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_PRG.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 program.
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.
networker 0:7f26f0680202 7 // |
networker 0:7f26f0680202 8 // Copyright | � 2009 MSC Vertriebs GmbH, Germany.
networker 0:7f26f0680202 9 // |
networker 0:7f26f0680202 10 // | This software is distributed in the hope that it will be useful,
networker 0:7f26f0680202 11 // | but WITHOUT ANY WARRANTY; without even the implied warranty of
networker 0:7f26f0680202 12 // | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
networker 0:7f26f0680202 13 //=============================================================================
networker 0:7f26f0680202 14
networker 0:7f26f0680202 15 #ifndef __ROBO_TX_PRG_H__
networker 0:7f26f0680202 16 #define __ROBO_TX_PRG_H__
networker 0:7f26f0680202 17
networker 0:7f26f0680202 18 #define CALL_CYCLE_MS 1 // firmware calls program each millisecond
networker 0:7f26f0680202 19
networker 0:7f26f0680202 20 #define MIN(a, b) ((a <= b) ? a : b)
networker 0:7f26f0680202 21 #define MAX(a, b) ((a >= b) ? a : b)
networker 0:7f26f0680202 22
networker 0:7f26f0680202 23 #define TA_VERSION 0x08010101 // Transfer Area version. Is used by firmware to check if format of the
networker 0:7f26f0680202 24 // Transfer Area used in program is the same as the one used in firmware.
networker 0:7f26f0680202 25
networker 0:7f26f0680202 26 #define PRG_MEM_START 0x30700000 // start address of the program memory
networker 0:7f26f0680202 27 #define PRG_MEM_SIZE 0x000D0000 // size of the program memory
networker 0:7f26f0680202 28
networker 0:7f26f0680202 29 #define PRG_MAGIC 0x336699AA
networker 0:7f26f0680202 30
networker 0:7f26f0680202 31 #if defined(__cplusplus)
networker 0:7f26f0680202 32 #define NULL 0L
networker 0:7f26f0680202 33 #else
networker 0:7f26f0680202 34 #define NULL ((void *)0)
networker 0:7f26f0680202 35 #endif
networker 0:7f26f0680202 36
networker 0:7f26f0680202 37 #undef TRUE
networker 0:7f26f0680202 38 #define TRUE (1 == 1)
networker 0:7f26f0680202 39
networker 0:7f26f0680202 40 #undef FALSE
networker 0:7f26f0680202 41 #define FALSE (!TRUE)
networker 0:7f26f0680202 42
networker 0:7f26f0680202 43 #ifndef __cplusplus
networker 0:7f26f0680202 44 typedef enum
networker 0:7f26f0680202 45 {
networker 0:7f26f0680202 46 false = FALSE,
networker 0:7f26f0680202 47 true = TRUE
networker 0:7f26f0680202 48 } bool;
networker 0:7f26f0680202 49 #endif // __cplusplus
networker 0:7f26f0680202 50
networker 0:7f26f0680202 51 typedef signed char CHAR8;
networker 0:7f26f0680202 52 typedef unsigned char UCHAR8;
networker 0:7f26f0680202 53
networker 0:7f26f0680202 54 typedef unsigned char BOOL8; // boolean variable (should be TRUE or FALSE)
networker 0:7f26f0680202 55 typedef unsigned short BOOL16; // boolean variable (should be TRUE or FALSE)
networker 0:7f26f0680202 56 typedef unsigned int BOOL32; // boolean variable (should be TRUE or FALSE)
networker 0:7f26f0680202 57
networker 0:7f26f0680202 58 typedef signed char INT8;
networker 0:7f26f0680202 59 typedef signed short INT16;
networker 0:7f26f0680202 60 typedef signed int INT32;
networker 0:7f26f0680202 61
networker 0:7f26f0680202 62 typedef unsigned char UINT8;
networker 0:7f26f0680202 63 typedef unsigned short UINT16;
networker 0:7f26f0680202 64 typedef unsigned int UINT32;
networker 0:7f26f0680202 65
networker 0:7f26f0680202 66 #include "ROBO_TX_FW.h"
networker 0:7f26f0680202 67
networker 0:7f26f0680202 68 // At the beginning of the program code should be this structure
networker 0:7f26f0680202 69 struct prg_code_intro_s
networker 0:7f26f0680202 70 {
networker 0:7f26f0680202 71 unsigned long magic; // PRG_MAGIC
networker 0:7f26f0680202 72 FT_VER ta_version; // TA_VERSION
networker 0:7f26f0680202 73 unsigned long entry; // entry point of the program, usually address of
networker 0:7f26f0680202 74 // the program dispatcher (PrgDisp) function
networker 0:7f26f0680202 75 };
networker 0:7f26f0680202 76
networker 0:7f26f0680202 77
networker 0:7f26f0680202 78 // This function is called only once by the program dispatcher (PrgDisp) at the very first call
networker 0:7f26f0680202 79 // of the program dispatcher by the firmware
networker 0:7f26f0680202 80 void PrgInit
networker 0:7f26f0680202 81 (
networker 0:7f26f0680202 82 TA * p_ta, // pointer to the array of transfer area parts
networker 0:7f26f0680202 83 int n_ta // number of transfer area parts in array (equal to TA_COUNT)
networker 0:7f26f0680202 84 );
networker 0:7f26f0680202 85
networker 0:7f26f0680202 86
networker 0:7f26f0680202 87 // This function is called periodically by the program dispatcher (PrgDisp) with the period
networker 0:7f26f0680202 88 // of CALL_CYCLE_MS
networker 0:7f26f0680202 89 int PrgTic
networker 0:7f26f0680202 90 (
networker 0:7f26f0680202 91 TA * p_ta, // pointer to the array of transfer area parts
networker 0:7f26f0680202 92 int n_ta // number of transfer area parts in array (equal to TA_COUNT)
networker 0:7f26f0680202 93 );
networker 0:7f26f0680202 94
networker 0:7f26f0680202 95
networker 0:7f26f0680202 96 #endif // __ROBO_TX_PRG_H__