/home/shenghao/eclipse-workspace/EV3UartGenerator/framing.hpp

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#ifndef FRAMING_HPP_
#define FRAMING_HPP_

#include <magics.hpp>

namespace EV3UartGenerator {
namespace Framing {
    constexpr uint8_t BUFFER_MIN { 0x23 }; 
    constexpr uint8_t PAYLOAD_SENSOR_TO_EV3_MAX { 0x20 }; 
    constexpr uint8_t PAYLOAD_EV3_TO_SENSOR_MAX { 0x20 }; 
    constexpr uint8_t PAYLOAD_MIN { 0x01 }; 
    constexpr uint8_t SYMBOL_MAX { 0x08 }; 

    int8_t frame_sys_message(uint8_t* dest, Magics::SYS sys_type);

    int8_t frame_cmd_type_message(uint8_t* dest, const uint8_t type);

    int8_t frame_cmd_modes_message(uint8_t* dest, const uint8_t modes,
            const uint8_t modes_visible);

    int8_t frame_cmd_speed_message(uint8_t* dest, const uint32_t speed);

    int8_t frame_cmd_select_message(uint8_t* dest, const uint8_t mode);

    int8_t frame_cmd_write_message(uint8_t* dest, const uint8_t* data,
            const uint8_t len);

    int8_t frame_info_message_name(uint8_t* dest, const uint8_t mode,
            const char* name);

    int8_t frame_info_message_span(uint8_t* dest, const uint8_t mode,
            Magics::INFO_SPAN span_type,
            const float lower, const float upper);

    int8_t frame_info_message_symbol(uint8_t* dest, const uint8_t mode,
            const char* symbol);

    int8_t frame_info_message_format(uint8_t* dest, const uint8_t mode,
            const uint8_t elems,
            Magics::INFO_DTYPE data_type, const uint8_t width,
            const uint8_t decimals);

    int8_t frame_data_message(uint8_t* dest, const uint8_t mode,
            const uint8_t* data,
            const uint8_t len);

    uint8_t checksum(const uint8_t* buf, const uint8_t len);

    constexpr uint8_t log2(uint8_t val) {
        return (0x1f - __builtin_clz(val)) +
                (val - (0x01 << (0x1f -__builtin_clz(val))) != 0 ? 1 : 0);
    }

    constexpr uint8_t length_code(uint8_t len) {
        return log2(len) << 0x03;
    }

    uint8_t insert_padding(uint8_t* dest, uint8_t len);
}
}

#endif /* FRAMING_HPP_ */