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#pragma once
#include "bin.h"
#include "consts.h"
#define W2_CMDDIR_RX (0)
#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_sercomm_index;
/** stores start of ring buffer */
extern uint8_t g_w2_sercomm_offset;
/** serial input (receive) buffer */
extern char g_w2_serial_buffer[W2_SERIAL_READ_BUFFER_SIZE];
/** serial input (receive) buffer current position */
extern uint8_t g_w2_serial_buffer_index;
/** serial input (receive) buffer head (sim only) */
extern uint8_t g_w2_serial_buffer_head;
/**
* serial pc-robot communication module
*
* - reads and parses incoming serial data
* - sends all data in the message buffer
*/
void w2_sercomm_main();
void w2_sercomm_append_msg(w2_s_bin *data);
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();
w2_s_bin w2_sercomm_tx_expt();
w2_s_bin w2_sercomm_rx_mode();
w2_s_bin w2_sercomm_tx_mode();
w2_s_bin w2_sercomm_rx_sped();
w2_s_bin w2_sercomm_rx_dirc();
w2_s_bin w2_sercomm_rx_cord();
w2_s_bin w2_sercomm_tx_cord();
w2_s_bin w2_sercomm_rx_bomd();
w2_s_bin w2_sercomm_tx_bomd();
w2_s_bin w2_sercomm_rx_sres();
w2_s_bin w2_sercomm_rx_mcfg();
w2_s_bin w2_sercomm_rx_sens();
w2_s_bin w2_sercomm_tx_sens();
w2_s_bin w2_sercomm_rx_info();
w2_s_bin w2_sercomm_tx_info();
w2_s_bin w2_sercomm_rx_disp();
w2_s_bin w2_sercomm_rx_play();
w2_s_bin w2_sercomm_rx_cled();
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