i_bus.hpp

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#include "communication/uart/byte.hpp"
 
#include <array>
#include <cstdint>
 
#pragma once
namespace fang::communication::ibus
{
static constexpr Byte kFirstStartOfFrame{0x20};
static constexpr Byte kSecondStartofFrame{0x40};
static constexpr std::array<Byte, 2> kStartOfFrame{kFirstStartOfFrame, kSecondStartofFrame};
 
static constexpr int kChannelCount{14};
 
static constexpr int kStartOfFrameSize{2}; // Bytes
static constexpr int kBytesPer16BitInt{2};
static constexpr int kChecksumSectionSize{2}; // Bytes
 
static constexpr int kChannelSectionSize{kChannelCount * kBytesPer16BitInt}; // Bytes (Channel + 16 bit Checkshum)
static constexpr int kPacketSize{kStartOfFrameSize + kChannelSectionSize + kChecksumSectionSize}; // Bytes
 
static constexpr uint16_t kChecksumConstant{0xffff};
 
// Unlike UMN, the start of frame and end of frame are not stored in the buffer
static constexpr uint16_t kInitialCheksum{kFirstStartOfFrame + kSecondStartofFrame};
 
// https://github.com/mokhwasomssi/stm32_hal_ibus/blob/main/ibus.c
}