00001 #ifndef _INTERCOM_H
00002 #define _INTERCOM_H
00003
00004 #include <stdint.h>
00005 #include "config.h"
00006
00007 #ifdef HOST
00008 #define enable_transmit() do { WRITE(TX_ENABLE_PIN,1); UCSR1B &=~MASK(RXEN1); } while(0)
00009 #define disable_transmit() do { WRITE(TX_ENABLE_PIN,0); UCSR1B &= ~(MASK(TXCIE1) | MASK(UDRIE1)); UCSR1B |= MASK(RXEN1); } while(0)
00010 #else
00011 #define enable_transmit() do { WRITE(TX_ENABLE_PIN,1); UCSR0B &= ~MASK(RXEN0); } while(0)
00012 #define disable_transmit() do { WRITE(TX_ENABLE_PIN,0); UCSR0B &= ~(MASK(TXCIE0) | MASK(UDRIE0)); UCSR0B |= MASK(RXEN0); } while(0)
00013 #endif
00014
00016 enum {
00017 ERROR_BAD_CRC
00018 } err_codes;
00019
00022 typedef struct {
00023 uint8_t start;
00024 uint8_t dio;
00025 uint8_t controller_num;
00026 uint8_t control_word;
00027 uint8_t control_index;
00028
00029 union {
00030 int32_t control_data_int32;
00031 uint32_t control_data_uint32;
00032 float control_data_float;
00033 uint16_t temp[2];
00034 };
00035 uint8_t err;
00036 uint8_t crc;
00037 } intercom_packet_t;
00038
00040 typedef union {
00041 intercom_packet_t packet;
00042 uint8_t data[sizeof(intercom_packet_t)];
00043 } intercom_packet;
00044
00045 extern intercom_packet tx;
00046 extern intercom_packet rx;
00047
00049 void intercom_init(void);
00050
00053 void send_temperature(uint8_t index, uint16_t temperature);
00054
00057 uint16_t read_temperature(uint8_t index);
00058
00061 void set_dio(uint8_t index, uint8_t value);
00062
00065 uint8_t get_dio(uint8_t index);
00066
00068 void set_err(uint8_t err);
00069
00071 uint8_t get_err(void);
00072
00075 void start_send(void);
00076
00077 #define FLAG_RX_IN_PROGRESS 1
00078 #define FLAG_TX_IN_PROGRESS 2
00079 #define FLAG_NEW_RX 4
00080 #define FLAG_TX_FINISHED 8
00081 extern volatile uint8_t intercom_flags;
00082
00083
00084
00085 #endif
