Packets.hpp

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#ifndef PACKET_H
#define PACKET_H
 
#include <stdint.h>
#include <stddef.h> /* offsetof macro */
#include <stdbool.h>
/* for QUADRATURE_COUNTER_COUNT */
#include "quadrature_counter.h"
#include <util/firmware_settings.h>
 
typedef uint8_t PacketId_t;
#define PACKET_ID_COMPUTER (0U)
#define PACKET_ID_SETTINGS (1U)
 
typedef struct __attribute__((packed)) {
  uint64_t preamble;
 
  /* should be PACKET_ID_SETTINGS */
  PacketId_t packet_id;
 
  /* 24 bytes */
  FirmwareSetup_t firmware;
 
  uint8_t padding[3];
 
  /*
   * CRC value for the packet that is transferred from the
   * computer to the microcontroller
   */
  uint32_t crc;
} SettingsPacket;
/*
 * tests to ensure that alignment works as intended
 * Further info here: https://www.embedded.com/design/prototyping-and-development/4024941/Learn-a-new-trick-with-the-offsetof--macro
 */
/* disable warnings for this one, only fail on error */
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
static union {
  char wrong_offset_preamble[(offsetof(SettingsPacket, preamble) == 0) ? 1 : -1];
 
  char wrong_offset_packet_id[(offsetof(SettingsPacket, packet_id) == 8) ? 1 : -1];
 
  char wrong_offset_firmware[(offsetof(SettingsPacket, firmware) == 8 + 1) ? 1 : -1];
 
  char wrong_offset_crc[(offsetof(SettingsPacket, crc) == 8 + 1 + 32 + 3) ? 1 : -1];
 
  /* to be processable by the CRC calculation unit */
  char wrong_sizeof_packet[((sizeof(SettingsPacket) > 4) &&
                            (sizeof(SettingsPacket) % sizeof(uint32_t) == 0)) ?
                               1 :
                               -1];
} SettingsPacketTest;
/* enable all warnings again */
#pragma GCC diagnostic pop
 
typedef struct __attribute__((packed)) {
  uint64_t preamble;
 
  /* should be PACKET_ID_COMPUTER */
  PacketId_t packet_id;
 
  float motor_erpm;
 
  float motor_current;
 
  int8_t servo_front;
  int8_t servo_rear;
 
  uint16_t lightState;
 
  uint8_t brake;
 
  uint8_t padding[2];
 
  /*
   * CRC value for the packet that is transferred from the
   * computer to the microcontroller
   */
  uint32_t crc;
} ComputerPacket;
 
/*
 * tests to ensure that alignment works as intended
 * Further info here: https://www.embedded.com/design/prototyping-and-development/4024941/Learn-a-new-trick-with-the-offsetof--macro
 */
/* disable warnings for this one, only fail on error */
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
static union {
  char wrong_offset_preamble[(offsetof(ComputerPacket, preamble) == 0) ? 1 : -1];
 
  char wrong_offset_packet_id[(offsetof(ComputerPacket, packet_id) == 8) ? 1 : -1];
 
  char wrong_offset_motor_erpm[(offsetof(ComputerPacket, motor_erpm) == 8 + 1) ? 1 : -1];
  char wrong_offset_motor_current[(offsetof(ComputerPacket, motor_current) == 8 + 1 + 4) ? 1 : -1];
 
  char wrong_offset_servo_front[(offsetof(ComputerPacket, servo_front) == 8 + 1 + 4 + 4) ? 1 : -1];
  char wrong_offset_servo_rear[(offsetof(ComputerPacket, servo_rear) == 8 + 1 + 4 + 4 + 1) ? 1 : -1];
 
  char wrong_offset_lightState[(offsetof(ComputerPacket, lightState) == 8 + 1 + 4 + 4 + 1 + 1) ? 1 : -1];
 
  char wrong_offset_brake[(offsetof(ComputerPacket, brake) == 8 + 1 + 4 + 4 + 1 + 1 + 2) ? 1 : -1];
  
  char wrong_offset_padding[(offsetof(ComputerPacket, padding) == 8 + 1 + 4 + 4 + 1 + 1 + 2 + 1) ? 1 : -1];
 
  char wrong_offset_crc[(offsetof(ComputerPacket, crc) == 8 + 1 + 4 + 4 + 1 + 1 + 2 + 1 + 2) ? 1 : -1];
 
  char wrong_sizeof_packet[((sizeof(ComputerPacket) > 4) &&
                            (sizeof(ComputerPacket) % sizeof(uint32_t) == 0)) ?
                               1 :
                               -1]; /* to be processable by the CRC calculation unit */
} ComputerPacketTest;
/* enable all warnings again */
#pragma GCC diagnostic pop
 
typedef struct __attribute__((packed)) {
  uint64_t preamble;
 
  uint8_t rc_active;
 
  /*
   * The current RPM of the motor
   * measured by the rotary encoder.
   */
  float motor_erpm;
 
  /*
   * The values of the time
   * of flight sensors.
   * First value is for the sensor
   * on the right, second for the
   * sensor at the back.
   */
  uint16_t tof_right;
  uint16_t tof_rear;
 
