Diff: UM6_usart.h

Revision:

0:0529d2d7762f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UM6_usart.h	Wed May 29 00:45:41 2013 +0000
@@ -0,0 +1,81 @@
+/* ______________________________________________________________________________________
+ File: UM6_usart.h
+ Author: CH Robotics, adapted for mbed by lhiggs
+ Version: 1.0
+ 
+ Description: Function declarations for USART communucation
+ -------------------------------------------------------------------------------------- */
+ 
+ #include "mbed.h"
+ 
+ #ifndef _CHR_USART_H
+ #define _CHR_USART_H
+
+#define       MAX_PACKET_DATA            40
+
+ 
+ // Definitions of states for USART receiver state machine (for receiving packets)
+ #define USART_STATE_WAIT       1
+ #define USART_STATE_TYPE       2
+ #define USART_STATE_ADDRESS    3
+ #define USART_STATE_DATA       4
+ #define USART_STATE_CHECKSUM   5
+ 
+ 
+ 
+ // Flags for interpreting the packet type byte in communication packets
+ #define PACKET_HAS_DATA            (1 << 7)
+ #define PACKET_IS_BATCH            (1 << 6)
+ #define PACKET_BATCH_LENGTH_MASK   ( 0x0F )
+ 
+ #define PACKET_BATCH_LENGTH_OFFSET     2
+ 
+ #define BATCH_SIZE_2                   2
+ #define BATCH_SIZE_3                   3
+ 
+ #define PACKET_NO_DATA                 0
+ #define PACKET_COMMAND_FAILED      (1 << 0)
+ 
+ 
+ // Define flags for identifying the type of packet address received
+ #define ADDRESS_TYPE_CONFIG            0
+ #define ADDRESS_TYPE_DATA              1
+ #define ADDRESS_TYPE_COMMAND           2
+ 
+ 
+// Union for working with floats at the byte level
+//typedef union _fconvert
+//{
+//       uint32_t uint32_val;
+//       int32_t int32_val;
+//       float float_val;
+// } fConvert;
+ 
+ 
+ 
+ // Buffer, buffer index, and TX status flag for USART transmit
+
+extern uint8_t gUSART_State;
+
+ // Structure for storing TX and RX packet data
+ typedef struct _USARTPacket
+ {
+        uint8_t PT;         // Packet type
+        uint8_t address;    // Packet address
+        uint16_t checksum;  // Checksum
+        
+        // Data included for convenience, but that isn't stored in the packet itself
+        uint8_t data_length;  // Number of bytes in data section
+        uint8_t address_type; // Specified the address type (DATA, CONFIG, OR COMMAND)
+        
+        uint8_t packet_data[MAX_PACKET_DATA];
+        
+ } USARTPacket;
+ 
+
+
+uint16_t ComputeChecksum( USARTPacket* new_packet );
+
+
+ 
+ #endif
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