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Commit 08e4a161 authored by dawehr's avatar dawehr
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Updated callbacks.c to work 

Callbacks seem to be working now. Response packet is not sending correctly?
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quad/sw/modular_quad_pid/src/callbacks.c
+ 16
− 195
View file @ 08e4a161
......@@ -65,12 +65,12 @@ int cb_update(modular_structs_t *structs)
}
// This is called on the ground station to begin sending VRPN to the quad
int beginupdate(modular_structs_t *structs) {
int cb_beginupdate(modular_structs_t *structs) {
structs->user_input_struct.receivedBeginUpdate = 1;
return 0;
}
int logdata(modular_structs_t *structs)
int cb_log(modular_structs_t *structs)
{
size_t length;
unsigned char *packet = uart_buff_get_raw(&length);
......@@ -78,7 +78,7 @@ int logdata(modular_structs_t *structs)
return 0;
}
int response(modular_structs_t *structs)
int cb_response(modular_structs_t *structs)
{
size_t length;
char *packet = uart_buff_get_raw(&length);
......@@ -86,256 +86,77 @@ int response(modular_structs_t *structs)
return 0;
}
// ------------------------------------------------------------------
// Quad side implementation
// TODO: Erase memory leaks
int yawset(modular_structs_t *structs)
int cb_setyaw(modular_structs_t *structs)
{
char buf[255] = {};
structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
// Debug print statement
//printf("function for yawset: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set desired yaw to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.yaw);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int yawp(modular_structs_t *structs)
int cb_setyawp(modular_structs_t *structs)
{
char buf[255] = {0};
structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
printf("function for yawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set yaw Kp to %.2f\r\n", structs->parameter_struct.yaw_angle_pid.Kp);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int yawd(modular_structs_t *structs)
int cb_setyawd(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.yaw_angle_pid.Kd = uart_buff_data_get_float(0);
printf("function for yawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set yaw Kd to %.2f\r\n", structs->parameter_struct.yaw_angle_pid.Kd);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int rollset(modular_structs_t *structs)
int cb_setroll(modular_structs_t *structs)
{
char buf[255] = {};
structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
printf("function for rollset: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set desired roll to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.roll);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int rollp(modular_structs_t *structs)
int cb_setrollp(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
printf("function for rollp: %f\n", structs->parameter_struct.roll_angle_pid.Kp);
// Send a reply to the ground station
size_t length = snprintf(buf, sizeof(buf), "Successfully set roll Kp to %.2f\r\n", structs->parameter_struct.roll_angle_pid.Kp);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int rolld(modular_structs_t *structs)
int cb_setrolld(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.roll_angle_pid.Kd = uart_buff_data_get_float(0);
printf("function for rolld: %f\n", structs->parameter_struct.roll_angle_pid.Kd);
// Send a reply to the ground station
size_t length = snprintf(buf, sizeof(buf), "Successfully set roll Kd to %.2f\r\n", structs->parameter_struct.roll_angle_pid.Kd);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int pitchset(modular_structs_t *structs)
int cb_setpitch(modular_structs_t *structs)
{
char buf[255] = {};
structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
printf("function for pitchset: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set desired pitch to %.2f radians\r\n", structs->setpoint_struct.desiredQuadPosition.pitch);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int pitchp(modular_structs_t *structs)
int cb_setpitchp(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
printf("function for pitchp: %f\n", structs->parameter_struct.pitch_angle_pid.Kp);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set pitch Kp to %.2f\r\n", structs->parameter_struct.pitch_angle_pid.Kp);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int pitchd(modular_structs_t *structs)
int cb_setpitchd(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.pitch_angle_pid.Kd = uart_buff_data_get_float(0);
printf("function for pitchd: %f\n", structs->parameter_struct.pitch_angle_pid.Kd);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set desired yaw to %.2f\r\n", structs->parameter_struct.pitch_angle_pid.Kd);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
// ------------------------------------------------------------
// These should be renamed to altitude!
int throttleset(modular_structs_t *structs)
int cb_setheight(modular_structs_t *structs)
{
char buf[255] = {};
structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
printf("function for throttleset: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set desired altitude to %.2f meters\r\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int throttlep(modular_structs_t *structs)
int cb_setheightp(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.alt_pid.Kp = uart_buff_data_get_float(0);
printf("function for throttlep: %f\n", structs->parameter_struct.alt_pid.Kp);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set alt Kp to %.2f\r\n", structs->parameter_struct.alt_pid.Kp);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int throttlei(modular_structs_t *structs)
int cb_setheighti(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.alt_pid.Ki = uart_buff_data_get_float(0);
printf("function for throttlei: %f\n", structs->parameter_struct.alt_pid.Ki);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set alt Ki to %.2f\r\n", structs->parameter_struct.alt_pid.Ki);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int throttled(modular_structs_t *structs)
int cb_setheightd(modular_structs_t *structs)
{
char buf[255] = {};
structs->parameter_struct.alt_pid.Kd = uart_buff_data_get_float(0);
printf("function for throttled: %f\n", structs->parameter_struct.alt_pid.Kd);
// Send a reply to the ground station
int length = snprintf(buf, sizeof(buf), "Successfully set alt Kd to %.2f\r\n", structs->parameter_struct.alt_pid.Kd);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
// These should be renamed to altitude!
// ------------------------------------------------------------
int accelreq(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int gyroresp(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int pitchangleresp(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int rollangleresp(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int gyroreq(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int pitchanglereq(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int rollanglereq(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
int accelresp(modular_structs_t *structs)
{
printf("function for accelreq\n");
return 0;
}
quad/sw/modular_quad_pid/src/callbacks.h
+ 1
− 1
View file @ 08e4a161
......@@ -5,6 +5,6 @@
#include "type_def.h"
/* Make commands.c happy */
typedef void (command_cb)(modular_structs_t *structs);
typedef int (command_cb)(modular_structs_t *structs);
#endif
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