Set up new commands.c on quad side

Symlinked commands.c/h from groundstation
Adapted callbacks.h/cb_default
Put callbacks in callbacks.c

quad/sw/modular_quad_pid/src/callbacks.c

+#include "communication.h"
+#include "commands.h"
+#include "type_def.h"
+#include "uart.h"
+
+int debug(modular_structs_t *structs)
+{
+	printf("function for debug\n");
+	return 0;
+}
+
+static int n_msg_received = 0;
+static size_t total_payload_received = 0;
+
+int cb_packetlog(modular_structs_t* structs) {
+	n_msg_received += 1;
+	total_payload_received += uart_buff_data_length();
+	return 0;
+}
+
+int cb_getpacketlogs(modular_structs_t* structs) {
+	char buf[255];
+
+	// Message logging number of messages received and size of payload received
+	int length = snprintf(buf, sizeof buf, "%d,%d", n_msg_received, total_payload_received);
+
+	send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	return 0;
+}
+
+/* Handles receiving new location updates */
+int cb_update(modular_structs_t *structs)
+{
+	//processUpdate(packet, &(structs->raw_sensor_struct.currentQuadPosition));
+
+	quadPosition_t* currentQuadPosition = &(structs->raw_sensor_struct.currentQuadPosition);
+	// Packet must come as [NEARPY], 4 bytes each
+	int packetId = uart_buff_data_get_u32(0);
+//	printf("Packet ID: %d\n", packetId);
+	float y_pos = uart_buff_data_get_float(4);
+//	printf("y_pos: %f\n", y_pos);
+	float x_pos = uart_buff_data_get_float(8);
+//	printf("x_pos: %f\n", x_pos);
+	float alt_pos = uart_buff_data_get_float(12);
+//	printf("alt_pos: %f\n", alt_pos);
+	float roll = uart_buff_data_get_float(16);
+//	printf("roll: %f\n", roll);
+	float pitch = uart_buff_data_get_float(20);
+//	printf("pitch: %f\n", pitch);
+	float yaw = uart_buff_data_get_float(24);
+//	printf("yaw: %f\n", yaw);
+
+	currentQuadPosition->packetId = packetId;
+	currentQuadPosition->y_pos = y_pos;
+	currentQuadPosition->x_pos = x_pos;
+	currentQuadPosition->alt_pos = alt_pos;
+	currentQuadPosition->roll = roll;
+	currentQuadPosition->pitch = pitch;
+	currentQuadPosition->yaw = yaw;
+
+	// Make location as fresh
+	structs->user_input_struct.locationFresh = 1;
+
+	return 0;
+}
+
+// This is called on the ground station to begin sending VRPN to the quad
+int beginupdate(modular_structs_t *structs) {
+	structs->user_input_struct.receivedBeginUpdate = 1;
+	return 0;
+}
+
+int logdata(modular_structs_t *structs)
+{
+	size_t length;
+	unsigned char *packet = uart_buff_get_raw(&length);
+	printf("Logging: %s\n", packet);
+	return 0;
+}
+
+int response(modular_structs_t *structs)
+{
+	size_t length;
+	char *packet = uart_buff_get_raw(&length);
+	printf("This is the response: %s\n", packet);
+	return 0;
+}
+
+// ------------------------------------------------------------------
+// Quad side implementation
+
+// TODO: Erase memory leaks
+
+int yawset(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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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)
+{
+	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

