[WIP] serial communication (broken w/ segfault)

1 files changed, 34 insertions, 0 deletions

diff --git a/robot/bin.c b/robot/bin.c
index 4242edc..a2c91a4 100644
--- a/robot/bin.c
+++ b/robot/bin.c
@@ -1,3 +1,5 @@
+#include <stdlib.h>
+
 #include "bin.h"
 
 #define W2_ENDIAN_LITTLE (1)
@@ -12,8 +14,40 @@
 #define _BYTE_2 ((uint32_t)(0xff << (_SHIFT_2B)))
 #define _BYTE_3 ((uint32_t)(0xff << (_SHIFT_3B)))
 
+const uint8_t W2_STRUCT_T_SIZES[] = {sizeof(uint8_t), sizeof(uint16_t), sizeof(uint32_t)};
+
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wshift-count-overflow"
+w2_s_bin *w2_bin_from_uint8_t(uint8_t data) {
+	size_t size	  = 1;
+	w2_s_bin *ret = malloc(sizeof(w2_s_bin) + sizeof(uint8_t) * size);
+	ret->bytes	  = size;
+	ret->data[0]  = data;
+	return ret;
+}
+
+w2_s_bin *w2_bin_from_uint16_t(uint16_t data) {
+	size_t size	  = 2;
+	w2_s_bin *ret = malloc(sizeof(w2_s_bin) + sizeof(uint8_t) * size);
+	data		  = w2_bin_hton16(data);
+	ret->bytes	  = size;
+	ret->data[0]  = (data & _BYTE_1) >> _SHIFT_1B;
+	ret->data[1]  = (data & _BYTE_0) >> _SHIFT_0B;
+	return ret;
+}
+
+w2_s_bin *w2_bin_from_uint32_t(uint32_t data) {
+	size_t size	  = 4;
+	w2_s_bin *ret = malloc(sizeof(w2_s_bin) + sizeof(uint8_t) * size);
+	data		  = w2_bin_hton32(data);
+	ret->bytes	  = size;
+	ret->data[0]  = (data & _BYTE_3) >> _SHIFT_3B;
+	ret->data[1]  = (data & _BYTE_2) >> _SHIFT_2B;
+	ret->data[2]  = (data & _BYTE_1) >> _SHIFT_1B;
+	ret->data[3]  = (data & _BYTE_0) >> _SHIFT_0B;
+	return ret;
+}
+
 uint32_t w2_bin_hton32(uint32_t h32) {
 	if (g_w2_endianness == W2_ENDIAN_BIG) return h32;
 	return ((h32 & _BYTE_0) << _SHIFT_3B) | ((h32 & _BYTE_1) << _SHIFT_1B) |