asctecDefinesOnboard.h

/*

Copyright (c) 2012, Ascending Technologies GmbH
All rights reserved.

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 * Redistributions of source code must retain the above copyright notice,
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 * Redistributions in binary form must reproduce the above copyright
   notice, this list of conditions and the following disclaimer in the
   documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY
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 */

#ifndef ASCTECDEFINESONBOARD_H_
#define ASCTECDEFINESONBOARD_H_

/**
 * \defgroup vartype Variable Types
 * \brief A List of all Variable Types.
 *
 *	The varible types are needed for describing the content of a variable. The problem is, that only the size are not only describe the type of a variable fully (mostly because of signed and unsigned). Every time, if you want to get a variable, you get the type and size of the variable for finding it from the buffer.
 */

/**
 * \defgroup callbacks Callback Functions
 * \brief This is a list of all callback functions, you have to call at the beginning of your code.
 *
 * This module describes all important functions, that should be declared at the beginning of the program. If you don't do that, the fully functionality of ACI cannot be guaranteed.
 *
 */


//version defines. Minor versions work together if all info parameters match. Major versions don't work together
#define ACI_VER_MAJOR   1
#define ACI_VER_MINOR	0

//type definitions

#define LENGTH_CHAR 	1
#define LENGTH_SHORT	2
#define LENGTH_INT		4
#define LENGTH_LONGINT	8
#define LENGTH_FLOAT 	4
#define LENGTH_DOUBLE 	8

//internal defines
#define MAX_NAME_LENGTH 32
#define MAX_DESC_LENGTH 64
#define MAX_UNIT_LENGTH 32
#define MAX_VARIABLE_LIST 70
#define MAX_COMMAND_LIST 50
#define MAX_PARAMETER_LIST 50

#define MEMPACKET_MAX_VARS 64

#define ACI_RX_BUFFER_SIZE		384
#define ACI_TX_RINGBUFFER_SIZE 	160

// ID defines
#define ID_NONE 0

// Variable type defines. upper six bits define size of type in memory (0..63). Lower 2 bits are IDs from 0..3 per size
#define VARCLASS_SIGNED   0x00
#define VARCLASS_UNSIGNED 0x01
#define VARCLASS_FLOAT     0x02
#define VARCLASS_STRUCT   0x03

/**
* \ingroup vartype
* \brief 1 byte types signed
*/
#define VARTYPE_INT8 ((1<<2)|VARCLASS_SIGNED)

/**
* \ingroup vartype
* \brief 1 byte types unsigned
*/
#define VARTYPE_UINT8      ((1<<2)|VARCLASS_UNSIGNED)

/**
* \ingroup vartype
* \brief 2 byte types signed
*/
#define VARTYPE_INT16      ((2<<2)|VARCLASS_SIGNED)

/**
* \ingroup vartype
* \brief 2 byte types signed
*/
#define VARTYPE_UINT16     ((2<<2)|VARCLASS_UNSIGNED)

/**
* \ingroup vartype
* \brief 4 byte types signed
*/
#define VARTYPE_INT32      ((4<<2)|VARCLASS_SIGNED)
/**
* \ingroup vartype
* \brief 4 byte types unsigned
*/
#define VARTYPE_UINT32     ((4<<2)|VARCLASS_UNSIGNED)
/**
* \ingroup vartype
* \brief 4 byte types signed float
*/
#define VARTYPE_SINGLE     ((4<<2)|VARCLASS_FLOAT)

/**
* \ingroup vartype
* \brief 8 byte types signed
*/
#define VARTYPE_INT64      ((8<<2)|VARCLASS_SIGNED)

/**
* \ingroup vartype
* \brief 8 byte types unsigned
*/
#define VARTYPE_UINT64     ((8<<2)|VARCLASS_UNSIGNED)

/**
* \ingroup vartype
* \brief 8 byte types signed double
*/
#define VARTYPE_DOUBLE     ((8<<2)|VARCLASS_FLOAT)

/**
* \ingroup vartype
* \brief struct with size of a
*/
#define VARTYPE_STRUCT_WITH_SIZE(a) ((a<<2)|VARCLASS_STRUCT)

/**
* \ingroup vartype
* \brief 3 float vector
*/
#define VARTYPE_VECTOR_3F ((12<<2)|VARCLASS_FLOAT)
/**
* \ingroup vartype
* \brief 3 int vector
*/

#define VARTYPE_VECTOR_3I ((12<<2)|VARCLASS_SIGNED)

/**
* \ingroup vartype
* \brief quaternion (4 float) vector
*/
#define VARTYPE_QUAT ((16<<2)|VARCLASS_FLOAT)


#define NULL ((void *)0)

//RX states
#define ARS_IDLE 			0x00
#define ARS_STARTBYTE1 		0x01
#define ARS_STARTBYTE2 		0x02
#define ARS_MESSAGETYPE 	0x03
#define ARS_LENGTH1 		0x04
#define ARS_LENGTH2 		0x05
#define ARS_DATA 			0x06
#define ARS_CRC1 			0x07
#define ARS_CRC2 			0x08

//LOAD states
#define LOAD_ID1 			0x03
#define LOAD_ID2			0x04
#define LOAD_VARTYPE 		0x05
#define LOAD_DATA 			0x06

