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Diffstat (limited to 'robot/sercomm.h')
-rw-r--r--robot/sercomm.h40
1 files changed, 24 insertions, 16 deletions
diff --git a/robot/sercomm.h b/robot/sercomm.h
index 1533a4c..d960d0d 100644
--- a/robot/sercomm.h
+++ b/robot/sercomm.h
@@ -1,27 +1,35 @@
#pragma once
#include "bin.h"
+#include "consts.h"
-#define W2_CMD_RX (0)
-#define W2_CMD_TX (1)
+#define W2_CMDDIR_RX (0)
+#define W2_CMDDIR_TX (1)
enum w2_e_serial_commands {
- W2_E_CMD_PING = 0x00,
- W2_E_CMD_EXPT = 0x02,
- W2_E_CMD_MODE = 0x04,
- W2_E_CMD_SPED = 0x06,
- W2_E_CMD_DIRC = 0x08,
- W2_E_CMD_CORD = 0x0a,
- W2_E_CMD_BOMD = 0x0c,
- W2_E_CMD_SRES = 0x0e,
- W2_E_CMD_MCFG = 0x10,
- W2_E_CMD_SENS = 0x12,
- W2_E_CMD_INFO = 0x14,
- W2_E_CMD_DISP = 0x16,
- W2_E_CMD_PLAY = 0x18,
- W2_E_CMD_CLED = 0x1a,
+ W2_CMD_PING = 0x00,
+ W2_CMD_EXPT = 0x02,
+ W2_CMD_MODE = 0x04,
+ W2_CMD_SPED = 0x06,
+ W2_CMD_DIRC = 0x08,
+ W2_CMD_CORD = 0x0a,
+ W2_CMD_BOMD = 0x0c,
+ W2_CMD_SRES = 0x0e,
+ W2_CMD_MCFG = 0x10,
+ W2_CMD_SENS = 0x12,
+ W2_CMD_INFO = 0x14,
+ W2_CMD_DISP = 0x16,
+ W2_CMD_PLAY = 0x18,
+ 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;
+/** stores start of ring buffer */
+extern uint8_t g_w2_error_offset;
+
/**
* serial pc-robot communication module
*