121 lines
3.0 KiB
C
121 lines
3.0 KiB
C
#ifndef LAP_H
|
|
#define LAP_H
|
|
|
|
/****************************************************************************
|
|
* Labor Automation Protocol
|
|
*
|
|
*/
|
|
|
|
#include <inttypes.h>
|
|
|
|
|
|
/****************************************************************************
|
|
* Types
|
|
*/
|
|
|
|
// "inherits" from can_message
|
|
typedef struct {
|
|
can_addr addr_src;
|
|
can_addr addr_dst;
|
|
can_port port_src;
|
|
can_port port_dst;
|
|
unsigned char dlc;
|
|
unsigned char cmd;
|
|
uint16_t index;
|
|
uint16_t size;
|
|
uint16_t address;
|
|
} sdo_message;
|
|
|
|
// "inherits" from can_message
|
|
typedef struct{
|
|
can_addr addr_src;
|
|
can_addr addr_dst;
|
|
can_port port_src;
|
|
can_port port_dst;
|
|
unsigned char dlc;
|
|
unsigned char cmd;
|
|
unsigned char data[7];
|
|
} pdo_message;
|
|
|
|
/****************************************************************************
|
|
* Known ports and services
|
|
*/
|
|
|
|
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
|
|
|
|
|
|
/****************************************************************************
|
|
* STUBS: LAP Core Services
|
|
*/
|
|
|
|
// send ping to dst
|
|
void lap_ping( can_addr dst );
|
|
|
|
// send reset request to dst
|
|
void lap_reset( can_addr dst );
|
|
|
|
/**
|
|
* ServiceDataObject routinen
|
|
*
|
|
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;
|
|
|
|
// interpret buffer
|
|
}
|
|
*/
|
|
|
|
#endif
|