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