an_packet_protocol.h
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00001 /****************************************************************/
00002 /*                                                              */
00003 /*         Advanced Navigation Packet Protocol Library          */
00004 /*         C Language Dynamic Orientus SDK, Version 1.1         */
00005 /*   Copyright 2013, Xavier Orr, Advanced Navigation Pty Ltd    */
00006 /*                                                              */
00007 /****************************************************************/
00008 /*
00009  * Copyright (C) 2013 Advanced Navigation Pty Ltd
00010  *
00011  * Permission is hereby granted, free of charge, to any person obtaining
00012  * a copy of this software and associated documentation files (the "Software"),
00013  * to deal in the Software without restriction, including without limitation
00014  * the rights to use, copy, modify, merge, publish, distribute, sublicense,
00015  * and/or sell copies of the Software, and to permit persons to whom the
00016  * Software is furnished to do so, subject to the following conditions:
00017  *
00018  * The above copyright notice and this permission notice shall be included
00019  * in all copies or substantial portions of the Software.
00020  *
00021  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
00022  * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00023  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
00024  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00025  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
00026  * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
00027  * DEALINGS IN THE SOFTWARE.
00028  */
00029  
00030 #ifdef __cplusplus
00031 extern "C" {
00032 #endif
00033 
00034 #define AN_PACKET_HEADER_SIZE 5
00035 #define AN_MAXIMUM_PACKET_SIZE 255
00036 #define AN_DECODE_BUFFER_SIZE 2*(AN_MAXIMUM_PACKET_SIZE+AN_PACKET_HEADER_SIZE)
00037 #define an_packet_pointer(packet) packet->header
00038 #define an_packet_size(packet) (packet->length + AN_PACKET_HEADER_SIZE)*sizeof(uint8_t)
00039 #define an_packet_crc(packet) ((packet->header[4]<<8) | packet->header[3])
00040 
00041 #define an_decoder_pointer(an_decoder) &(an_decoder)->buffer[(an_decoder)->buffer_length]
00042 #define an_decoder_size(an_decoder) (sizeof((an_decoder)->buffer) - (an_decoder)->buffer_length)
00043 #define an_decoder_increment(an_decoder, bytes_received) (an_decoder)->buffer_length += bytes_received
00044 
00045 #ifndef FALSE
00046 #define FALSE 0
00047 #define TRUE 1
00048 #endif
00049 
00050 typedef struct
00051 {
00052         uint8_t buffer[AN_DECODE_BUFFER_SIZE];
00053         uint16_t buffer_length;
00054         uint32_t crc_errors;
00055 } an_decoder_t;
00056 
00057 typedef struct
00058 {
00059     uint8_t id;
00060     uint8_t length;
00061     uint8_t header[AN_PACKET_HEADER_SIZE];
00062     uint8_t data[1];
00063 } an_packet_t;
00064 
00065 static const uint16_t crc16_table[256] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0};
00066 
00067 an_packet_t *an_packet_allocate(uint8_t length, uint8_t id);
00068 void an_packet_free(an_packet_t **an_packet);
00069 void an_decoder_initialise(an_decoder_t *an_decoder);
00070 an_packet_t *an_packet_decode(an_decoder_t *an_decoder);
00071 void an_packet_encode(an_packet_t *an_packet);
00072 
00073 #ifdef __cplusplus
00074 }
00075 #endif


orientus_sdk_c
Author(s): Advanced Navigation, Nick Otero
autogenerated on Thu Jun 6 2019 20:17:59