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97 lines
1.8 KiB
C
97 lines
1.8 KiB
C
#ifndef COMMAND_MESSAGE_H
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#define COMMAND_MESSAGE_H
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#include <stdint.h>
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#define COMMAND_PREFIX 0x69
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#define COMMAND_ID 0x00
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#define COMMAND_DATA_SIZE 160
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#define COMMAND_HEADER_SIZE 13
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typedef enum {
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COMMAND_ACK,
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COMMAND_NACK,
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LED_TOGGLE,
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LED_SET,
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SERVO_SET,
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SERVO_SET_ALL,
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ADC_READ_RAW,
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ADC_READ_RAW_ALL,
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ADC_READ,
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ADC_READ_ALL,
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ADC_SET_READ,
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DIGITAL_IN,
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DIGITAL_LEG_OUT,
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POWER_MONITOR_SET_READ,
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POWER_MONITOR_READ,
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SETTINGS_TEST_SAVE,
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SETTINGS_TEST_READ,
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MOVE_COMMAND_START,
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// All the commands going to robot thread go here
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TEST_COMMAND, // 16
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MOVE_COMMAND_END
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} commands_e;
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struct command_message_t {
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uint8_t prefix;
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uint8_t length;
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uint8_t id;
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uint8_t command;
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int64_t tick;
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uint8_t crc;
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uint8_t data[COMMAND_DATA_SIZE];
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} __attribute__((packed));
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/**
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* @brief Initialize command message to default state
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*
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* @param msg Message to initialize
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*/
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void command_message_init(struct command_message_t *msg);
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/**
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* @brief Create command message with data and CRC
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*
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* @param msg Message to populate
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* @param length Data length in bytes
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* @param command Command type
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* @param data Data payload
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*/
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void command_create_message(struct command_message_t *msg, uint8_t length, commands_e command, uint8_t data[]);
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/**
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* @brief Calculate CRC for command message
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*
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* @param msg Message to calculate CRC for
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* @return CRC value
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*/
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uint8_t command_calculate_crc(struct command_message_t *msg);
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/**
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* @brief Create ACK command message
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*
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* @param msg Message to populate
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*/
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void command_create_ack(struct command_message_t *msg);
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/**
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* @brief Create NACK command message
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*
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* @param msg Message to populate
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*/
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void command_create_nack(struct command_message_t *msg);
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/**
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* @brief Print the command with LOG
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*
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* @param msg Message to LOG
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*/
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void command_log(struct command_message_t *msg);
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#endif // COMMAND_MESSAGE_H
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