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servo_controller/src/command_message.h

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+#ifndef COMMAND_MESSAGE_H
+#define COMMAND_MESSAGE_H
+
+
+#include <stdint.h>
+
+
+#define COMMAND_PREFIX 0x69
+#define COMMAND_ID 0x00
+#define COMMAND_DATA_SIZE 160
+
+typedef enum {
+	COMMAND_ACK,
+	COMMAND_NACK,
+	LED_TOGGLE,
+	LED_SET,
+} commands_e;
+
+struct command_message_t {
+	uint8_t prefix;
+	uint8_t length;
+	uint8_t id;
+	uint8_t command;
+	uint8_t crc;
+	uint8_t data[COMMAND_DATA_SIZE];
+} __attribute__((packed));
+
+/**
+ * @brief Initialize command message to default state
+ * 
+ * @param msg Message to initialize
+ */
+void command_message_init(struct command_message_t *msg);
+
+/**
+ * @brief Create command message with data and CRC
+ * 
+ * @param msg Message to populate
+ * @param length Data length in bytes
+ * @param command Command type
+ * @param data Data payload
+ */
+void command_create_message(struct command_message_t *msg, uint8_t length, commands_e command, uint8_t data[160]);
+
+/**
+ * @brief Calculate CRC for command message
+ * 
+ * @param msg Message to calculate CRC for
+ * @return CRC value
+ */
+uint8_t command_calculate_crc(struct command_message_t *msg);
+
+/**
+ * @brief Create ACK command message
+ * 
+ * @param msg Message to populate
+ */
+void command_create_ack(struct command_message_t *msg);
+
+/**
+ * @brief Create NACK command message
+ * 
+ * @param msg Message to populate
+ */
+void command_create_nack(struct command_message_t *msg);
+
+/**
+ * @brief Print the command with LOG
+ * 
+ * @param msg Message to calculate CRC for
+ */
+void command_log(struct command_message_t *msg);
+
+
+#endif // COMMAND_MESSAGE_H