diff options
Diffstat (limited to 'robot/sercomm.h')
| -rw-r--r-- | robot/sercomm.h | 23 |
1 files changed, 18 insertions, 5 deletions
diff --git a/robot/sercomm.h b/robot/sercomm.h index d960d0d..dd17af8 100644 --- a/robot/sercomm.h +++ b/robot/sercomm.h @@ -7,28 +7,42 @@ #define W2_CMDDIR_TX (1) enum w2_e_serial_commands { + /** 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, }; /** sercomm ring buffer */ extern w2_s_bin *g_w2_sercomm_buffer[W2_SERCOMM_BUFFER_SIZE]; /** stores head of ring buffer */ -extern uint8_t g_w2_error_index; +extern uint8_t g_w2_sercomm_index; /** stores start of ring buffer */ -extern uint8_t g_w2_error_offset; +extern uint8_t g_w2_sercomm_offset; /** * serial pc-robot communication module @@ -38,10 +52,9 @@ extern uint8_t g_w2_error_offset; */ void w2_sercomm_main(); -void w2_sercomm_append_msg(w2_s_bin data); +void w2_sercomm_append_msg(w2_s_bin *data); -w2_s_bin w2_sercomm_rx_generic(); -w2_s_bin w2_sercomm_tx_generic(); +w2_s_bin w2_sercomm_struct_pack(w2_s_property_list generic_struct); w2_s_bin w2_sercomm_rx_ping(); w2_s_bin w2_sercomm_tx_ping(); |