//ACI Publish param return const

#define ACI_PARAM_OK			0
#define ACI_PARAM_SIZE_TOO_BIG 	1
#define ACI_PARAM_NO_FLASH_AV	2 // No Flash avaible

// ACI Packet types
//Remote->Onboard
#define ACIMT_REQUESTVARTABLEENTRIES 		0x01
#define ACIMT_REQUESTCMDTABLEENTRIES 		0x02
#define ACIMT_GETVARTABLEINFO				0x03
#define ACIMT_GETCMDTABLEINFO				0x04

#define ACIMT_REQUESTPARAMTABLEENTRIES 		0x05
#define ACIMT_UPDATEPARAMTABLE 		  		0x06
#define ACIMT_GETPARAMTABLEINFO				0x07

#define ACIMT_UPDATEVARPACKET           	0x10
//0x10-0x1f are reserved for update var packets!
#define ACIMT_CHANGEPACKETRATE				0x20
#define ACIMT_GETPACKETRATE					0x21
#define ACIMT_HEARBEAT                  	0x22
#define ACIMT_SETHEARTBEATTIMEOUT       	0x23
#define ACIMT_GETHEARTBEATTIMEOUT       	0x24
#define ACIMT_RESETREMOTE					0x25

#define ACIMT_UPDATECMDPACKET           	0x30
//0x30-0x3f are reserved for update cmd packet config!

#define ACIMT_CMDPACKET                 	0x40
//0x40-0x4f are reserved for cmd packets!

#define ACIMT_CMDACK            	    	0x50
//0x50-0x5f are reserved for cmd packets acks!

#define ACIMT_UPDATEPARAMPACKET           	0x60
//0x60-0x6f are reserved for update param packet config!

#define ACIMT_PARAMPACKET					0x70

//Onboard->Remote
#define ACIMT_SENDVARTABLEINFO				0x80
#define ACIMT_SENDVARTABLEENTRY				0x81
#define ACIMT_SENDVARTABLEENTRYINVALID		0x82

#define ACIMT_SENDCMDTABLEINFO				0x83
#define ACIMT_SENDCMDTABLEENTRY				0x84
#define ACIMT_SENDCMDTABLEENTRYINVALID		0x85

#define ACIMT_SENDPARAMTABLEINFO			0x86
#define ACIMT_SENDPARAMTABLEENTRY			0x87
#define ACIMT_SENDPARAMTABLEENTRYINVALID	0x88
#define ACIMT_PARAM							0x89

#define ACIMT_VARPACKET                 	0x90
//0x90-0x9f are reserved for var packets!

#define ACIMT_ACK                       	0xA0
#define ACIMT_PACKETRATEINFO				0xA1
#define ACIMT_SENDHEARBEATTIMEOUT       	0xA2
#define ACIMT_SINGLESEND					0xA3
#define ACIMT_SINGLEREQ						0xA4
#define ACIMT_MAGICCODES					0xA5


//GENERAL
#define ACIMT_INFO_REQUEST					0xF0
#define ACIMT_INFO_REPLY					0xF1
#define ACIMT_SAVEPARAM						0xF2
#define ACIMT_LOADPARAM						0xF3

#define ACI_ACK_UPDATEVARPACKET         	0x10
//0x10-0x1f are reserved for ack var packets!

#define ACI_ACK_OK                          0x01
#define ACI_ACK_CRC_ERROR                   0xF0
#define ACI_ACK_PACKET_TOO_LONG				0xF1

#define ACI_DBG								0xFF

//internal structures

//this defines the maximum number of different variables packets. Both (onboard and offboard) have to be compiled with
//the setting. 3 is standard due to limited memory of the onboard code
#define MAX_VAR_PACKETS 3


#define PACKEDDEF __attribute__((packed))

struct __attribute__((packed)) ACI_FLASH_TABLE_HEADER
{
	unsigned short noOfEntries;
};

struct __attribute__((packed)) ACI_FLASH_TABLE_ENTRY
{
	unsigned short id;
	unsigned short crc;
};

struct __attribute__((packed)) ACI_MEM_TABLE_ENTRY
{
	unsigned short id;
	const char * name;
	const char * description;
	const char * unit;
	unsigned char varType;
	void * ptrToVar;

};

struct __attribute__((packed)) ACI_MEM_TABLE_ENTRY_WITH_STRINGS
{
	unsigned short id;
	char name[MAX_NAME_LENGTH];
	char description[MAX_DESC_LENGTH];
	char unit[MAX_UNIT_LENGTH];
	unsigned char varType;
	void * ptrToVar;
};

//this package is fixed and should never be changed!
struct __attribute__((packed)) ACI_INFO
{
	unsigned char verMajor;
	unsigned char verMinor;
	unsigned char maxNameLength;
	unsigned char maxDescLength;
	unsigned char maxUnitLength;
	unsigned char maxVarPackets;
	unsigned char memPacketMaxVars;
	unsigned short flags;
	unsigned short dummy[8];
};

struct __attribute__((packed)) ACI_MEM_VAR_TABLE
{
	struct ACI_MEM_TABLE_ENTRY tableEntry;
	struct ACI_MEM_VAR_TABLE * next;
	unsigned char next_exist;
};


#endif /* ASCTECDEFINESONBOARD_H_ */

// Documentation Doxygen

/**
 * \mainpage AscTec Communication Interface
 * \htmlinclude start.html
 */