mica2.h

00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2006 Radu Bogdan Rusu (rusu@cs.tum.edu)
00004  *
00005  *  This program is free software; you can redistribute it and/or modify
00006  *  it under the terms of the GNU General Public License as published by
00007  *  the Free Software Foundation; either version 2 of the License, or
00008  *  (at your option) any later version.
00009  *
00010  *  This program is distributed in the hope that it will be useful,
00011  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  *  GNU General Public License for more details.
00014  *
00015  *  You should have received a copy of the GNU General Public License
00016  *  along with this program; if not, write to the Free Software
00017  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00018  *
00019  */
00020 
00021 /*
00022  * TinyOS data structures.
00023  * Portions borrowed from the TinyOS project (http://www.tinyos.net), 
00024  * distributed according to the Intel Open Source License.
00025  */
00026 
00027 #include <vector>
00028 
00029 // Change to 19200 for Mica2DOT (!)
00030 #define DEFAULT_MICA2_PORT "/dev/ttyS0"
00031 #define DEFAULT_MICA2_RATE B57600
00032 
00033 // ---[ Node calibration values ]---
00034 class NodeCalibrationValues
00035 {
00036     public:
00037         unsigned int node_id;           // node identifier
00038         unsigned int group_id;          // group identifier
00039         int          c_values[6];       // calibration values
00040 };
00041 typedef std::vector<NodeCalibrationValues> NCV;
00042 
00043 // ---[ MTS310 data packet structure ]---
00044 typedef struct
00045 {
00046     unsigned short vref;
00047     unsigned short thermistor;
00048     unsigned short light;
00049     unsigned short mic;
00050     unsigned short accelX;
00051     unsigned short accelY;
00052     unsigned short magX;
00053     unsigned short magY;
00054 } MTS310Data;
00055 
00056 // ---[ MTS510 data packet structure ]---
00057 typedef struct
00058 {
00059     unsigned short light;
00060     unsigned short accelX;
00061     unsigned short accelY;
00062     unsigned short sound[5];
00063 } MTS510Data;
00064 
00065 // ---[ M1-mini RFID reader command packet structure ]---
00066 // (Attn: ASCII mode ! make time to change to BINARY!)
00067 typedef struct
00068 {
00069     unsigned char flags  [2];
00070     unsigned char request[2];
00071     unsigned char type   [2];
00072     unsigned char TID    [16];
00073     unsigned char start  [2];
00074     unsigned char length [2];
00075     unsigned char data   [8];
00076 } M1miniCommand;
00077 
00078 // ---[ Generic sensor data packet structure ]---
00079 typedef struct
00080 {
00081     unsigned char  board_id;        // unique sensorboard id
00082     unsigned char  packet_id;       // unique packet type for sensorboard
00083     unsigned char  node_id;         // ID of originating node
00084     unsigned char  parent;          // ID of node's parent
00085     unsigned short data[12];        // data payload defaults to 24 bytes
00086     unsigned char  terminator;      // reserved for null terminator
00087 } SensorPacket;
00088 
00089 // ---[ The standard header for all TinyOS active messages ]---
00090 typedef struct
00091 {
00092     unsigned short addr;
00093     unsigned char  type;
00094     unsigned char  group;
00095     unsigned char  length;
00096 } __attribute__ ((packed)) TOSMsgHeader;
00097 
00098 // ---[ Packet structure for XCOMMAND ]---
00099 typedef struct
00100 {
00101     unsigned short cmd;
00102     union
00103     {
00104         unsigned int  new_rate;    // XCOMMAND_SET_RATE
00105         unsigned int  node_id;     // XCOMMAND_SET_NODEID
00106         unsigned char group;       // XCOMMAND_SET_GROUP
00107         unsigned char rf_power;    // XCOMMAND_SET_RF_POWER
00108         unsigned char rf_channel;  // XCOMMAND_SET_RF_CHANNEL
00109         struct
00110         {
00111                 unsigned short device; // device: LEDs, speaker, etc
00112                 unsigned short state;  // state : on/off, etc
00113         } actuate;
00114     } param;
00115 } __attribute__ ((packed)) XCommandOp;
00116 
00117 typedef struct
00118 {
00119     TOSMsgHeader tos;
00120     unsigned short seq_no;
00121     unsigned short destination_id;  // 0xFFFF for all
00122     XCommandOp     inst[1];
00123 } __attribute__ ((packed)) XCommandMsg;
00124 
00125 // ---[ RFID data packet structure] ---
00126 typedef struct{
00127     TOSMsgHeader   tos;
00128     unsigned char  ptotal;                      // num of packets
00129     unsigned char  pi;                          // index of current packet
00130     unsigned short RID;                         // receive id
00131     unsigned short SG;                          // signal strength
00132     unsigned char  data[23];
00133     unsigned short crc;
00134 } __attribute__ ((packed)) RFIDMsg;
00135 
00136 // ---[ Health data packet structure ]---
00137 /*typedef struct
00138 {
00139     unsigned short id;
00140     unsigned char  hop_count;
00141     unsigned char  send_est;
00142 } DBGEstEntry;
00143 typedef struct
00144 {
00145     unsigned short node_id;
00146     unsigned short origin_addr;
00147     short          seq_no;
00148     unsigned char  hop_count;
00149     // HealthMsg
00150     unsigned char  est_entries;
00151     DBGEstEntry    est_list[4];
00152 } HealthData;
00153 */
Last updated 12 September 2005 21:38:45