+#ifndef __callbacks_
+#define __callbacks_h
+
+/* Grab some stupid stuff from legacy code */
+#include "type_def.h"
+
+/* Make commands.c happy */
+typedef void (command_cb)(modular_structs_t *structs);
+
+#endif

quad/sw/modular_quad_pid/src/cb_default.h

+#include "commands.h"
+
+/* The cb_default used on the groundStation. This file MUST NOT BE INCLUDED
+ * by anything except for commands.c */
+
+/* cb_default used by portable commands.c */
+int cb_default(modular_structs_t *structs)
+{
+	    return 0;
+}

quad/sw/modular_quad_pid/src/commands.c

-#include "communication.h"
-#include "commands.h"
-#include "type_def.h"
-#include "uart.h"
-
-struct MessageType MessageTypes[MAX_TYPE] = 
-{
-	// DEBUG
-	{
-		// Message Type ID
-		0x00,
-		
-		// Debug Subtypes
-		{
-			// NONE subtype
-			{
-				// ID
-				0x00,
-				// Command text
-				"debug",
-				// Type of the command data
-				stringType,
-				// Function pointer
-				&debug
-			},
-
-			// Echo subtype
-			{
-				// ID
-				0x01,
-				// Command text
-				"ack",
-				// Type of the command data
-				intType,
-				// Function pointer
-				&debug
-			},
-			// Log packet receiving
-			{
-				// ID
-				0x02,
-				// Command text
-				"packetlog",
-				// Type of the command data
-				stringType,
-				// Function pointer
-				&packetlog
-			},
-			// Get packet receiving logs
-			{
-				// ID
-				0x03,
-				// Command text
-				"getpacketlogs",
-				// Type of the command data
-				stringType,
-				// Function pointer
-				&getpacketlogs
-			}
-		}
-	},
-	
-	// CALIBRATION
-	{
-		// Message Type ID
-		0x01,
-		
-		// Calibration Subtypes
-		{
-			// yaw setpoint subtype
-			{
-				// ID
-				0x00,
-				// Command text
-				"setyaw",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&yawset
-			},
-			// yaw p constant subtype
-			{
-				// ID
-				0x01,
-				// Command text
-				"setyawp",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&yawp
-			},
-			// yaw d constant subtype
-			{
-				// ID
-				0x02,
-				// Command text
-				"setyawd",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&yawd
-			},
-			// roll setpoint subtype
-			{
-				// ID
-				0x03,
-				// Command text
-				"setroll",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&rollset
-			},
-			// roll p constant subtype
-			{
-				// ID
-				0x04,
-				// Command text
-				"setrollp",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&rollp
-			},
-			// roll d constant subtype
-			{
-				// ID
-				0x05,
-				// Command text
-				"setrolld",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&rolld
-			},
-			// pitch setpoint subtype
-			{
-				// ID
-				0x06,
-				// Command text
-				"setpitch",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&pitchset
-			},
-			// pitch p constant subtype
-			{
-				// ID
-				0x07,
-				// Command text
-				"setpitchp",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&pitchp
-			},
-			// pitch d constant subtype
-			{
-				// ID
-				0x08,
-				// Command text
-				"setpitchd",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&pitchd
-			},
-			// throttle setpoint subtype
-			{
-				// ID
-				0x09,
-				// Command text
-				"setthrottle",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&throttleset
-			},
-			// throttle p constant subtype
-			{
-				// ID
-				0x0A,
-				// Command text
-				"setthrottlep",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&throttlep
-			},
-			// throttle i constant subtype
-			{
-				// ID
-				0x0B,
-				// Command text
-				"setthrottlei",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&throttlei
-			},
-			// throttle d constant subtype
-			{
-				// ID
-				0x0C,
-				// Command text
-				"setthrottled",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&throttled
-			}
-		}
-	},
-	
-	// REQUEST
-	{
-		// Message Type ID
-		0x02,
-		
-		// Request Subtypes
-		{
-			// accelerometer subtype
-			{
-				// ID 
-				0x00,
-				// Command text
-				"accelreq",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&accelreq
-			},
-			// gyroscope subtype
-			{
-				// ID 
-				0x01,
-				// Command text
-				"gyroreq",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&gyroreq
-			},
-			// pitch angle subtype
-			{
-				// ID 
-				0x02,
-				// Command text
-				"reqpitchangle",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&pitchanglereq
-			},
-			// roll angle subtype
-			{
-				// ID 
-				0x03,
-				// Command text
-				"reqrollangle",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&rollanglereq
