merge dev into master

1 files changed, 219 insertions, 0 deletions

diff --git a/shared/protocol.h b/shared/protocol.h
new file mode 100644
index 0000000..057f67d
--- /dev/null
+++ b/shared/protocol.h
@@ -0,0 +1,219 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "bin.h"
+#include "consts.h"
+
+#define W2_SERIAL_START_BYTE 0xff
+
+#define W2_CMDDIR_RX 0
+#define W2_CMDDIR_TX 1
+
+#define W2_CMD_CODE_MASK (~1)
+#define W2_CMD_DIRECTION_MASK (1)
+
+#define W2_CMD_COUNT 28
+typedef enum {
+	/** ping command */
+	W2_CMD_PING = 0x00,
+	/** exception command */
+	W2_CMD_EXPT = 0x02,
+	/** mode command */
+	W2_CMD_MODE = 0x04,
+	/** speed command */
+	W2_CMD_SPED = 0x06,
+	/** direct control command */
+	W2_CMD_DIRC = 0x08,
+	/** coordinate command */
+	W2_CMD_CORD = 0x0a,
+	/** backorder modify command */
+	W2_CMD_BOMD = 0x0c,
+	/** soft reset command */
+	W2_CMD_SRES = 0x0e,
+	/** map config command */
+	W2_CMD_MCFG = 0x10,
+	/** sensor data command */
+	W2_CMD_SENS = 0x12,
+	/** info command */
+	W2_CMD_INFO = 0x14,
+	/** display control command */
+	W2_CMD_DISP = 0x16,
+	/** play midi command */
+	W2_CMD_PLAY = 0x18,
+	/** control leds command */
+	W2_CMD_CLED = 0x1a,
+} w2_e_scmds;
+
+#pragma pack(push, 1)
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t id;
+} w2_s_cmd_ping_rx;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t id;
+} w2_s_cmd_ping_tx;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t error;
+	uint8_t length;
+	uint8_t message[];
+} w2_s_cmd_expt_tx;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t mode;
+} w2_s_cmd_mode_rx;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t mode;
+} w2_s_cmd_mode_tx;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t speed;
+} w2_s_cmd_sped_rx;
+
+typedef struct {
+	uint8_t opcode;
+	uint16_t left;
+	uint16_t right;
+} w2_s_cmd_dirc_rx;
+
+typedef struct {
+	uint8_t opcode;
+	uint32_t position;
+	uint8_t orientation;
+} w2_s_cmd_cord_rx;
+
+typedef struct {
+	uint8_t opcode;
+	uint32_t position;
+	uint8_t orientation;
+} w2_s_cmd_cord_tx;
+
+typedef struct {
+	uint8_t opcode;
+	uint32_t id;
+	uint32_t position;
+} w2_s_cmd_bomd_rx;
+
+typedef struct {
+	uint8_t opcode;
+	uint32_t id;
+	uint8_t status;
+} w2_s_cmd_bomd_tx;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t type;
+} w2_s_cmd_sres_rx;
+
+typedef struct {
+	uint16_t position;
+	uint8_t kind;
+} w2_s_cmd_mcfg_feature;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t width;
+	uint8_t height;
+	uint8_t length;
+	w2_s_cmd_mcfg_feature features[];
+} w2_s_cmd_mcfg_rx;
+
+typedef struct {
+	uint8_t opcode;
+} w2_s_cmd_sens_rx;
+
+typedef struct {
+	uint8_t opcode;
+	// TODO: sensor data
+} w2_s_cmd_sens_tx;
+
+typedef struct {
+	uint8_t opcode;
+} w2_s_cmd_info_rx;
+
+typedef struct {
+	uint8_t opcode;
+	uint8_t build_str[32];
+	uint8_t errcatch_ms;
+	uint8_t io_ms;
+	uint8_t sercomm_ms;
+	uint8_t mode_ms;
+	uint32_t uptime_s;
+} w2_s_cmd_info_tx;
+
+typedef struct {
+} w2_s_cmd_disp_rx;
+
+typedef struct {
+} w2_s_cmd_play_rx;
+
+typedef struct {
+} w2_s_cmd_cled_rx;
+
+#pragma pack(pop)
+
+/** stores message handlers in array with opcode as index */
+extern void (*g_w2_cmd_handlers[W2_CMD_COUNT])(w2_s_bin *);
+/** fills g_w2_cmd_handlers with functions */
+void w2_cmd_setup_handlers();
+
+/** global handler for complete messages */
+void w2_cmd_handler(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t length);
+/** calculate message length */
+size_t w2_cmd_sizeof(uint8_t data[W2_SERIAL_READ_BUFFER_SIZE], uint8_t length);
+
+/** handler for ping_rx (on complete message) */
+void w2_cmd_ping_rx(w2_s_bin *data);
+/** handler for ping_tx (on complete message) */
+void w2_cmd_ping_tx(w2_s_bin *data);
+/** handler for expt_tx (on complete message) */
+void w2_cmd_expt_tx(w2_s_bin *data);
+/** handler for mode_rx (on complete message) */
+void w2_cmd_mode_rx(w2_s_bin *data);
+/** handler for mode_tx (on complete message) */
+void w2_cmd_mode_tx(w2_s_bin *data);
+/** handler for sped_rx (on complete message) */
+void w2_cmd_sped_rx(w2_s_bin *data);
+/** handler for dirc_rx (on complete message) */
+void w2_cmd_dirc_rx(w2_s_bin *data);
+/** handler for cord_rx (on complete message) */
+void w2_cmd_cord_rx(w2_s_bin *data);
+/** handler for cord_tx (on complete message) */
+void w2_cmd_cord_tx(w2_s_bin *data);
+/** handler for bomd_rx (on complete message) */
+void w2_cmd_bomd_rx(w2_s_bin *data);
+/** handler for bomd_tx (on complete message) */
+void w2_cmd_bomd_tx(w2_s_bin *data);
+/** handler for sres_rx (on complete message) */
+void w2_cmd_sres_rx(w2_s_bin *data);
+/** handler for mcfg_rx (on complete message) */
+void w2_cmd_mcfg_rx(w2_s_bin *data);
+/** handler for sens_rx (on complete message) */
+void w2_cmd_sens_rx(w2_s_bin *data);
+/** handler for sens_tx (on complete message) */
+void w2_cmd_sens_tx(w2_s_bin *data);
+/** handler for info_rx (on complete message) */
+void w2_cmd_info_rx(w2_s_bin *data);
+/** handler for info_tx (on complete message) */
+void w2_cmd_info_tx(w2_s_bin *data);
+/** handler for disp_rx (on complete message) */
+void w2_cmd_disp_rx(w2_s_bin *data);
+/** handler for play_rx (on complete message) */
+void w2_cmd_play_rx(w2_s_bin *data);
+/** handler for cled_rx (on complete message) */
+void w2_cmd_cled_rx(w2_s_bin *data);
+
+/** calculate message length for expt_tx (incomplete message) */
+size_t w2_cmd_expt_tx_sizeof(w2_s_bin *data);
+/** calculate message length for mcfg_rx (incomplete message) */
+size_t w2_cmd_mcfg_rx_sizeof(w2_s_bin *data);