]; // Controller name
networker 0:7f26f0680202 184 char bt_addr[BLUETOOTH_ADDR_LEN + 1]; // Bluetooth address as a string
networker 0:7f26f0680202 185 char reserved;
networker 0:7f26f0680202 186 unsigned long ta_array_start_addr;
networker 0:7f26f0680202 187 unsigned long pgm_area_start_addr;
networker 0:7f26f0680202 188 unsigned long pgm_area_size;
networker 0:7f26f0680202 189 FT_VERSION version;
networker 0:7f26f0680202 190 } TA_INFO;
networker 0:7f26f0680202 191
networker 0:7f26f0680202 192
networker 0:7f26f0680202 193 // State structure, 36 bytes
networker 0:7f26f0680202 194 typedef struct
networker 0:7f26f0680202 195 {
networker 0:7f26f0680202 196 // Used by local program
networker 0:7f26f0680202 197 BOOL8 pgm_initialized;
networker 0:7f26f0680202 198 char reserved_1[7];
networker 0:7f26f0680202 199
networker 0:7f26f0680202 200 // Public state info
networker 0:7f26f0680202 201 BOOL8 dev_mode; // enum dev_mode_e
networker 0:7f26f0680202 202 UCHAR8 id; // Should be increased by 1 each time something (except id fields)
networker 0:7f26f0680202 203 // is changed in this state structure
networker 0:7f26f0680202 204 UCHAR8 info_id; // Should be increased by 1 each time something is changed in info structure
networker 0:7f26f0680202 205 UCHAR8 config_id; // Should be increased by 1 each time something is changed in config structure
networker 0:7f26f0680202 206 BOOL8 ext_dev_connect_state[N_EXT]; // enum ext_dev_connect_state_e
networker 0:7f26f0680202 207 char reserved_2[8];
networker 0:7f26f0680202 208 PGM_INFO local_pgm; // Corresponds to the program currently being in the program memory
networker 0:7f26f0680202 209 } TA_STATE;
networker 0:7f26f0680202 210
networker 0:7f26f0680202 211
networker 0:7f26f0680202 212 // Universal inputs configuration, 4 bytes
networker 0:7f26f0680202 213 typedef struct
networker 0:7f26f0680202 214 {
networker 0:7f26f0680202 215 UINT8 mode; // enum input_mode_e
networker 0:7f26f0680202 216 BOOL8 digital; // FALSE = analog input, TRUE = digital input
networker 0:7f26f0680202 217 unsigned char reserved[2];
networker 0:7f26f0680202 218 } UNI_CONFIG;
networker 0:7f26f0680202 219
networker 0:7f26f0680202 220
networker 0:7f26f0680202 221 // Counter inputs configuration, 4 bytes
networker 0:7f26f0680202 222 typedef struct
networker 0:7f26f0680202 223 {
networker 0:7f26f0680202 224 UINT8 mode; // 0 = normal counter mode (change 0 -> 1 is counted)
networker 0:7f26f0680202 225 // 1 = inverse counter mode (change 1 -> 0 is counted)
networker 0:7f26f0680202 226 unsigned char reserved[3];
networker 0:7f26f0680202 227 } CNT_CONFIG;
networker 0:7f26f0680202 228
networker 0:7f26f0680202 229
networker 0:7f26f0680202 230 // Config structure, 88 bytes
networker 0:7f26f0680202 231 typedef struct
networker 0:7f26f0680202 232 {
networker 0:7f26f0680202 233 UINT8 pgm_state_req; // enum pgm_state_e, program state change request
networker 0:7f26f0680202 234 char reserved_1[3];
networker 0:7f26f0680202 235 BOOL8 motor[N_MOTOR]; // TRUE = corresponding outputs are used as a pair of motor outputs M1...M4,
networker 0:7f26f0680202 236 // FALSE = corresponding outputs are used as a pair of separate digital
networker 0:7f26f0680202 237 // PWM outputs O1...O8
networker 0:7f26f0680202 238 UNI_CONFIG uni[N_UNI];
networker 0:7f26f0680202 239 CNT_CONFIG cnt[N_CNT];
networker 0:7f26f0680202 240 char reserved_2[32];
networker 0:7f26f0680202 241 } TA_CONFIG;
networker 0:7f26f0680202 242
networker 0:7f26f0680202 243
networker 0:7f26f0680202 244 // Input structure, 44 bytes
networker 0:7f26f0680202 245 typedef struct
networker 0:7f26f0680202 246 {
networker 0:7f26f0680202 247 INT16 uni[N_UNI]; // Current values of the universal inputs
networker 0:7f26f0680202 248 INT16 cnt_in[N_CNT]; // Current levels (0 or 1) on the counter inputs according
