1 /* 2 * Copyright (c) 2022 HiSilicon (Shanghai) Technologies CO., LIMITED. 3 * Licensed under the Apache License, Version 2.0 (the "License"); 4 * you may not use this file except in compliance with the License. 5 * You may obtain a copy of the License at 6 * 7 * http://www.apache.org/licenses/LICENSE-2.0 8 * 9 * Unless required by applicable law or agreed to in writing, software 10 * distributed under the License is distributed on an "AS IS" BASIS, 11 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 * See the License for the specific language governing permissions and 13 * limitations under the License. 14 */ 15 16 #ifndef HISIGNALLING_H 17 #define HISIGNALLING_H 18 19 #define HISIGNALLING_MSG_HEADER_LEN (1) 20 #define HISGNALLING_MSG_FRAME_HEADER_LEN (2) 21 #define HISIGNALLING_MSG_HEADER_TAIL_LEN (3) 22 #define HISGNALLING_FREE_TASK_TIME (10) 23 #define HISIGNALLING_MSG_MOTOR_ENGINE_LEN (11) 24 #define HISIGNALLING_MSG_ONE_FRAME_LEN (16) 25 #define HISIGNALLING_MSG_BUFF_LEN (512) 26 27 /* 28 * @brief 外设扩展板和Robot板的选择 29 * 使用时选择打开宏，使用外设扩展板打开#define BOARD_SELECT_IS_EXPANSION_BOARD这个宏 30 * 使用Robot板打开#define BOARD_SELECT_IS_ROBOT_BOARD这个宏 31 * 32 * @brief Selection of peripheral expansion board and Robot board 33 * Select to open the macro when using it, 34 * and use the peripheral expansion board to open the #define BOARD_SELECT_IS_EXPANSION_BOARD macro 35 * Use the Robot board to open the #define BOARD_SELECT_IS_ROBOT_BOARD macro 36 */ 37 #define BOARD_SELECT_IS_EXPANSION_BOARD 38 #ifdef BOARD_SELECT_IS_EXPANSION_BOARD 39 #define EXPANSION_BOARD 40 #else 41 #define ROBOT_BOARD 42 #endif 43 44 typedef enum { 45 EAGE_0 = 0, 46 EAGE_1, 47 EAGE_2, 48 EAGE_3 49 } GPioEage; 50 51 typedef enum { 52 FistGesture = 0x1, 53 ForefingerGesture, 54 OkGesture, 55 PalmGesture, 56 YesGesture, 57 ForefingerAndThumbGesture, 58 LittleFingerAndThumbGesture, 59 InvalidGesture 60 } refuseClassification; 61 62 typedef struct { 63 unsigned char frameHeader[HISGNALLING_MSG_FRAME_HEADER_LEN]; 64 unsigned char hisignallingMsgBuf[HISIGNALLING_MSG_BUFF_LEN]; 65 unsigned int hisigallingMsgLen; 66 unsigned char endOfFrame; 67 unsigned int hisignallingCrc32Check; 68 } HisignallingProtocalType; 69 70 typedef enum { 71 HISIGNALLING_RET_VAL_CORRECT = 0, 72 HISIGNALLING_RET_VAL_ERROR, 73 HISGNALLING_RET_VAL_MAX 74 } HisignallingErrorType; 75 76 /* 77 * hisignalling协议函数声明 78 * hisignalling protocal Function declaration 79 */ 80 unsigned int UartOpenInit(void); 81 void UartSendRead(int fd, refuseClassification refuseType); 82 static HisignallingErrorType HisignallingMsgReceive(int fd, unsigned char *buf, unsigned int len); 83 static unsigned int HisignallingMsgSend(int fd, char *buf, unsigned int dataLen); 84 unsigned int HisignallingMsgTask(void); 85 86 #endif