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89 lines
1.6 KiB
C
89 lines
1.6 KiB
C
/*
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* cmd.h
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*
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* Created on: 3 oct. 2022
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* Author: dimercur
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*/
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#ifndef INC_CMD_H_
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#define INC_CMD_H_
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#include "application.h"
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typedef enum {
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CMD_NONE=0x0,
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CMD_PING,
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CMD_RESET,
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CMD_START_WITH_WATCHDOG,
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CMD_RESET_WATCHDOG,
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CMD_GET_BATTERY,
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CMD_GET_VERSION,
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CMD_START_WITHOUT_WATCHDOG,
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CMD_MOVE,
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CMD_TURN,
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CMD_GET_BUSY_STATE,
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CMD_TEST,
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CMD_DEBUG,
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CMD_POWER_OFF
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} CMD_CommandsType;
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typedef enum {
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ANS_OK=0x80,
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ANS_ERR,
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ANS_UNKNOWN
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} CMD_AnswersType;
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typedef enum {
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ANS_BAT_EMPTY=0,
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ANS_BAT_LOW,
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ANS_BAT_OK
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} CMD_BatteryLevelType;
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typedef enum {
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ANS_STATE_NOT_BUSY=0,
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ANS_STATE_BUSY
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} CMD_BusyType;
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typedef struct __attribute__((packed)) {
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uint8_t type;
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} CMD_Generic;
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typedef struct __attribute__((packed)) {
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uint8_t type;
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int16_t distance;
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} CMD_Move;
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typedef struct __attribute__((packed)) {
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uint8_t type;
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int16_t turns;
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} CMD_Turn;
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typedef struct __attribute__((packed)) {
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uint8_t ans;
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} ANS_Generic;
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typedef struct __attribute__((packed)) {
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uint8_t ans;
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char version[6];
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} ANS_Version;
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typedef struct __attribute__((packed)) {
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uint8_t ans;
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uint8_t bat_level;
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} ANS_Battery;
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typedef struct __attribute__((packed)) {
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uint8_t ans;
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uint8_t state;
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} ANS_Busy_State;
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#define CMD_DECODE_INVALID ((CMD_Generic*)NULL)
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#define CMD_DECODE_UNKNOWN ((CMD_Generic*)UINT32_MAX)
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CMD_Generic* cmdDecode(char* cmd, uint8_t length);
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void cmdSendAnswer(uint16_t address, uint8_t ans);
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void cmdSendBatteryLevel(uint16_t address, char level);
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void cmdSendVersion(uint16_t address);
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void cmdSendBusyState(uint16_t address, uint8_t state);
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#endif /* INC_CMD_H_ */
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