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R2671/Firmware/src/definitions.h
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definitions.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 DEF_DEFINITIONS_H
#define DEF_DEFINITIONS_H
#include <stdbool.h>
// Message IDs sent by host (PC) to the device (STM).
typedef enum
{
PC_MESSAGE_DO_NOTHING = 0, ///< Do nothing.
PC_MESSAGE_PING, ///< Request the board an answer, to check the connection status.
PC_MESSAGE_GET_VARS_LIST, ///< Request the SyncVars list.
PC_MESSAGE_SET_STREAMED_VAR, ///< Set the variables to be streamed continuously.
PC_MESSAGE_GET_VAR, ///< Request the device to send the selected value.
PC_MESSAGE_SET_VAR ///< Set the selected variable.
} comm_PcMessage;
// Message IDs sent by device (STM) to the device (PC).
typedef enum
{
STM_MESSAGE_PINGBACK = 0, ///< Response to a ping request.
STM_MESSAGE_VAR, ///< Variable state.
STM_MESSAGE_STREAMING_PACKET, ///< Streaming packet.
STM_MESSAGE_DEBUG_TEXT, ///< Debug text message.
STM_MESSAGE_VARS_LIST, ///< Monitored variables list.
STM_MESSAGE_START_INFO ///< Notification that the board has (re)started.
} comm_StmMessage;
// SyncVar.
#define N_SYNCVARS_MAX 255 // Maximum number of SyncVars.
#define SYNCVAR_NAME_SIZE 50 // Max size of a SyncVar name, including the '\0' trailing character.
typedef enum
{
READONLY = 0,
WRITEONLY,
READWRITE
} comm_VarAccess;
typedef enum
{
BOOL = 0,
UINT8, INT8, UINT16, INT16, UINT32, INT32, UINT64, INT64,
FLOAT32, FLOAT64
} comm_VarType;
// UART baudrate [b/s].
#define UART_BAUDRATE 1843200
#endif
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