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84 lines
3.3 KiB
C++
84 lines
3.3 KiB
C++
#ifdef DATA_LINK
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#pragma once
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#include "freertos/FreeRTOS.h"
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#include <variant>
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#include <cstdint>
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#include <vector>
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#include "constants/datalink.h"
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//Types (total 2^4 = 16 different types)
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enum class FrameType : uint8_t {
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//Control Frames
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MOTOR_TYPE = 0x80, //0b1000_0000
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RIP_TABLE_CONTROL = 0x90, //0b1001_0000 - using the control frame to broadcast the RIP table
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DISTANCE_SENSOR_TYPE = 0xA0, //0b1010_0000
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SERVO_TYPE = 0xC0, //0b1100_0000
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MISC_CONTROL_TYPE = 0xD0, //0b1101_0000
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//Generic Frames
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MISC_GENERIC_TYPE = 0x00, //0b0000_0000
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MISC_UDP_GENERIC_TYPE = 0x10, // 0b0001_0000 - Same as MISC_GENERIC_TYPE except no ACK frames will be expected
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SYSTEM_TYPE = 0x30, //0b0011_0000 - used for statuses, discovery, and other maintainence requests
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ACK_TYPE = 0x60, //0b0110_0000 - ACK frames for Generic Fragments
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RIP_TABLE_GENERIC = 0x70 //0b0111_0000 - using the generic frame to broadcast the RIP table (not used rn)
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};
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enum class FrameFlags : uint8_t {
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ANY_FLAG = 0x0,
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};
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#pragma pack(push, 1) //these structs will be transmitted as is (ensure the structs are structured using 1B alignment - no padding)
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typedef struct _control_frame{
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uint8_t preamble; //Start of Frame
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uint8_t sender_id; //sender board id
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uint8_t receiver_id; //receiver board id
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uint16_t seq_num; //sequence number to differentiate frames being sent from sender to receiver
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uint8_t type_flag; //(type << 4) | flag - both are 4 bits
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uint16_t data_len; //Data Length (max 256B)
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uint8_t data[MAX_FRAME_SIZE]; //Variable Length of Data
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uint16_t crc_16; //CRC-16
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} ControlFrame; //this will have a max size of 9 + 256B = 265B
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typedef struct _data_link_frame{
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uint8_t preamble; //Start of Frame
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uint8_t sender_id; //sender board id
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uint8_t receiver_id; //receiver board id
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uint16_t seq_num; //sequence number to differentiate frames being sent from sender to receiver
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uint8_t type_flag; //(type << 4) | flag - both are 4 bits
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uint16_t total_frag; //total number of fragments for this sequence
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uint16_t frag_num; //current fragment number
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uint16_t data_len; //Data Length (max 178B)
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uint8_t data[MAX_FRAME_SIZE]; //Variable Length of Data
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uint16_t crc_16; //CRC-16
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} GenericFrame; //this will have a max size of 14 + 2^8 B = 270 B
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#pragma pack(pop)
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typedef struct _header{
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uint8_t preamble; //Start of Frame
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uint8_t sender_id; //sender board id
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uint8_t receiver_id; //receiver board id
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uint16_t seq_num; //sequence number to differentiate frames being sent from sender to receiver
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uint8_t type_flag; //(type << 4) | flag - both are 4 bits
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uint32_t frag_info; //(total_frag_num << 16) | frag_num - total_frag_num denotes the total number of fragmented frames to expect for this sequence number(?) and frag_num denotes the fragment frame num
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uint16_t data_len; //Data Length (max 178B)
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uint16_t crc_16; //CRC-16
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} FrameHeader;
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using Frame = std::variant<ControlFrame, GenericFrame>;
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ControlFrame make_control_frame_from_header(const FrameHeader& header);
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GenericFrame make_generic_frame_from_header(const FrameHeader& header);
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typedef struct _fragment_metadata {
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std::vector<GenericFrame> fragments;
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uint16_t num_fragments_rx;
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} FragmentMetadata;
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typedef struct _receive_metadata{
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uint8_t* data;
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uint16_t data_len;
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FrameHeader header;
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} Rx_Metadata;
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#endif //DATA_LINK
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