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- #ifndef __FTS_FRAME_H
- #define __FTS_FRAME_H
- #include "ftsSoftware.h"
- #define BYTES_PER_NODE 2
- #define OFFSET_LENGTH 2
- #define FRAME_DATA_HEADER 8
- #define FRAME_HEADER_SIGNATURE 0xB5
- #define FRAME_DATA_READ_RETRY 2
- struct MutualSenseFrame {
- struct DataHeader header;
- short *node_data;
- int node_data_size;
- };
- struct SelfSenseFrame {
- struct DataHeader header;
- short *force_data;
- short *sense_data;
- };
- int getOffsetFrame(u16 address, u16 *offset);
- int getChannelsLength(void);
- int getFrameData(u16 address, int size, short **frame);
- int getMSFrame(u16 type, struct MutualSenseFrame *frame, int keep_first_row);
- int getSenseLen(void);
- int getForceLen(void);
- int requestFrame(u16 type);
- int readFrameDataHeader(u16 type, struct DataHeader *header);
- int getMSFrame2(u16 type, struct MutualSenseFrame *frame);
- int getSSFrame2(u16 type, struct SelfSenseFrame *frame);
- #endif
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