networker 0:7f26f0680202 249 // to their configuration (normal or inverse)
networker 0:7f26f0680202 250 INT16 counter[N_CNT]; // Current values of the counter inputs
networker 0:7f26f0680202 251 INT16 display_button_left; // Number of milliseconds during which the left display button
networker 0:7f26f0680202 252 // is being kept pressed
networker 0:7f26f0680202 253 INT16 display_button_right; // Number of milliseconds during which the right display button
networker 0:7f26f0680202 254 // is being kept pressed
networker 0:7f26f0680202 255 INT16 motor_pos_reached[N_MOTOR]; // Set to 1 by motor control if target position
networker 0:7f26f0680202 256 // (distance from output structure) is reached
networker 0:7f26f0680202 257 } TA_INPUT;
networker 0:7f26f0680202 258
networker 0:7f26f0680202 259
networker 0:7f26f0680202 260 // Output structure, 36 bytes
networker 0:7f26f0680202 261 typedef struct
networker 0:7f26f0680202 262 {
networker 0:7f26f0680202 263 BOOL8 cnt_reset[N_CNT]; // Counter reset requests
networker 0:7f26f0680202 264 UINT8 master[N_MOTOR]; // If not 0, synchronize this channel with the given channel
networker 0:7f26f0680202 265 // (1:channel 0, ...)
networker 0:7f26f0680202 266 INT16 duty[N_PWM_CHAN]; // Selected motor outputs PWM values
networker 0:7f26f0680202 267 UINT16 distance[N_MOTOR]; // Selected distance (counter value) at which motor shall stop
networker 0:7f26f0680202 268 char reserved[4];
networker 0:7f26f0680202 269 } TA_OUTPUT;
networker 0:7f26f0680202 270
networker 0:7f26f0680202 271
networker 0:7f26f0680202 272 // Display structure, 44 bytes
networker 0:7f26f0680202 273 typedef struct
networker 0:7f26f0680202 274 {
networker 0:7f26f0680202 275 DISPLAY_MSG display_msg;
networker 0:7f26f0680202 276 DISPLAY_FRAME display_frame;
networker 0:7f26f0680202 277 } TA_DISPLAY;
networker 0:7f26f0680202 278
networker 0:7f26f0680202 279
networker 0:7f26f0680202 280 // Change structure (only for ftMscLib), 8 bytes
networker 0:7f26f0680202 281 typedef struct
networker 0:7f26f0680202 282 {
networker 0:7f26f0680202 283 char reserved_1[2];
networker 0:7f26f0680202 284 UINT8 ChangeStatus; // TRUE = there was a change in any of the following fields
networker 0:7f26f0680202 285 UINT8 ChangeUni; // There was a change of the input value (bit 0 = I1, bit 1 = I2, ...)
networker 0:7f26f0680202 286 UINT8 ChangeCntIn; // There was a change of the counter level (bit 0 = C1, bit 1 = C2, ...)
networker 0:7f26f0680202 287 UINT8 ChangeCounter; // There was a change of the counter value (bit 0 = C1, bit 1 = C2, ...)
networker 0:7f26f0680202 288 char reserved_2[2];
networker 0:7f26f0680202 289 } TA_CHANGE;
networker 0:7f26f0680202 290
networker 0:7f26f0680202 291
networker 0:7f26f0680202 292 // 16-bit timers, 12 bytes
networker 0:7f26f0680202 293 typedef struct
networker 0:7f26f0680202 294 {
networker 0:7f26f0680202 295 UINT16 Timer1ms;
networker 0:7f26f0680202 296 UINT16 Timer10ms;
networker 0:7f26f0680202 297 UINT16 Timer100ms;
networker 0:7f26f0680202 298 UINT16 Timer1s;
networker 0:7f26f0680202 299 UINT16 Timer10s;
networker 0:7f26f0680202 300 UINT16 Timer1min;
networker 0:7f26f0680202 301 } TA_TIMER;
networker 0:7f26f0680202 302
networker 0:7f26f0680202 303
networker 0:7f26f0680202 304 struct ta_s;
networker 0:7f26f0680202 305
networker 0:7f26f0680202 306 // Hook table with pointers to the firmware functions,
networker 0:7f26f0680202 307 // that can be called by local program, 16 bytes
networker 0:7f26f0680202 308 typedef struct
networker 0:7f26f0680202 309 {
networker 0:7f26f0680202 310 // Informs the calling program if it can still run (return TRUE) or should
networker 0:7f26f0680202 311 // immediately return to the firmware in order not to destroy the multitasking
networker 0:7f26f0680202 312 // mechanism of the firmware (return FALSE).
