*

2025-05-13 03:26:56 +03:00
parent 87a14db6f4
commit 154af64dde
563 changed files with 797817 additions and 0 deletions
@@ -0,0 +1,55 @@
+/*
+ * uart_protocol.h
+ *
+ *  Created on: 02 ÿíâ. 2016 ã.
+ *      Author: Sergey
+ */
+
+#ifndef UART_PROTOCOL_H_
+#define UART_PROTOCOL_H_
+
+#include <cstdint>
+
+#pragma pack(push, 1)
+struct UartCommandHeader {
+	uint32_t id;
+	uint8_t payloadSize;
+};
+
+struct UartCommand {
+	UartCommandHeader header;
+	static constexpr int MaxPayloadSize = 32;
+	uint8_t payload[MaxPayloadSize];
+};
+
+#define FOURCC(a,b,c,d) ( (uint32_t) ((((uint32_t)d)<<24) | (((uint32_t)c)<<16) | (((uint32_t)b)<<8) | ((uint32_t)a)) )
+
+#pragma pack(pop)
+
+struct UartCommandReader{
+	uint32_t offset;
+	UartCommand* cmd;
+	UartCommandReader(UartCommand* _cmd):offset(0), cmd(_cmd){
+	}
+
+	template<typename T>
+	T read(){
+		return *((T*)&cmd->payload[offset++]);
+	}
+};
+
+struct UartCommandWriter{
+	UartCommand* cmd;
+	UartCommandWriter(UartCommand* _cmd) : cmd(_cmd){
+		cmd->header.payloadSize = 0;
+	}
+
+	template<typename T>
+	UartCommandWriter& write(const T& val){
+		((T*)&cmd->payload[cmd->header.payloadSize])[0] = val;
+		cmd->header.payloadSize += sizeof(T);
+		return *this;
+	}
+};
+
+#endif /* UART_PROTOCOL_H_ */