commands_system.h

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#pragma once
 
#include <mip/definitions/common.h>
#include <mip/mip_descriptors.h>
#include <mip/mip_result.h>
#include <mip/mip_interface.h>
 
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
 
#ifdef __cplusplus
namespace mip {
namespace C {
extern "C" {
 
#endif // __cplusplus
 
 
// Descriptors
 
enum 
{
    MIP_SYSTEM_CMD_DESC_SET                  = 0x7F,
    
    MIP_CMD_DESC_MIPNET_ENUMERATE            = 0x01,
    MIP_CMD_DESC_SYSTEM_INTERFACE_CONTROL    = 0x02,
    MIP_CMD_DESC_SYSTEM_COM_MODE             = 0x10,
    MIP_CMD_DESC_SYSTEM_HARDWARE_CONTROL     = 0x11,
    MIP_CMD_DESC_SYSTEM_HARDWARE_CONTROL_2   = 0x12,
    
    MIP_REPLY_DESC_SYSTEM_COM_MODE           = 0x90,
    MIP_REPLY_DESC_SYSTEM_HARDWARE_CONTROL   = 0x91,
    MIP_REPLY_DESC_SYSTEM_HARDWARE_CONTROL_2 = 0x92,
    MIP_REPLY_DESC_SYSTEM_INTERFACE_CONTROL  = 0x82,
};
 
// Shared Type Definitions
 
enum { MIP_SYSTEM_COMMAND_COMM_MODE_PASSTHRU = 0x00 };
enum { MIP_SYSTEM_COMMAND_COMM_MODE_NORMAL = 0x01 };
enum { MIP_SYSTEM_COMMAND_COMM_MODE_IMU = 0x02 };
enum { MIP_SYSTEM_COMMAND_COMM_MODE_GPS = 0x03 };
enum mip_comms_interface
{
    MIP_COMMS_INTERFACE_ALL    = 0,  
    MIP_COMMS_INTERFACE_MAIN   = 1,  
    MIP_COMMS_INTERFACE_UART_1 = 17,  
    MIP_COMMS_INTERFACE_UART_2 = 18,  
    MIP_COMMS_INTERFACE_UART_3 = 19,  
    MIP_COMMS_INTERFACE_USB_1  = 33,  
    MIP_COMMS_INTERFACE_USB_2  = 34,  
};
typedef enum mip_comms_interface mip_comms_interface;
 
static inline void insert_mip_comms_interface(microstrain_serializer* serializer, const mip_comms_interface self)
{
    microstrain_insert_u8(serializer, (uint8_t)(self));
}
static inline void extract_mip_comms_interface(microstrain_serializer* serializer, mip_comms_interface* self)
{
    uint8_t tmp = 0;
    microstrain_extract_u8(serializer, &tmp);
    *self = (mip_comms_interface)tmp;
}
 
typedef uint32_t mip_comms_protocol;
static const mip_comms_protocol MIP_COMMS_PROTOCOL_NONE   = 0x00000000;
static const mip_comms_protocol MIP_COMMS_PROTOCOL_MIP    = 0x00000001; 
static const mip_comms_protocol MIP_COMMS_PROTOCOL_NMEA   = 0x00000100; 
static const mip_comms_protocol MIP_COMMS_PROTOCOL_RTCM   = 0x00000200; 
static const mip_comms_protocol MIP_COMMS_PROTOCOL_SPARTN = 0x01000000; 
static const mip_comms_protocol MIP_COMMS_PROTOCOL_ALL    = 0x01000301;
static inline void insert_mip_comms_protocol(microstrain_serializer* serializer, const mip_comms_protocol self)
{
    microstrain_insert_u32(serializer, (uint32_t)(self));
}
static inline void extract_mip_comms_protocol(microstrain_serializer* serializer, mip_comms_protocol* self)
{
    uint32_t tmp = 0;
    microstrain_extract_u32(serializer, &tmp);
    *self = (mip_comms_protocol)tmp;
}
 
 
// Mip Fields
 
 
struct mip_system_comm_mode_command
{
    mip_function_selector function;
    uint8_t mode;
};
typedef struct mip_system_comm_mode_command mip_system_comm_mode_command;
 
void insert_mip_system_comm_mode_command(microstrain_serializer* serializer, const mip_system_comm_mode_command* self);
void extract_mip_system_comm_mode_command(microstrain_serializer* serializer, mip_system_comm_mode_command* self);
 
struct mip_system_comm_mode_response
{
    uint8_t mode;
};
typedef struct mip_system_comm_mode_response mip_system_comm_mode_response;
 
void insert_mip_system_comm_mode_response(microstrain_serializer* serializer, const mip_system_comm_mode_response* self);
void extract_mip_system_comm_mode_response(microstrain_serializer* serializer, mip_system_comm_mode_response* self);
 
mip_cmd_result mip_system_write_comm_mode(mip_interface* device, uint8_t mode);
mip_cmd_result mip_system_read_comm_mode(mip_interface* device, uint8_t* mode_out);
mip_cmd_result mip_system_default_comm_mode(mip_interface* device);
 
 
struct mip_system_interface_control_command
{
    mip_function_selector function;
    mip_comms_interface port; 
    mip_comms_protocol protocols_incoming; 
    mip_comms_protocol protocols_outgoing; 
};
typedef struct mip_system_interface_control_command mip_system_interface_control_command;
 
void insert_mip_system_interface_control_command(microstrain_serializer* serializer, const mip_system_interface_control_command* self);
void extract_mip_system_interface_control_command(microstrain_serializer* serializer, mip_system_interface_control_command* self);
 
struct mip_system_interface_control_response
{
    mip_comms_interface port; 
    mip_comms_protocol protocols_incoming; 
    mip_comms_protocol protocols_outgoing; 
};
typedef struct mip_system_interface_control_response mip_system_interface_control_response;
 
void insert_mip_system_interface_control_response(microstrain_serializer* serializer, const mip_system_interface_control_response* self);
void extract_mip_system_interface_control_response(microstrain_serializer* serializer, mip_system_interface_control_response* self);
 
mip_cmd_result mip_system_write_interface_control(mip_interface* device, mip_comms_interface port, mip_comms_protocol protocols_incoming, mip_comms_protocol protocols_outgoing);
mip_cmd_result mip_system_read_interface_control(mip_interface* device, mip_comms_interface port, mip_comms_protocol* protocols_incoming_out, mip_comms_protocol* protocols_outgoing_out);
mip_cmd_result mip_system_save_interface_control(mip_interface* device, mip_comms_interface port);
mip_cmd_result mip_system_load_interface_control(mip_interface* device, mip_comms_interface port);
mip_cmd_result mip_system_default_interface_control(mip_interface* device, mip_comms_interface port);
 
 
#ifdef __cplusplus
} // extern "C"
} // namespace C
} // namespace mip
#endif // __cplusplus