  /*
   * The orientation of the car,
   * filtered already on the ECU
   */
  float orientation;
 
  float linear_acceleration_x;
  float linear_acceleration_y;
  float linear_acceleration_z;
 
  float gyro_x;
 
  /*
   * The button board provides
   * four different buttons whereby
   * every button state is stored as
   * a 8 bit integer, packed together
   * to a 32 bit integer.
   */
  uint8_t buttonState;
 
  /*
   * Current voltage of the
   * battery.
   */
  uint16_t batteryLevel;
 
  /*
   * Current voltage of the
   * battery.
   */
  uint16_t batteryCellLevel[3];
 
  //int32_t quadratureCounterValues[QUADRATURE_COUNTER_COUNT];
 
  int8_t applied_servo_front;
 
  int8_t applied_servo_rear;
 
  float motor_duty_cycle;
 
  float applied_motor_current;
 
  float applied_motor_erpm;
 
  uint8_t applied_motor_brake;
 
  uint8_t padding[3];
 
  /*
   * CRC value for the packet that is transferred from the
   * microcontroller to the computer
   */
  uint32_t crc;
} EcuPacket;
 
/*
 * tests to ensure that alignment works as intended
 * Further info here: https://www.embedded.com/design/prototyping-and-development/4024941/Learn-a-new-trick-with-the-offsetof--macro
 */
/* disable warnings for this one, only fail on error */
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
static union {
  char wrong_offset_preamble[(offsetof(EcuPacket, preamble) == 0) ? 1 : -1];
  char wrong_offset_rc_active[(offsetof(EcuPacket, rc_active) == 8) ? 1 : -1];
  char wrong_offset_motor_erpm[(offsetof(EcuPacket, motor_erpm) == 8 + 1) ? 1 : -1];
 
  char wrong_offset_tof_right[(offsetof(EcuPacket, tof_right) == 8 + 1 + 4) ? 1 : -1];
  char wrong_offset_tof_rear[(offsetof(EcuPacket, tof_rear) == 8 + 1 + 4 + 2) ? 1 : -1];
 
  char wrong_offset_orientation[(offsetof(EcuPacket, orientation) == 8 + 1 + 4 + 4) ? 1 : -1];
 
  char wrong_offset_linear_acceleration_x[(offsetof(EcuPacket, linear_acceleration_x) == 8 + 1 + 4 + 4 + 4) ? 1 : -1];
  char wrong_offset_linear_acceleration_y[(offsetof(EcuPacket, linear_acceleration_y) == 8 + 1 + 4 + 4 + 4 + 4) ? 1 : -1];
  char wrong_offset_linear_acceleration_z[(offsetof(EcuPacket, linear_acceleration_z) == 8 + 1 + 4 + 4 + 4 + 4 + 4) ? 1 : -1];
 
  char wrong_offset_gyro_x[(offsetof(EcuPacket, gyro_x) == 8 + 1 + 4 + 4 + 4 + 12) ? 1 : -1];
 
  char wrong_offset_buttonState[(offsetof(EcuPacket, buttonState) == 8 + 1 + 4 + 4 + 4 + 12 + 4) ? 1 : -1];
 
  char wrong_offset_batteryLevel[(offsetof(EcuPacket, batteryLevel) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1) ? 1 : -1];
  char wrong_offset_batteryCellLevel[(offsetof(EcuPacket, batteryCellLevel) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1 + 2) ? 1 : -1];
 
  char wrong_offset_applied_servo_front[(offsetof(EcuPacket, applied_servo_front) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 3 + 6) ? 1 : -1];
  char wrong_offset_applied_servo_rear[(offsetof(EcuPacket, applied_servo_rear) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 3 + 6 + 1) ? 1 : -1];
 
  char wrong_offset_motor_duty_cycle[(offsetof(EcuPacket, motor_duty_cycle) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1 + 2 + 6 + 2) ? 1 : -1];
 
  char wrong_offset_applied_motor_current[(offsetof(EcuPacket, applied_motor_current) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1 + 2 + 6 + 2 + 4) ? 1 : -1];
 
  char wrong_offset_applied_motor_erpm[(offsetof(EcuPacket, applied_motor_erpm) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1 + 2 + 6 + 2 + 4 + 4) ? 1 : -1];
 
  char wrong_offset_applied_motor_brake[(offsetof(EcuPacket, applied_motor_brake) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1 + 2 + 6 + 2 + 4 + 4 + 4) ? 1 : -1];
 
  char wrong_offset_padding[(offsetof(EcuPacket, padding) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1 + 2 + 6 + 2 + 4 + 4 + 4 + 1) ? 1 : -1];
 
  char wrong_offset_crc[(offsetof(EcuPacket, crc) == 8 + 1 + 4 + 4 + 4 + 12 + 4 + 1 + 2 + 6 + 2 + 4 + 4 + 4 + 4) ? 1 : -1];
  /* to be processable by the CRC calculation unit */
  char wrong_sizeof_packet[(
                               (sizeof(EcuPacket) > 4) && (sizeof(EcuPacket) % sizeof(uint32_t) == 0)) ?
                               1 :
                               -1];
  char wrong_sizeof_float[(sizeof(float) == 4) ? 1 : -1];
} EcuPacketTest;
/* enable all warnings again */
#pragma GCC diagnostic pop
 
#endif /* PACKET_H */