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799fe5313b
Introduce the Klipper command_encode() and command_dispatch() style functions. This makes it easier to import additional Klipper low-level message handling code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
76 lines
2.6 KiB
C
76 lines
2.6 KiB
C
#ifndef __COMMAND_H
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#define __COMMAND_H
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#include <stdarg.h> // va_list
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#include <stdint.h> // uint32_t
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#include "ctr.h" // DECL_CTR
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// Declare a constant exported to the host
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#define DECL_CONSTANT(NAME, VALUE) \
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DECL_CTR_INT("DECL_CONSTANT " NAME, 1, CTR_INT(VALUE))
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#define DECL_CONSTANT_STR(NAME, VALUE) \
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DECL_CTR("DECL_CONSTANT_STR " NAME " " VALUE)
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// Declare an enumeration
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#define DECL_ENUMERATION(ENUM, NAME, VALUE) \
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DECL_CTR_INT("DECL_ENUMERATION " ENUM " " NAME, 1, CTR_INT(VALUE))
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#define DECL_ENUMERATION_RANGE(ENUM, NAME, VALUE, COUNT) \
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DECL_CTR_INT("DECL_ENUMERATION_RANGE " ENUM " " NAME, \
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2, CTR_INT(VALUE), CTR_INT(COUNT))
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#define PROTO_VERSION 0x00010000 // Version 1.0.0
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#define CMD_CONNECT 0x11
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#define CMD_RX_BLOCK 0x12
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#define CMD_RX_EOF 0x13
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#define CMD_REQ_BLOCK 0x14
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#define CMD_COMPLETE 0x15
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#define CMD_GET_CANBUS_ID 0x16
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#define RESPONSE_ACK 0xa0
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#define RESPONSE_NACK 0xf1
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#define RESPONSE_COMMAND_ERROR 0xf2
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// Command Format:
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// <2 byte header> <1 byte cmd> <1 byte data word count> <data> <2 byte crc> <2 byte trailer>
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#define MESSAGE_MIN 8
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#define MESSAGE_MAX 128
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#define MESSAGE_HEADER_SIZE 4
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#define MESSAGE_TRAILER_SIZE 4
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#define MESSAGE_POS_STX1 0
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#define MESSAGE_POS_STX2 1
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#define MESSAGE_POS_LEN 3
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#define MESSAGE_TRAILER_CRC 4
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#define MESSAGE_TRAILER_SYNC2 2
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#define MESSAGE_TRAILER_SYNC 1
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#define MESSAGE_STX1 0x01
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#define MESSAGE_STX2 0x88
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#define MESSAGE_SYNC2 0x99
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#define MESSAGE_SYNC 0x03
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// command handlers
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void command_connect(uint32_t *data);
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void command_read_block(uint32_t *data);
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void command_write_block(uint32_t *data);
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void command_eof(uint32_t *data);
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void command_complete(uint32_t *data);
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void command_get_canbus_id(uint32_t *data);
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// command.c
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void command_respond_ack(uint32_t acked_cmd, uint32_t *out, uint32_t out_len);
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void command_respond_command_error(void);
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int command_get_arg_count(uint32_t *data);
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struct command_encoder {
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uint32_t *data;
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uint_fast8_t max_size;
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};
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uint_fast8_t command_encode_and_frame(
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uint8_t *buf, const struct command_encoder *ce, va_list args);
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int_fast8_t command_find_block(uint8_t *buf, uint_fast8_t buf_len
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, uint_fast8_t *pop_count);
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void command_dispatch(uint8_t *buf, uint_fast8_t msglen);
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void command_send_ack(void);
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int_fast8_t command_find_and_dispatch(uint8_t *buf, uint_fast8_t buf_len
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, uint_fast8_t *pop_count);
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#endif // command.h
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