borgware-2d/can/lap.h

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