commands_system.hpp

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#pragma once
 
#include "descriptors.h"
#include "../mip_result.h"
 
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
 
namespace mip {
class Serializer;
 
namespace C {
struct mip_interface;
} // namespace C
 
namespace commands_system {
 
 
// Descriptors
 
enum 
{
    DESCRIPTOR_SET           = 0x7F,
    
    CMD_ENUMERATE            = 0x01,
    CMD_COM_MODE             = 0x10,
    CMD_HARDWARE_CONTROL     = 0x11,
    CMD_HARDWARE_CONTROL_2   = 0x12,
    
    REPLY_COM_MODE           = 0x90,
    REPLY_HARDWARE_CONTROL   = 0x91,
    REPLY_HARDWARE_CONTROL_2 = 0x92,
};
 
// Shared Type Definitions
 
static const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_PASSTHRU = 0x00;
static const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_NORMAL = 0x01;
static const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_IMU = 0x02;
static const uint8_t MIP_SYSTEM_COMMAND_COMM_MODE_GPS = 0x03;
 
// Mip Fields
 
 
struct CommMode
{
    static const uint8_t DESCRIPTOR_SET = ::mip::commands_system::DESCRIPTOR_SET;
    static const uint8_t FIELD_DESCRIPTOR = ::mip::commands_system::CMD_COM_MODE;
    
    static const bool HAS_WRITE_FUNCTION = true;
    static const bool HAS_READ_FUNCTION = true;
    static const bool HAS_SAVE_FUNCTION = false;
    static const bool HAS_LOAD_FUNCTION = false;
    static const bool HAS_RESET_FUNCTION = true;
    
    FunctionSelector function = static_cast<FunctionSelector>(0);
    uint8_t mode = 0;
    
    struct Response
    {
        static const uint8_t DESCRIPTOR_SET = ::mip::commands_system::DESCRIPTOR_SET;
        static const uint8_t FIELD_DESCRIPTOR = ::mip::commands_system::REPLY_COM_MODE;
        
        uint8_t mode = 0;
        
    };
};
void insert(Serializer& serializer, const CommMode& self);
void extract(Serializer& serializer, CommMode& self);
 
void insert(Serializer& serializer, const CommMode::Response& self);
void extract(Serializer& serializer, CommMode::Response& self);
 
CmdResult writeCommMode(C::mip_interface& device, uint8_t mode);
CmdResult readCommMode(C::mip_interface& device, uint8_t* modeOut);
CmdResult defaultCommMode(C::mip_interface& device);
 
} // namespace commands_system
} // namespace mip