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R2671/Firmware/src/communication.h
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communication.h
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/*
* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef __COMMUNICATION_H
#define __COMMUNICATION_H
#include "main.h"
#include "definitions.h"
#include <stdarg.h>
/** @defgroup Communication Main / Communication
* @brief Control the communication with the computer.
*
* This module controls all the communication logic between the board and the
* computer. It uses a specific communication protocol between the
* computer and the board, with a system of messages. Thanks to this, the
* the MATLAB application is able to get the value of selected variables on the
* STM, and is even capable of modifiying them remotely.
*
* Make sure that the files communication.h/.c are up-to-date with the Excel
* spreadsheet "Protocol description.xlsx".
*
* Call comm_Init() to setup this module. Its interrupt function will be called
* automatically when a message arrives, or periodically when the data
* streaming is enabled.
*
* @addtogroup Communication
* @{
*/
typedef struct
{
char name[SYNCVAR_NAME_SIZE];
void *address;
comm_VarType type;
uint8_t size;
comm_VarAccess access;
bool usesVarAddress;
void (*getFunc)(void);
void (*setFunc)(void);
} comm_SyncVar;
void comm_Init(void);
void comm_Step(void);
void comm_NotifyReady(void);
void comm_monitorVar(const char name[], void *address, comm_VarType type,
uint8_t size, comm_VarAccess access);
void comm_monitorVarFunc(const char name[], comm_VarType type, uint8_t size,
void (*getFunc)(void), void (*setFunc)(void));
void comm_monitorBool(const char name[], bool *address,
comm_VarAccess access);
void comm_monitorUint8(const char name[], uint8_t *address,
comm_VarAccess access);
void comm_monitorInt8(const char name[], int8_t *address,
comm_VarAccess access);
void comm_monitorUint16(const char name[], uint16_t *address,
comm_VarAccess access);
void comm_monitorInt16(const char name[], int16_t *address,
comm_VarAccess access);
void comm_monitorUint32(const char name[], uint32_t *address,
comm_VarAccess access);
void comm_monitorInt32(const char name[], int32_t *address,
comm_VarAccess access);
void comm_monitorUint64(const char name[], uint64_t *address,
comm_VarAccess access);
void comm_monitorInt64(const char name[], int64_t *address,
comm_VarAccess access);
void comm_monitorFloat(const char name[], float *address,
comm_VarAccess access);
void comm_monitorDouble(const char name[], double *address,
comm_VarAccess access);
void comm_monitorBoolFunc(const char name[],
bool (*getFunc)(void), void (*setFunc)(bool));
void comm_monitorUint8Func(const char name[],
uint8_t (*getFunc)(void), void (*setFunc)(uint8_t));
void comm_monitorInt8Func(const char name[],
int8_t (*getFunc)(void), void (*setFunc)(int8_t));
void comm_monitorUint16Func(const char name[],
uint16_t (*getFunc)(void),
void (*setFunc)(uint16_t));
void comm_monitorInt16Func(const char name[],
int16_t (*getFunc)(void), void (*setFunc)(int16_t));
void comm_monitorUint32Func(const char name[],
uint32_t (*getFunc)(void),
void (*setFunc)(uint32_t));
void comm_monitorInt32Func(const char name[],
int32_t (*getFunc)(void), void (*setFunc)(int32_t));
void comm_monitorUint64Func(const char name[],
uint64_t (*getFunc)(void),
void (*setFunc)(uint64_t));
void comm_monitorInt64Func(const char name[],
int64_t (*getFunc)(void), void (*setFunc)(int64_t));
void comm_monitorFloatFunc(const char name[],
float (*getFunc)(void), void (*setFunc)(float));
void comm_monitorDoubleFunc(const char name[],
double (*getFunc)(void), void (*setFunc)(double));
void comm_LockSyncVarsList(void);
void comm_SendDebugMessage(const char *format, ...);
/**
* @brief Sends a debug message to the computer, with decimation.
* This macro is useful to print human-readable text, in a fast loop, to avoid
* overloading the communication bus, or the computer.
* @param decimation this macro will actually print once out of decimation, and
* do nothing otherwise.
* @param format format string. See the printf() documentation for format
* specification.
* @param ... variables to be printed in the format string.
*/
#define comm_SendDebugMessageDecimated(decimation, format, ...) \
do \
{ \
static int comm_decim##__COUNTER__ = 0; \
if(comm_decim##__COUNTER__++ % decimation == 0) \
{ \
comm_SendDebugMessage(format, ##__VA_ARGS__); \
} \
} while(0)
/**
* @}
*/
#endif
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