implement SENS command0.2.0

5 files changed, 19 insertions, 5 deletions

diff --git a/shared/bin.c b/shared/bin.c
index 4b3dcc6..a0937e8 100644
--- a/shared/bin.c
+++ b/shared/bin.c
@@ -78,3 +78,8 @@ w2_s_bin *w2_bin_s_cat(w2_s_bin *a, w2_s_bin *b) {
 	free(b);
 	return c;
 }
+
+void w2_bin_repl_hton32(uint32_t *h32) { *h32 = w2_bin_hton32(*h32); }
+void w2_bin_repl_hton16(uint16_t *h16) { *h16 = w2_bin_hton16(*h16); }
+void w2_bin_repl_ntoh32(uint32_t *h32) { *h32 = w2_bin_ntoh32(*h32); }
+void w2_bin_repl_ntoh16(uint16_t *h16) { *h16 = w2_bin_ntoh16(*h16); }
diff --git a/shared/bin.h b/shared/bin.h
index 2b65c95..af3a249 100644
--- a/shared/bin.h
+++ b/shared/bin.h
@@ -32,3 +32,12 @@ uint16_t w2_bin_hton16(uint16_t h16);
 uint32_t w2_bin_ntoh32(uint32_t n32);
 /** convert 16-bit value from network (big-endian) to host endian */
 uint16_t w2_bin_ntoh16(uint16_t n16);
+
+/** replace 32-bit value from host endian to network (big-endian) */
+void w2_bin_repl_hton32(uint32_t *h32);
+/** replace 16-bit value from host endian to network (big-endian) */
+void w2_bin_repl_hton16(uint16_t *h16);
+/** replace 32-bit value from network (big-endian) to host endian */
+void w2_bin_repl_ntoh32(uint32_t *n32);
+/** replace 16-bit value from network (big-endian) to host endian */
+void w2_bin_repl_ntoh16(uint16_t *n16);
diff --git a/shared/protocol.c b/shared/protocol.c
index 77ec466..fcc9fa4 100644
--- a/shared/protocol.c
+++ b/shared/protocol.c
@@ -1,5 +1,3 @@
-#include <stdbool.h>
-
 #include "protocol.h"
 #ifdef W2_SIM
 #include "../robot/orangutan_shim.h"
diff --git a/shared/protocol.h b/shared/protocol.h
index b997ec6..7aa5e9f 100644
--- a/shared/protocol.h
+++ b/shared/protocol.h
@@ -1,12 +1,15 @@
 #pragma once
 
-#include <stdbool.h>
 #include <stdint.h>
 #include <stdlib.h>
 
 #include "bin.h"
 #include "consts.h"
 
+typedef uint8_t bool;
+#define false 0 /* NOLINT */
+#define true 1	/* NOLINT */
+
 #define W2_SERIAL_START_BYTE 0xff
 
 #define W2_CMDDIR_RX 0
@@ -71,7 +74,7 @@ typedef struct {
 
 /** motor output struct */
 typedef struct {
-	int speed;
+	int16_t speed;
 } w2_s_o_motor;
 
 /** underside led output struct */
diff --git a/shared/serial_parse.c b/shared/serial_parse.c
index 89c5809..3bc8e3b 100644
--- a/shared/serial_parse.c
+++ b/shared/serial_parse.c
@@ -1,4 +1,3 @@
-#include <stdbool.h>
 #include <string.h>
 
 #include "consts.h"