119 lines
3.5 KiB
C
119 lines
3.5 KiB
C
#ifndef TELEMETRIE_H_
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#define TELEMETRIE_H_
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/*
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* 0: this is a request (host -> board)
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* 1: this is a reply (board -> host)
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*/
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#define TDC_DIR 0x80
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#define TDC_REPLY TDC_DIR
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/*
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* TDC_DIR = 0: destination address
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* TDC_DIR = 1: source address
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*/
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#define TDC_ADDRMASK 0x70
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#define TDC_ADDR0 0x00 // host (dynamic!, sends to interface of last hello)
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#define TDC_ADDR1 0x10 // flightcontrol
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#define TDC_ADDR2 0x20 // missioncontrol
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#define TDC_ADDR3 0x30 // videocontrol
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#define TDC_ADDR4 0x40
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#define TDC_ADDR5 0x50
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#define TDC_ADDR6 0x60
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#define TDC_ADDR7 0x70
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#define TDC_OPCODEMASK 0x0F
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#define TDC_HELLO 0x00 // sets the path/interface to the host, reply is a info string
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#define TDC_GETVARS 0x01 // request variable names, many replies
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#define TDC_GETVALUE 0x02 // get one value, one reply
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#define TDC_SETVALUE 0x03 // set one value, no reply
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#define TDC_REQVALUES 0x04 // registers a periodic update, timed replies
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#define TDC_TERMINAL 0x05 // stdout data
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#define TDC_USERDATA 0x0F // user-defined data e.g. between boards
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struct tdc_pkt_header {
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uint8_t cmd; // TDC_*
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uint8_t size; // bytes after size
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} __attribute__ ((packed));
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struct tdc_hello_reply {
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uint8_t cmd;
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uint8_t size;
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char name[32]; // name of device, version string
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} __attribute__ ((packed));
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struct tdc_getvars_reply {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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uint32_t flags; // variable parameters (type, size, ro/rw)
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char name[0]; // variable name, excluding '\0'
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} __attribute__ ((packed));
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struct tdc_getvalue_request {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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} __attribute__ ((packed));
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struct tdc_getvalue_reply {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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uint8_t data[0]; // variable data 1-8 bytes
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} __attribute__ ((packed));
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struct tdc_setvalue_request {
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uint8_t cmd;
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uint8_t size;
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uint8_t id; // variable ID (max 256 vars / board)
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uint8_t data[0]; // variable data 1-8 bytes
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} __attribute__ ((packed));
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struct tdc_reqvalues_request {
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uint8_t cmd;
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uint8_t size;
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uint16_t interval; // interval in ms
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uint32_t varmap[8]; // bitmap of variables (32 * 8 = 256)
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} __attribute__ ((packed));
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struct tdc_reqvalues_reply {
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uint8_t cmd;
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uint8_t size;
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uint32_t timestamp; // internal jiffie count
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uint8_t cnt; // number of variables
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} __attribute__ ((packed));
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struct tdc_value {
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void *data;
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const char *name;
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uint32_t flags;
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};
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#define TDC_SIZEMASK 0x0F
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#define TDC_UNSIGNED 0x00
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#define TDC_SIGNED 0x10
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#define TDC_FP 0x20
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#define TDC_VALUE(var, desc, type, flags) \
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type * tdc_check_##var(void) { return (&var); } \
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static struct tdc_value __attribute__((used, section(".tdc_value"))) \
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tdc_value_##var = { &var, desc, sizeof(type) | flags }; \
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tdc_value_##var = tdc_value_##var;
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#define TDC_UINT8(var, desc) TDC_VALUE(var, desc, uint8_t, TDC_UNSIGNED)
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#define TDC_UINT16(var, desc) TDC_VALUE(var, desc, uint16_t, TDC_UNSIGNED)
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#define TDC_UINT32(var, desc) TDC_VALUE(var, desc, uint32_t, TDC_UNSIGNED)
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#define TDC_UINT64(var, desc) TDC_VALUE(var, desc, uint64_t, TDC_UNSIGNED)
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#define TDC_INT8(var, desc) TDC_VALUE(var, desc, int8_t, TDC_SIGNED)
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#define TDC_INT16(var, desc) TDC_VALUE(var, desc, int16_t, TDC_SIGNED)
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#define TDC_INT32(var, desc) TDC_VALUE(var, desc, int32_t, TDC_SIGNED)
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#define TDC_INT64(var, desc) TDC_VALUE(var, desc, int64_t, TDC_SIGNED)
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#define TDC_FLOAT(var, desc) TDC_VALUE(var, desc, float, TDC_FP)
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#define TDC_DOUBLE(var, desc) TDC_VALUE(var, desc, double, TDC_FP)
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#endif /*TELEMETRIE_H_*/
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