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lap.h
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/
lap.h
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#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 } 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