137 lines
5.5 KiB
C++
137 lines
5.5 KiB
C++
#pragma once
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#include <Arduino.h>
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// ============================================================================
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// Protocol Constants
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// ============================================================================
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// Sync bytes (distinguishable from Feetech 0xFF 0xFF)
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constexpr uint8_t SYNC0 = 0xA5;
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constexpr uint8_t SYNC1 = 0x5A;
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// Packet structure:
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// [SYNC0][SYNC1][TAG 4 bytes][LENGTH 2 bytes][SEQ 2 bytes][PAYLOAD...][CRC16 2 bytes]
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// Total overhead: 12 bytes
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constexpr uint16_t MAX_PAYLOAD_SIZE = 6000;
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constexpr uint16_t PACKET_HEADER_SIZE = 10; // sync(2) + tag(4) + len(2) + seq(2)
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constexpr uint16_t PACKET_CRC_SIZE = 2;
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// ============================================================================
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// Packet Tags (4 bytes each, human-readable)
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// ============================================================================
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namespace Tag {
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// Identity & Config
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constexpr char IDENT[4] = {'I','D','N','T'}; // Identity request/response
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constexpr char CONFG[4] = {'C','O','N','F'}; // Config update
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// File Operations
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constexpr char FLIST[4] = {'F','L','S','T'}; // File list
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constexpr char FLOAD[4] = {'F','L','O','D'}; // File load
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constexpr char FSAVE[4] = {'F','S','A','V'}; // File save
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constexpr char FDELE[4] = {'F','D','E','L'}; // File delete
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constexpr char FPLAY[4] = {'F','P','L','Y'}; // Play animation file
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constexpr char FSTP[4] = {'F','S','T','P'}; // Stop animation
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// Motor Control
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constexpr char MSET[4] = {'M','S','E','T'}; // Set motor positions
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constexpr char MPOS[4] = {'M','P','O','S'}; // Motor position stream
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constexpr char MSCAN[4] = {'M','S','C','N'}; // Scan for motors
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constexpr char MWRIT[4] = {'M','W','R','T'}; // Write motor register
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constexpr char MSTRM[4] = {'M','S','T','M'}; // Motor stream control
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// Sensors
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constexpr char IMU[4] = {'I','M','U','0'}; // ADXL acceleration data (x,y,z)
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constexpr char RADAR[4] = {'R','D','A','R'}; // Radar targets
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constexpr char FACE[4] = {'F','A','C','E'}; // Face detection data (via WiFi)
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constexpr char ALIV[4] = {'A','L','I','V'}; // Remote component alive/heartbeat
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constexpr char FRAME[4] = {'F','R','M','E'}; // Animation frame events (frame, mode, status)
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// Behaviors
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constexpr char BHVR[4] = {'B','H','V','R'}; // Behavior control (activate/deactivate)
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constexpr char BLST[4] = {'B','L','S','T'}; // Behavior list (list all behaviors and their states)
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// Visemes
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constexpr char VLST[4] = {'V','L','S','T'}; // List all visemes
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constexpr char VADD[4] = {'V','A','D','D'}; // Add a new viseme
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constexpr char VDEL[4] = {'V','D','E','L'}; // Delete a viseme
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constexpr char VSET[4] = {'V','S','E','T'}; // Set viseme motor positions
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constexpr char VSME[4] = {'V','S','M','E'}; // Trigger a viseme by ID
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// Settings
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constexpr char SSET[4] = {'S','S','E','T'}; // Settings set/dump (id + value pairs)
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// System
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constexpr char STATE[4] = {'S','T','A','T'}; // System state/heartbeat
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constexpr char MSGE[4] = {'M','S','G','E'}; // Log/debug message
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constexpr char BOOT[4] = {'B','O','O','T'}; // Enter bootloader
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constexpr char ACK[4] = {'A','C','K','!'}; // Acknowledge
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constexpr char NACK[4] = {'N','A','C','K'}; // Negative acknowledge
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}
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// ============================================================================
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// Play Modes (for FPLAY command)
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// ============================================================================
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enum PlayMode : uint8_t {
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PLAY_IDLE = 0x00,
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PLAY_ONCE = 0x01,
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PLAY_LOOP = 0x02,
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PLAY_REPEAT = 0x03
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};
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// ============================================================================
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// Packet Buffer
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// ============================================================================
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extern uint8_t g_rxBuffer[MAX_PAYLOAD_SIZE + PACKET_HEADER_SIZE + PACKET_CRC_SIZE];
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extern uint16_t g_rxBufferLen;
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// ============================================================================
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// CRC16-CCITT
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// ============================================================================
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uint16_t crc16Update(uint16_t crc, const uint8_t* data, uint16_t len);
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uint16_t crc16Compute(const uint8_t* data, uint16_t len);
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// ============================================================================
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// Packet Sending
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// ============================================================================
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// Send a tagged packet with auto-incrementing sequence number
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void sendPacket(const char tag[4], const uint8_t* payload, uint16_t len);
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// Convenience: send string as MSGE packet
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void sendMessage(const String& msg);
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// Convenience: send ACK/NACK
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void sendAck(const char originalTag[4]);
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void sendNack(const char originalTag[4], const String& reason = "");
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// ============================================================================
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// Packet Receiving
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// ============================================================================
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// Packet receive state machine - call from loop()
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// Returns true when a complete valid packet is ready
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bool receivePacket();
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// Get received packet info (valid after receivePacket returns true)
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const char* getReceivedTag();
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const uint8_t* getReceivedPayload();
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uint16_t getReceivedPayloadLen();
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uint16_t getReceivedSeq();
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// Check if received tag matches
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bool tagMatches(const char* received, const char expected[4]);
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// ============================================================================
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// Utility
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// ============================================================================
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// Compare tags
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inline bool tagsEqual(const char a[4], const char b[4]) {
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return memcmp(a, b, 4) == 0;
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}
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