wmr_controller_protocol.h

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// Copyright 2020-2021, N Madsen.
// Copyright 2020-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  WMR Motion Controller protocol constants, structures and helpers
 * @author Nis Madsen <nima_zero_one@protonmail.com>
 * @ingroup drv_wmr
 */
 
#pragma once
 
#include <asm/byteorder.h>
 
#include "wmr_protocol.h"
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifdef XRT_DOXYGEN
#define WMR_PACKED
#else
#define WMR_PACKED __attribute__((packed))
#endif
 
/*!
 * WMR Motion Controller protocol constant and structures
 *
 * @addtogroup drv_wmr
 * @{
 */
 
// Todo: Is this enough?
#define WMR_MOTION_CONTROLLER_MSG_BUFFER_SIZE 256
#define WMR_MOTION_CONTROLLER_NS_PER_TICK 100
 
 
// Messages types for WMR motion controllers
#define WMR_MOTION_CONTROLLER_STATUS_MSG 0x01
 
struct wmr_controller_fw_cmd
{
        union {
                struct
                {
                        uint8_t prefix;
                        uint8_t cmd_id;
                        uint8_t block_id;
 
                        __le32 addr;
                } WMR_PACKED cmd;
                uint8_t buf[64];
        };
};
 
#define WMR_CONTROLLER_FW_CMD_INIT(p, c, b, a)                                                                         \
        ((struct wmr_controller_fw_cmd){                                                                               \
            .cmd = {.prefix = (p), .cmd_id = (c), .block_id = (b), .addr = __cpu_to_le32((a))}})
 
struct wmr_controller_fw_cmd_response
{
        union {
                struct
                {
                        uint8_t prefix;
                        uint8_t zero;
                        uint8_t cmd_id_echo;
                        uint8_t zero1;
                        uint8_t block_id_echo;
 
                        __le32 blk_remain; /* Remaining bytes available in the block */
                        uint8_t len;       /* Bytes in this response data */
 
                        uint8_t data[68];
                } WMR_PACKED response;
                uint8_t buf[78];
        };
};
 
/*!
 * @}
 */
 
#undef WMR_PACKED
 
#ifdef __cplusplus
}
#endif