sam7fc/include/telemetrie.h

#ifndef TELEMETRIE_H_
#define TELEMETRIE_H_

/*
 * 0: this is a request (host -> board)
 * 1: this is a reply (board -> host)
 */
#define TDC_DIR		0x80
#define TDC_REPLY	TDC_DIR

/*
 * TDC_DIR = 0: destination address
 * TDC_DIR = 1: source address
 */
#define TDC_ADDRMASK	0x70
#define TDC_ADDR0	0x00		// host (dynamic!, sends to interface of last hello)
#define TDC_ADDR1	0x10		// flightcontrol
#define TDC_ADDR2	0x20		// missioncontrol
#define TDC_ADDR3	0x30		// videocontrol
#define TDC_ADDR4	0x40
#define TDC_ADDR5	0x50
#define TDC_ADDR6	0x60
#define TDC_ADDR7	0x70

#define TDC_OPCODEMASK	0x0F
#define TDC_HELLO	0x00		// sets the path/interface to the host, reply is a info string
#define TDC_GETVARS	0x01		// request variable names, many replies
#define TDC_GETVALUE	0x02		// get one value, one reply
#define TDC_SETVALUE	0x03		// set one value, no reply
#define TDC_REQVALUES	0x04		// registers a periodic update, timed replies
#define TDC_TERMINAL	0x05		// stdout data

#define TDC_USERDATA	0x0F		// user-defined data e.g. between boards

struct tdc_pkt_header {
	uint8_t cmd;			// TDC_*
	uint8_t size;			// bytes after size
} __attribute__ ((packed));

struct tdc_hello_reply {
	uint8_t cmd;
	uint8_t size;
	char name[32];			// name of device, version string
} __attribute__ ((packed));

struct tdc_getvars_reply {
	uint8_t cmd;
	uint8_t size;
	uint8_t id;			// variable ID (max 256 vars / board)
	uint32_t flags;			// variable parameters (type, size, ro/rw)
	char name[0];		// variable name, excluding '\0'
} __attribute__ ((packed));

struct tdc_getvalue_request {
	uint8_t cmd;
	uint8_t size;
	uint8_t id;			// variable ID (max 256 vars / board)
} __attribute__ ((packed));

struct tdc_getvalue_reply {
	uint8_t cmd;
	uint8_t size;
	uint8_t id;			// variable ID (max 256 vars / board)
	uint8_t data[0];		// variable data 1-8 bytes
} __attribute__ ((packed));

struct tdc_setvalue_request {
	uint8_t cmd;
	uint8_t size;
	uint8_t id;			// variable ID (max 256 vars / board)
	uint8_t data[0];		// variable data 1-8 bytes
} __attribute__ ((packed));

struct tdc_reqvalues_request {
	uint8_t cmd;
	uint8_t size;
	uint16_t interval;		// interval in ms
	uint32_t varmap[8];		// bitmap of variables (32 * 8 = 256)
} __attribute__ ((packed));

struct tdc_reqvalues_reply {
	uint8_t cmd;
	uint8_t size;
	uint32_t timestamp;		// internal jiffie count
	uint8_t cnt;			// number of variables
} __attribute__ ((packed));



struct comm_device {
	struct fifo *rxfifo;
	struct fifo *txfifo;
};

void tdc_register_device(uint32_t addr, struct comm_device *device);

int32_t tdc_transmit(uint32_t addr, struct tdc_pkt_header *head);

void tdc_receive(struct comm_device *device);







struct tdc_value {
	void *data;
	const char *name;
	uint32_t flags;
};

#define TDC_SIZEMASK	0x0F
#define TDC_UNSIGNED	0x00
#define TDC_SIGNED	0x10
#define TDC_FP		0x20

#define TDC_VALUE(var, desc, type, flags) \
	type * tdc_check_##var(void) { return (&var); } \
	static struct tdc_value __attribute__((used, section(".tdc_value"))) \
	tdc_value_##var = { &var, desc, sizeof(type) | flags }; \
	tdc_value_##var = tdc_value_##var;

#define TDC_UINT8(var, desc)	TDC_VALUE(var, desc, uint8_t, TDC_UNSIGNED)
#define TDC_UINT16(var, desc)	TDC_VALUE(var, desc, uint16_t, TDC_UNSIGNED)
#define TDC_UINT32(var, desc)	TDC_VALUE(var, desc, uint32_t, TDC_UNSIGNED)
#define TDC_UINT64(var, desc)	TDC_VALUE(var, desc, uint64_t, TDC_UNSIGNED)
#define TDC_INT8(var, desc)	TDC_VALUE(var, desc, int8_t, TDC_SIGNED)
#define TDC_INT16(var, desc)	TDC_VALUE(var, desc, int16_t, TDC_SIGNED)
#define TDC_INT32(var, desc)	TDC_VALUE(var, desc, int32_t, TDC_SIGNED)
#define TDC_INT64(var, desc)	TDC_VALUE(var, desc, int64_t, TDC_SIGNED)
#define TDC_FLOAT(var, desc)	TDC_VALUE(var, desc, float, TDC_FP)
#define TDC_DOUBLE(var, desc)	TDC_VALUE(var, desc, double, TDC_FP)

#endif /*TELEMETRIE_H_*/