-			}
-		}
-	},
-	
-	// RESPONSE
-	{
-		// Message Type ID
-		0x03,
-		
-		// Response Subtypes
-		{
-			// accelerometer subtype
-			{
-				// ID
-				0x00,
-				// Command text
-				"respaccel",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&accelresp
-			},
-			// gyroscope subtype
-			{
-				// ID
-				0x01,
-				// Command text
-				"respgyro",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&gyroresp
-			},
-			// pitch angle subtype
-			{
-				// ID 
-				0x02,
-				// Command text
-				"resppitchangle",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&pitchangleresp
-			},
-			// roll angle subtype
-			{
-				// ID 
-				0x03,
-				// Command text
-				"resprollangle",
-				// Type of the command data
-				floatType,
-				// Function pointer
-				&rollangleresp
-			}
-		}
-	},
-	
-	// UPDATE
-	{
-		// Message Type ID
-		0x04,
-		
-		// Update Subtypes
-		{
-			// NONE subtype
-			{
-				// ID 
-				0x00,
-				// Command text
-				"update",
-				// Type of the command data
-				stringType,
-				// Function pointer
-				&update
-			},
-			// BEGIN UPDATE subtype
-			{
-				// ID
-				0x01,
-				// Command text
-				"beginupdate",
-				// Type of the command data
-				stringType,
-				// Function pointer
-				&beginupdate
-			}
-		}
-	},
-	
-	// LOG
-	{
-		// Message Type ID
-		0x05,
-		
-		// Log Subtypes
-		{
-			// NONE subtype
-			{
-				// ID
-				0x00,
-				// Command text
-				"log",
-				// Type of the command data
-				stringType,
-				// Function pointer
-				&logdata
-			},
-			// Response subtype
-			{
-				// ID
-				0x01,
-				// Command text
-				"response",
-				// Type of the command data
-				stringType,
-				// Function pointer
-				&response
-			}
-		}
-	},
-	
-};
-
-int debug(modular_structs_t *structs)
-{
-	printf("function for debug\n");
-	return 0;
-}
-
-static int n_msg_received = 0;
-static size_t total_payload_received = 0;
-
-int packetlog(modular_structs_t* structs) {
-	n_msg_received += 1;
-	total_payload_received += uart_buff_data_length();
-	return 0;
-}
-
-int getpacketlogs(modular_structs_t* structs) {
-	char buf[255];
-
-	// Message logging number of messages received and size of payload received
-	int length = snprintf(buf, sizeof buf, "%d,%d", n_msg_received, total_payload_received);
-
-	send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
-	return 0;
-}
-
-/* Handles receiving new location updates */
-int update(modular_structs_t *structs)
-{
-	//processUpdate(packet, &(structs->raw_sensor_struct.currentQuadPosition));
-
-	quadPosition_t* currentQuadPosition = &(structs->raw_sensor_struct.currentQuadPosition);
-	// Packet must come as [NEARPY], 4 bytes each
-	int packetId = uart_buff_data_get_u32(0);
-//	printf("Packet ID: %d\n", packetId);
-	float y_pos = uart_buff_data_get_float(4);
-//	printf("y_pos: %f\n", y_pos);
-	float x_pos = uart_buff_data_get_float(8);
-//	printf("x_pos: %f\n", x_pos);
-	float alt_pos = uart_buff_data_get_float(12);
-//	printf("alt_pos: %f\n", alt_pos);
-	float roll = uart_buff_data_get_float(16);
-//	printf("roll: %f\n", roll);
-	float pitch = uart_buff_data_get_float(20);
-//	printf("pitch: %f\n", pitch);
-	float yaw = uart_buff_data_get_float(24);
-//	printf("yaw: %f\n", yaw);
-
-	currentQuadPosition->packetId = packetId;
-	currentQuadPosition->y_pos = y_pos;
-	currentQuadPosition->x_pos = x_pos;
-	currentQuadPosition->alt_pos = alt_pos;
-	currentQuadPosition->roll = roll;
-	currentQuadPosition->pitch = pitch;
-	currentQuadPosition->yaw = yaw;
-
-	// Make location as fresh
-	structs->user_input_struct.locationFresh = 1;
-
-	return 0;
-}
-
-// This is called on the ground station to begin sending VRPN to the quad
-int beginupdate(modular_structs_t *structs) {
-	structs->user_input_struct.receivedBeginUpdate = 1;
-	return 0;
-}
-
-int logdata(modular_structs_t *structs)
-{
-	size_t length;
-	unsigned char *packet = uart_buff_get_raw(&length);
-	printf("Logging: %s\n", packet);
-	return 0;
-}
-
-int response(modular_structs_t *structs)
-{
-	size_t length;
-	char *packet = uart_buff_get_raw(&length);
-	printf("This is the response: %s\n", packet);
-	return 0;
-}
-
-// ------------------------------------------------------------------
-// Quad side implementation
-
-// TODO: Erase memory leaks
-
-int yawset(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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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)
-{
-	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/commands.c

