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sbcp.h
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/*
sbcp.h
Copyright (C) 2010 Rico Moeckel <rico.moeckel at epfl dot ch>,
EPFL Biorobotics Laboratory (http://biorob.epfl.ch)
EPFL Ecole Polytechnique Federale de Lausanne (http://www.epfl.ch)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/** \addtogroup sbcp */
/*@{*/
/** \file sbcp.h
\brief Simple Binary Communication Protocol.
This file contains the public definitions and function declarations for
Simple Binary Communication Protocol (Master device).
\author Rico Moeckel
\version 1.1
\date 2011-04-28
*/
#ifndef __SBCP_H__
#define __SBCP_H__
#include "dma_packet_queue.h"
/*************************************************************************
*
* DEFINES
*
*************************************************************************/
#define SBCP_MAX_MESSAGE_LENGTH (128) ///< Maximum length of a SBCP packet (256 bytes of payload + 6 bytes header).
#define SBCP_HEADER 0xFF ///< Position of header in packet (counting starts with 0).
#define SBCP_POS_HEADER 0 ///< Position of header in packet (counting starts with 0).
#define SBCP_POS_CLASS 1 ///< Position of class identifyer in packet (counting starts with 0).
#define SBCP_POS_ID 2 ///< Position of device ID in packet (counting starts with 0).
#define SBCP_POS_PAYLOAD_LENGTH 3 ///< Position of payload length in packet (counting starts with 0).
#define SBCP_POS_INSTRUCTION 4 ///< Position of instruction in packet (counting starts with 0).
#define SBCP_POS_PAYLOAD_START 5 ///< Position of payload start in packet (counting starts with 0).
#define SBCP_PACKET_START(A) ((A == SBCP_HEADER) ? 1 : 0) ///< Returns 1 if byte contains packet start - 0 if not.
#define SBCP_STANDARD_ACKNOWLEDGEMENT 0x00 ///< Standard answer byte that the device is responding with when no error occured
#define SBCP_ERROR_FLAG_COM_ERROR 0x80 ///< A Communicationn Errors happened on any bus
#define SBCP_ERROR_FLAG_DEVICE_SPECIFIC_MASK 0x7f
#define SBCP_COM_ERROR_CODE_BUS_TIMEOUT 0x01 ///< Error code for packets that were not received within time limit via RS485 communication bus.
#define SBCP_COM_ERROR_CODE_USB_TIMEOUT 0x02 ///< Error code for packets that were not received within time limit via USB interface.
#define SBCP_COM_ERROR_CODE_CHECKSUM_INCORRECT 0x04 ///< Error code for packets with incorrect checksum.
#define SBCP_COM_ERROR_CODE_BUS_FRAME_ERROR 0x08 ///< Error code when getted an UART FERR over the bus
#define SBCP_COM_ERROR_CODE_USB_FRAME_ERROR 0x10 ///< Error code when getted an UART FERR over the usb
#define SBCP_COM_ERROR_CODE_UNKNOWN_INSTRUCTION 0x20 ///< Error code getted when we had an unrecognized instruction
#define SBCP_BAD_PACKET_BUFFER_HANDLER 0xff
#define SBCP_LOW_LATENCY_INSTRUCTION 0xff
#define SBCP_LOW_LATENCY_INSTRUCTION_FEEDBACK_PAYLOAD_SIZE 26
#define SBCP_LOW_LATENCY_INSTRUCTION_COMMAND_PAYLOAD_SIZE 4
/*************************************************************************
*
* TYPE DEFINITIONS
*
*************************************************************************/
/// Command function type. All functions being automatically called by the SBCP when
/// their corresponding instruction is found in a communication packet have to be of
/// this type. \warning it uses a pointer to a ring buffer not a standard c buffer !
typedef void (*tSbcpCmdFunc)(const unsigned int *buffer);
/// Definiton of command table.
typedef struct {
tSbcpCmdFunc cmd_function; ///< command function pointer
const char *cmd_description; ///< command description string
}tSBCP_CmdTbl;
#ifdef SBCP_IS_MASTER
///< state of a transmission channel
/// Struct storing the local variables for the SBCP.
typedef struct {
//two variable to keep track of how many packet are send over buses
//we cannot send a packet to a slave, unlike this two variable are equal.
//should be incremented as soon than a transfer to UART is started
//unsigned int nb_packet_received_from_host;
//should be incremented as soon than a transfer to USB from the BUS is started
//unsigned int nb_packet_response_transmission_started;
//eSBCP_tx_state bus_tx_state; ///< transmisison state of the RS485 bus
//eSBCP_tx_state usb_tx_state; ///< transmission state of the RS232 bus
// struct DMA_packet_queue usb_ready_packet_queue; ///< packet queue that store ready packet from the RS232 bus.
// struct DMA_packet_queue bus_ready_packet_queue; ///< packet queue that stores ready packet from the RS485 bus.
//eSBCP_usb_rx_flags usb_packet_flags[DMA_PACKET_QUEUE_LENGTH];
//eSBCP_usb_rx_flags bus_packet_flags[DMA_PACKET_QUEUE_LENGTH];
}tSBCP_AppVar;
#elif defined(SBCP_IS_SLAVE)
///Bus Tx flags
typedef enum eSBCP_tx_flags{
SBCP_TX_BUFFER_FREE = 0x00,
SBCP_TX_BUFFER_OCCUPIED = 0x01,
SBCP_TX_BUFFER_IN_TX = 0x02
} eSBCP_tx_flags;
/// Struct storing the local variables for the SBCP.
typedef enum eSBCP_ll_tx_flags{
SBCP_LL_NOTHING = 0x00,
SBCP_LL_RX_IS_AVAILABLE = 0x01,
SBCP_LL_TX_IS_AVAILABLE = 0x02,
SBCP_LL_IS_DISABLED = 0x04,
} eSBCP_ll_tx_flags;
typedef struct {
struct DMA_packet_queue bus_ready_packet_queue;
eSBCP_tx_flags bus_tx_flags;
unsigned int is_for_us;
eSBCP_ll_tx_flags bus_low_latency_flags;
unsigned char bus_low_latency_payload[4];
unsigned char bus_low_latency_previous_error_code;
}tSBCP_AppVar;
#endif
extern volatile tSBCP_AppVar sbcp;
/*************************************************************************
*
* PUBLIC FUNCTIONS
*
*************************************************************************/
void sbcp_init();
void sbcp_main();
extern unsigned char sbcp_compute_checksum_of_packet(const unsigned int * packet);
#ifdef SBCP_IS_MASTER
//unsigned int * sbcp_get_new_usb_tx_packet(DMA_packet_queue_buffer_handler bh);
void sbcp_usb_send_com_error_code(DMA_packet_queue_buffer_handler bh,
unsigned char error_code);
void sbcp_usb_send_standard_acknowlegement(DMA_packet_queue_buffer_handler bh);
#elif defined(SBCP_IS_SLAVE)
#define SBCP_GET_TX_PACKET_BUFFER(s,buffer) do{\
while(s.has_message_to_transmit){\
}\
s.has_message_to_transmit = 1;\
buffer = DMA_PACKET_QUEUE_BUS_TX_BUFFER_CPU;\
}while(0)
void sbcp_bus_send_standard_acknowlegement();
void sbcp_bus_send_com_error_code(unsigned char error_code);
#endif
#endif /* __SBCP_H__ */

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