networker 0:7f26f0680202 313 BOOL32 (*IsRunAllowed) (void);
networker 0:7f26f0680202 314 // Returns system time in seconds, milliseconds or microseconds depending on the
networker 0:7f26f0680202 315 // parameter unit.
networker 0:7f26f0680202 316 UINT32 (*GetSystemTime) (enum TimerUnit unit);
networker 0:7f26f0680202 317 // Display pop-up message on the display of the ROBO TX Controller. If p_msg
networker 0:7f26f0680202 318 // is NULL, then all pop-up messages are removed from the display and its cache,
networker 0:7f26f0680202 319 // and the main frame is displayed.
networker 0:7f26f0680202 320 void (*DisplayMsg) (struct ta_s * p_ta, char * p_msg);
networker 0:7f26f0680202 321 // Returns TRUE if display is currently being refreshed. A program should in such a
networker 0:7f26f0680202 322 // case wait until the display finishes its refreshing before sending new output to it.
networker 0:7f26f0680202 323 BOOL32 (*IsDisplayBeingRefreshed) (struct ta_s * p_ta);
networker 0:7f26f0680202 324 } TA_HOOK_TABLE;
networker 0:7f26f0680202 325
networker 0:7f26f0680202 326
networker 0:7f26f0680202 327
networker 0:7f26f0680202 328 // ============================================================================
networker 0:7f26f0680202 329 // Transfer Area (TA) of ROBO TX Controller (one element of TA array)
networker 0:7f26f0680202 330 // ============================================================================
networker 0:7f26f0680202 331 #define RESERVED_1_SIZE 4
networker 0:7f26f0680202 332 #define RESERVED_2_SIZE 28
networker 0:7f26f0680202 333 #define RESERVED_3_SIZE \
networker 0:7f26f0680202 334 (512 - ( \
networker 0:7f26f0680202 335 sizeof(TA_INFO) + \
networker 0:7f26f0680202 336 sizeof(TA_STATE) + \
networker 0:7f26f0680202 337 sizeof(TA_CONFIG) + \
networker 0:7f26f0680202 338 sizeof(TA_INPUT) + \
networker 0:7f26f0680202 339 sizeof(TA_OUTPUT) + \
networker 0:7f26f0680202 340 sizeof(TA_DISPLAY) + \
networker 0:7f26f0680202 341 RESERVED_1_SIZE + \
networker 0:7f26f0680202 342 sizeof(TA_CHANGE) + \
networker 0:7f26f0680202 343 sizeof(TA_TIMER) + \
networker 0:7f26f0680202 344 RESERVED_2_SIZE + \
networker 0:7f26f0680202 345 sizeof(TA_HOOK_TABLE) \
networker 0:7f26f0680202 346 ))
networker 0:7f26f0680202 347
networker 0:7f26f0680202 348
networker 0:7f26f0680202 349 typedef struct ta_s
networker 0:7f26f0680202 350 {
networker 0:7f26f0680202 351 TA_INFO info; // info structure
networker 0:7f26f0680202 352 TA_STATE state; // state structure
networker 0:7f26f0680202 353 TA_CONFIG config; // config structure
networker 0:7f26f0680202 354 TA_INPUT input; // input structure
networker 0:7f26f0680202 355 TA_OUTPUT output; // output structure
networker 0:7f26f0680202 356 TA_DISPLAY display; // display structure
networker 0:7f26f0680202 357
networker 0:7f26f0680202 358 char reserved_1[RESERVED_1_SIZE];
networker 0:7f26f0680202 359
networker 0:7f26f0680202 360 TA_CHANGE change; // change structure
networker 0:7f26f0680202 361 TA_TIMER timer; // 16-bit timers
networker 0:7f26f0680202 362
networker 0:7f26f0680202 363 char reserved_2[RESERVED_2_SIZE];
networker 0:7f26f0680202 364
networker 0:7f26f0680202 365 TA_HOOK_TABLE hook_table; // hook table with functions pointers
networker 0:7f26f0680202 366
networker 0:7f26f0680202 367 char reserved_3[RESERVED_3_SIZE];
networker 0:7f26f0680202 368 } TA;
networker 0:7f26f0680202 369
networker 0:7f26f0680202 370
networker 0:7f26f0680202 371 #endif // __ROBO_TX_FW_H__