pcb and initial code from https://github.com/das-labor/borgware-2d.git
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157 lines
3.4 KiB
157 lines
3.4 KiB
#ifndef LAP_H
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#define LAP_H
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/****************************************************************************
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* Labor Automation Protocol
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*
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*/
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#include <inttypes.h>
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/****************************************************************************
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* Types
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*/
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// "inherits" from can_message
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typedef struct {
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can_addr_t addr_src;
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can_addr_t addr_dst;
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can_port_t port_src;
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can_port_t port_dst;
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unsigned char dlc;
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unsigned char cmd;
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uint16_t index;
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uint16_t size;
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uint16_t address;
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} sdo_message;
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// "inherits" from can_message
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typedef struct {
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can_addr_t addr_src;
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can_addr_t addr_dst;
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can_port_t port_src;
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can_port_t port_dst;
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unsigned char dlc;
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unsigned char cmd;
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unsigned char data[7];
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} pdo_message;
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/****************************************************************************
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* Known ports and services
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*/
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typedef enum {
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PORT_MGT = 0x30,
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PORT_LAMPE = 0x20,
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PORT_SDO = 0x15,
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PORT_SDO_DATA = 0x16,
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PORT_LAPD = 0x18,
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PORT_BORG = 0x23,
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PORT_MOOD = 0x17,
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PORT_REMOTE = 0x21,
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PORT_GATE = 0x22,
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PORT_CHUCK = 0x26
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} ports;
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typedef enum {
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FKT_MGT_PING = 0x00,
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FKT_MGT_PONG = 0x01,
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FKT_MGT_RESET = 0x02,
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FKT_MGT_AWAKE = 0x03,
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FKT_MGT_TIMEREQUEST = 0x04,
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FKT_MGT_TIMEREPLY = 0x05
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} lap_mgt_fkts;
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typedef enum {
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FKT_LAMPE_SET = 0x00,
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FKT_LAMPE_SETMASK = 0x01,
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FKT_LAMPE_SETDELAY = 0x02,
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FKT_LAMPE_ADD = 0x03
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} lap_lampe_fkts;
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typedef enum {
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FKT_BORG_INFO = 0x00,
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FKT_BORG_MODE = 0x01,
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FKT_BORG_SCROLLTEXT_RESET = 0x02,
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FKT_BORG_SCROLLTEXT_APPEND = 0x03
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} lap_borg_fkts;
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typedef enum {
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FKT_ONOFF_INFO = 0,
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FKT_ONOFF_SET = 1,
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FKT_ONOFF_GET = 2
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} lap_lapd_fkts;
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typedef enum {
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FKT_MOOD_INFO = 0x00,
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FKT_MOOD_GET = 0x01,
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FKT_MOOD_SET = 0x02,
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FKT_MOOD_ONOFF = 0x03
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} lap_mood_fkts;
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#define SDO_CMD_READ 0x20
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#define SDO_CMD_REPLY 0x21
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#define SDO_CMD_INFO 0x22
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#define SDO_CMD_READ_BLK 0x40
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#define SDO_CMD_READ_BLK_ACK 0x41
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#define SDO_CMD_WRITE_BLK 0x48
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#define SDO_CMD_WRITE_BLK_ACK 0x49
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#define SDO_CMD_ERROR_INDEX 0x80
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#define SDO_TYPE_UINT8_RO 0x00
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#define SDO_TYPE_UINT8_RW 0x01
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#define SDO_TYPE_UINT16_RO 0x04
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#define SDO_TYPE_UINT16_RW 0x05
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#define SDO_TYPE_UINT32_RO 0x08
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#define SDO_TYPE_UINT32_RW 0x09
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#define SDO_TYPE_STRING_RO 0x80
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#define SDO_TYPE_STRING_RW 0x81
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#define SDO_TYPE_STRING_WO 0x82
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/****************************************************************************
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* STUBS: LAP Core Services
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*/
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// send ping to dst
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void lap_ping(can_addr_t dst);
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// send reset request to dst
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void lap_reset(can_addr_t dst);
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#ifdef LAP_TIME_EXTENSION
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//variables to save the last received hours and minutes
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extern uint8_t lap_time_h, lap_time_m, lap_time_update;
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#endif
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/**
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* ServiceDataObject routinen
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*
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unsigned char *sdo_readbuf(sdo_message *first_message,
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unsigned char length, unsigned char *actuallength);
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unsigned char sdo_sendbuf(sdo_message *fst_msg, unsigned char *buf, unsigned char len);
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unsigned char sdo_sendbuf_nb(sdo_message *fst_msg, unsigned char *buf, unsigned char len);
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*/
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/////////////////////////////////////////////////////////////////////////////
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/* Usage
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while(1) {
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lap_message msg = lap_rcvpacket();
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switch( msg->fkt_id ) {
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case FKT_BLA:
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unsigned char length = data[0]
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data
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char *buf = lap_read(msg, length);
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if ( !buf ) continue;
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// interpret buffer
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}
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*/
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#endif
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