mirror of
git://projects.qi-hardware.com/antorcha.git
synced 2024-11-01 11:28:26 +02:00
68 lines
1.9 KiB
C
68 lines
1.9 KiB
C
/*
|
|
* fw/proto.h - Wireless protocol constants
|
|
*
|
|
* Written 2012 by Werner Almesberger
|
|
* Copyright 2012 Werner Almesberger
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*/
|
|
|
|
#ifndef PROTO_H
|
|
#define PROTO_H
|
|
|
|
#include <stdint.h>
|
|
|
|
|
|
#define PAYLOAD 64 /* most messages use a fixed 64 bytes payload */
|
|
|
|
enum pck_type {
|
|
PING = 0, /* version query */
|
|
PONG = 1, /* version response */
|
|
RESET = 2, /* reset to boot loader */
|
|
FIRMWARE = 4, /* firmware upload */
|
|
FIRMWARE_ACK = 5, /* firmware upload acknowledgement */
|
|
IMAGE = 6, /* image upload */
|
|
IMAGE_ACK = 7, /* image upload acknowledgement */
|
|
PARAM = 8, /* parameter upload */
|
|
PARAM_ACK = 9, /* parameter upload acknowledgement */
|
|
SAMPLE = 10, /* start/stop sampling */
|
|
SAMPLE_ACK = 11, /* start/stop sampling acknowledgement */
|
|
SAMPLES = 13, /* samples */
|
|
};
|
|
|
|
|
|
struct params {
|
|
/* Timer ticks */
|
|
|
|
uint16_t clkT_period; /* Timer period */
|
|
|
|
/* Accelerator thresholds */
|
|
|
|
uint16_t xa_high; /* X acceleration high threshold */
|
|
uint16_t xa_low; /* X acceleration low threshold */
|
|
|
|
/* Pixel offsets (in image) */
|
|
|
|
uint8_t px_fwd_img_first; /* first column in forward move */
|
|
uint8_t px_fwd_img_end; /* last column in forward move */
|
|
uint8_t px_bwd_img_first; /* first (high) col. in backward move */
|
|
uint8_t px_bwd_img_end; /* last (low) column in backward move */
|
|
|
|
/* Timer periods, for imaging */
|
|
|
|
uint16_t tp_fwd_start; /* forward image start */
|
|
uint16_t tp_bwd_start; /* backward image start */
|
|
uint8_t tp_fwd_pix; /* pixel size in forward move */
|
|
uint8_t tp_bwd_pix; /* pixel size in backward move */
|
|
|
|
/* Timer periods, for estimation */
|
|
|
|
uint16_t tp_fwd; /* forward half-period */
|
|
uint16_t tp_bwd; /* backward half-period */
|
|
};
|
|
|
|
#endif /* !PROTO_H */
|