135 lines
2.2 KiB
C
135 lines
2.2 KiB
C
#pragma once
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#include <hwo/chksum.h>
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#include <sys/threads.h>
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/***********************************
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rb2/regbus.h
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RegisteredBus2
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Paketorientierte Kommunikation via Serielle Verbindungen mit Adressierung
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Paketformat ähnelt ServiceLink:
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Byte Inhalt
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0 Magic 0x77
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1 empfänger
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2 sender
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3 flags
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!flags.ident:
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4..5 register
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6..9 value
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flags.ident:
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4..5 endpunktmaske
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6 achse
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7..9 reserve
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Alle:
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10..11 CHKSUM (SUM+XOR)
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***********************************/
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struct _rb2_addr;
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struct _rb2_telegram;
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union _rb2_flags;
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struct _rb2_request;
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struct _rb2_listed_telegram;
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typedef struct _rb2_addr RB2_ADDR;
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typedef struct _rb2_telegram RB2_TELEGRAM;
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typedef union _rb2_flags RB2_FLAGS;
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typedef struct _rb2_request RB2_REQUEST;
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typedef struct _rb2_telegram rb2_telegram_t;
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typedef struct _rb2_telegram_buffer
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rb2_telegram_buffer_t;
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#define RB2_ADDR(ptr) ((RB2_ADDR*)(ptr))
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#define RB2_TELEGRAM(ptr) ((RB2_TELEGRAM*)(ptr))
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#define RB2_FLAGS(ptr) ((RB2_FLAGS*)(ptr))
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#define RB2_REQUEST(ptr) ((RB2_REQUEST*)(ptr))
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#define rb2_telegram_buffer_t(ptr) ((rb2_telegram_buffer_t*)(ptr))
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struct _rb2_addr
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{
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union
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{
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struct
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{
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uint8_t ax:4;
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uint8_t node:4;
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};
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uint8_t addr;
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};
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};
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union _rb2_flags
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{
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struct
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{
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uint8_t ident:1; // 1 = Ident Paket, 0 = Request/Response
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uint8_t response:1; // 1 = Antwort auf Request, 0 = Request
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uint8_t read:1; // 1 = Wert Lesen, 0 = Wert Schreiben
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uint8_t fail:1; // 1 = Anfrage fehlgeschlagen
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uint8_t type:4; // 0 = Wert als Int32, 1 = Wert als float,...
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};
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uint8_t byte;
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};
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struct _rb2_telegram
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{
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uint8_t magic;
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RB2_ADDR receiver;
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RB2_ADDR sender;
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RB2_FLAGS flags;
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union
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{
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struct // flags.ident = 0
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{
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uint16_t regno;
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union
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{
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int32_t i32;
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float f32;
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uint32_t ui32;
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};
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};
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struct // flags.ident = 1
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{
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uint16_t endpoints;
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uint8_t ax;
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};
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};
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CHKSUM chksum;
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};
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struct _rb2_telegram_buffer {
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list_t list;
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rb2_link_t *link;
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union {
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rb2_telegram_t telegram;
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unsigned char bytes[ sizeof( rb2_telegram_t ) ];
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};
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};
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struct _rb2_request
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{
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list_t list;
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uint8_t autofree:1;
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THREAD *waiter;
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RB2_TELEGRAM telegram;
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};
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typedef struct _rb2_request rb2_request_t;
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