+../../../../groundStation/src/backend/commands.c
\ No newline at end of file

quad/sw/modular_quad_pid/src/commands.h

-#ifndef _COMMANDS_H
-#define _COMMANDS_H
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "type_def.h"
-#include "packet_processing.h"
-
-// ----------------------
-// Helper stuff
-
-#define MAX_TYPE 6
-#define MAX_SUBTYPE 100
-
-enum Message{
-	BEGIN_CHAR = 0xBE,
-	END_CHAR   = 0xED
-};
-
-// This should also have double to avoid confusion with float values.
-enum DataType
-{
-	floatType,
-	intType,
-	stringType
-};
-
-// MESSAGE SUBTYPES
-struct MessageSubtype{
-	char ID;
-	char cmdText[100];
-	char cmdDataType;
-	int (*functionPtr)(modular_structs_t *structs);
-};
-
-// MESSAGE TYPES
-struct MessageType{
-	char ID;
-	struct MessageSubtype subtypes[MAX_SUBTYPE];
-};
-
-int debug(modular_structs_t *structs);
-int packetlog(modular_structs_t* structs);
-int getpacketlogs(modular_structs_t* structs);
-int update(modular_structs_t *structs);
-int beginupdate(modular_structs_t *structs);
-int logdata(modular_structs_t *structs);
-int response(modular_structs_t *structs);
-int yawset(modular_structs_t *structs);
-int yawp(modular_structs_t *structs);
-int yawd(modular_structs_t *structs);
-int rollset(modular_structs_t *structs);
-int rollp(modular_structs_t *structs);
-int rolld(modular_structs_t *structs);
-int pitchset(modular_structs_t *structs);
-int pitchp(modular_structs_t *structs);
-int pitchd(modular_structs_t *structs);
-int throttleset(modular_structs_t *structs);
-int throttlep(modular_structs_t *structs);
-int throttlei(modular_structs_t *structs);
-int throttled(modular_structs_t *structs);
-int accelreq(modular_structs_t *structs);
-int gyroresp(modular_structs_t *structs);
-int pitchangleresp(modular_structs_t *structs);
-int rollangleresp(modular_structs_t *structs);
-int gyroreq(modular_structs_t *structs);
-int pitchanglereq(modular_structs_t *structs);
-int rollanglereq(modular_structs_t *structs);
-int accelresp(modular_structs_t *structs);
-
-// TODO add in string to be read from the command line when sending a subtype of message
-extern struct MessageType MessageTypes[MAX_TYPE];
-
-#endif

quad/sw/modular_quad_pid/src/commands.h

+../../../../groundStation/src/backend/commands.h
\ No newline at end of file