Merge branch 'master' into new-uart-circ

groundStation/src/backend/commands.c

@@ -86,6 +86,9 @@ command_cb cb_setheightd __attribute__((weak, alias("cb_default")));
 command_cb cb_setheight __attribute__((weak, alias("cb_default")));
 command_cb cb_setlat __attribute__((weak, alias("cb_default")));
 command_cb cb_setlong __attribute__((weak, alias("cb_default")));
+command_cb cb_setyaw __attribute__((weak, alias("cb_default")));
+command_cb cb_setpitch __attribute__((weak, alias("cb_default")));
+command_cb cb_setroll __attribute__((weak, alias("cb_default")));
 
 /* Default callbacks for getters */
 command_cb cb_getyawp __attribute__((weak, alias("cb_default")));
@@ -118,6 +121,9 @@ command_cb cb_getheightd __attribute__((weak, alias("cb_default")));
 command_cb cb_getheight __attribute__((weak, alias("cb_default")));
 command_cb cb_getlat __attribute__((weak, alias("cb_default")));
 command_cb cb_getlong __attribute__((weak, alias("cb_default")));
+command_cb cb_getyaw __attribute__((weak, alias("cb_default")));
+command_cb cb_getpitch __attribute__((weak, alias("cb_default")));
+command_cb cb_getroll __attribute__((weak, alias("cb_default")));
 
 /* Default callbacks for responses */
 command_cb cb_respyawp __attribute__((weak, alias("cb_default")));
@@ -150,6 +156,9 @@ command_cb cb_respheightd __attribute__((weak, alias("cb_default")));
 command_cb cb_respheight __attribute__((weak, alias("cb_default")));
 command_cb cb_resplat __attribute__((weak, alias("cb_default")));
 command_cb cb_resplong __attribute__((weak, alias("cb_default")));
+command_cb cb_respyaw __attribute__((weak, alias("cb_default")));
+command_cb cb_resppitch __attribute__((weak, alias("cb_default")));
+command_cb cb_resproll __attribute__((weak, alias("cb_default")));
 
 /* Command structure */
 struct MessageType MessageTypes[MAX_TYPE] =
@@ -533,6 +542,39 @@ struct MessageType MessageTypes[MAX_TYPE] =
 				floatType,
 				// Function pointer
 				&cb_setlong
+			},
+			// yaw setpoint subtype
+			{
+				// ID
+				0x1E,
+				// Command text
+				"setyaw",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_setyaw
+			},
+			// pitch setpoint subtype
+			{
+				// ID
+				0x1F,
+				// Command text
+				"setpitch",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_setpitch
+			},
+			// roll setpoint subtype
+			{
+				// ID
+				0x20,
+				// Command text
+				"setroll",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_setroll
 			}
 		}
 	},
@@ -873,7 +915,41 @@ struct MessageType MessageTypes[MAX_TYPE] =
 				floatType,
 				// Function pointer
 				&cb_getlong
+			},
+			// yaw getpoint subtype
+			{
+				// ID
+				0x1E,
+				// Command text
+				"getyaw",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_getyaw
+			},
+			// pitch getpoint subtype
+			{
+				// ID
+				0x1F,
+				// Command text
+				"getpitch",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_getpitch
+			},
+			// roll getpoint subtype
+			{
+				// ID
+				0x20,
+				// Command text
+				"getroll",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_getroll
 			}
+
 		}
 	},
 
@@ -1213,7 +1289,40 @@ struct MessageType MessageTypes[MAX_TYPE] =
 				floatType,
 				// Function pointer
 				&cb_resplong
-			}		
+			},
+			// yaw resppoint subtype
+			{
+				// ID
+				0x1E,
+				// Command text
+				"respyaw",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_respyaw
+			},
+			// pitch resppoint subtype
+			{
+				// ID
+				0x1F,
+				// Command text
+				"resppitch",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_resppitch
+			},
+			// roll resppoint subtype
+			{
+				// ID
+				0x20,
+				// Command text
+				"resproll",
+				// Type of the command data
+				floatType,
+				// Function pointer
+				&cb_resproll
+			}
 		}
 	},
 	// UPDATE