Austin Buchan / mbed_zumy_packet

Publishing for Biomimetics.

Dependencies:   CRC MODDMA MODSERIAL MPU6050IMU PID QEI mbed-rtos mbed-src

protocol.h@0:8cfa73bb68e4, 2016-05-31 (annotated)

Committer:
abuchan
Date:
Tue May 31 17:04:59 2016 +0000
Revision:
0:8cfa73bb68e4
Publishing for Biomimetics.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
abuchan 0:8cfa73bb68e4 1 #ifndef PROTOCOL_H
abuchan 0:8cfa73bb68e4 2 #define PROTOCOL_H
abuchan 0:8cfa73bb68e4 3
abuchan 0:8cfa73bb68e4 4 #include <stdint.h>
abuchan 0:8cfa73bb68e4 5 /**
abuchan 0:8cfa73bb68e4 6 * Packet type characters.
abuchan 0:8cfa73bb68e4 7 */
abuchan 0:8cfa73bb68e4 8 #define PKT_TYPE_COMMAND 'C'
abuchan 0:8cfa73bb68e4 9 #define PKT_TYPE_SENSOR 'S'
abuchan 0:8cfa73bb68e4 10 #define PKT_TYPE_READ 'G'
abuchan 0:8cfa73bb68e4 11 #define PKT_TYPE_RESET 'R'
abuchan 0:8cfa73bb68e4 12 #define PKT_TYPE_TIME 'T'
abuchan 0:8cfa73bb68e4 13 #define PKT_TYPE_PID 'P'
abuchan 0:8cfa73bb68e4 14
abuchan 0:8cfa73bb68e4 15 /**
abuchan 0:8cfa73bb68e4 16 * Defines the total maximum size of a packet, including header
abuchan 0:8cfa73bb68e4 17 */
abuchan 0:8cfa73bb68e4 18 #define MAX_PACKET_LENGTH 256
abuchan 0:8cfa73bb68e4 19
abuchan 0:8cfa73bb68e4 20 /**
abuchan 0:8cfa73bb68e4 21 * Packet structure definitions
abuchan 0:8cfa73bb68e4 22 */
abuchan 0:8cfa73bb68e4 23 typedef struct header_t {
abuchan 0:8cfa73bb68e4 24 uint8_t start;
abuchan 0:8cfa73bb68e4 25 uint8_t length;
abuchan 0:8cfa73bb68e4 26 char type;
abuchan 0:8cfa73bb68e4 27 uint8_t flags;
abuchan 0:8cfa73bb68e4 28 uint32_t sequence;
abuchan 0:8cfa73bb68e4 29 } header_t;
abuchan 0:8cfa73bb68e4 30
abuchan 0:8cfa73bb68e4 31 typedef struct packet_t {
abuchan 0:8cfa73bb68e4 32 header_t header;
abuchan 0:8cfa73bb68e4 33 uint8_t data_crc[MAX_PACKET_LENGTH-sizeof(header_t)];
abuchan 0:8cfa73bb68e4 34 } packet_t;
abuchan 0:8cfa73bb68e4 35
abuchan 0:8cfa73bb68e4 36 typedef union packet_union_t {
abuchan 0:8cfa73bb68e4 37 packet_t packet;
abuchan 0:8cfa73bb68e4 38 char raw[MAX_PACKET_LENGTH];
abuchan 0:8cfa73bb68e4 39 } packet_union_t;
abuchan 0:8cfa73bb68e4 40
abuchan 0:8cfa73bb68e4 41 typedef struct command_data_t {
abuchan 0:8cfa73bb68e4 42 float left;
abuchan 0:8cfa73bb68e4 43 float right;
abuchan 0:8cfa73bb68e4 44 } command_data_t;
abuchan 0:8cfa73bb68e4 45
abuchan 0:8cfa73bb68e4 46 typedef struct sensor_data_t {
abuchan 0:8cfa73bb68e4 47 uint32_t time;
abuchan 0:8cfa73bb68e4 48 float accel[3];
abuchan 0:8cfa73bb68e4 49 float gyro[3];
abuchan 0:8cfa73bb68e4 50 int32_t encoder[2];
abuchan 0:8cfa73bb68e4 51 float velocity[2];
abuchan 0:8cfa73bb68e4 52 float voltage;
abuchan 0:8cfa73bb68e4 53 } sensor_data_t;
abuchan 0:8cfa73bb68e4 54
abuchan 0:8cfa73bb68e4 55 typedef struct read_data_t {
abuchan 0:8cfa73bb68e4 56 int32_t period;
abuchan 0:8cfa73bb68e4 57 } read_data_t;
abuchan 0:8cfa73bb68e4 58
abuchan 0:8cfa73bb68e4 59 typedef struct time_data_t {
abuchan 0:8cfa73bb68e4 60 uint32_t time;
abuchan 0:8cfa73bb68e4 61 } time_data_t;
abuchan 0:8cfa73bb68e4 62
abuchan 0:8cfa73bb68e4 63 typedef struct pid_data_t {
abuchan 0:8cfa73bb68e4 64 float vel[2];
abuchan 0:8cfa73bb68e4 65 float pwm[2];
abuchan 0:8cfa73bb68e4 66 } pid_data_t;
abuchan 0:8cfa73bb68e4 67
abuchan 0:8cfa73bb68e4 68 #endif