- Made continuity changes throughout code base to match the new commands.c/h

- removed every use of the "subtype" term
- made the "type" term 16 bits
- made sure that every reference to a message type is 16 bits and used correctly
- simplified commands enum names
- implemented setcontrol callback function that switch on the controller and P, I, D, setpoint value to be set and then set them
- partly implemented getcontrol callback function
- NOTE: setpoint is a double. this causes some problems..
- TODO: add setpoints for rate controllers
- TODO: figure out what message ID I should send back when I get a getpid command

groundStation/src/backend/commands.c

@@ -30,7 +30,7 @@
  *
  * EXTENDING COMMANDS.C
  *
- * To extend this file, simply add the new subtypes (typically
+ * To extend this file, simply add the new type (typically
  * a Setter, Getter, and Response) and create weak aliases below.
  *
  * Ensure the Quad and GroundStation always maintain this file in sync!
@@ -57,9 +57,9 @@ command_cb cb_log __attribute__((weak, alias("cb_default")));
 command_cb cb_response __attribute__((weak, alias("cb_default")));
 
 /* Callbacks for configuration */
-command_cb cb_setval __attribute__((weak, alias("cb_default")));
-command_cb cb_getval __attribute__((weak, alias("cb_default")));
-command_cb cb_respval __attribute__((weak, alias("cb_default")));
+command_cb cb_setcontrol __attribute__((weak, alias("cb_default")));
+command_cb cb_getcontrol __attribute__((weak, alias("cb_default")));
+command_cb cb_respcontrol __attribute__((weak, alias("cb_default")));
 
 /*
  * Command structure.
@@ -69,12 +69,12 @@ command_cb cb_respval __attribute__((weak, alias("cb_default")));
  * There is one callback function pointer associated with each
  * element in this struct array.
  */
-struct MessageType MessageTypes[MAX_TYPE] =
+struct MessageType MessageTypes[MAX_TYPE_ID] =
 {
 	// DEBUG
 	{
 		// ID
-		DEBUG_TYPE_ID,
+		DEBUG_ID,
 		// Command text
 		"debug",
 		// Type of the command data
@@ -85,7 +85,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
 	// PACKETLOG
 	{
 		// ID
-		PACKETLOG_TYPE_ID,
+		PACKETLOG_ID,
 		// Command text
 		"packetlog",
 		// Type of the command data
@@ -96,7 +96,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
 	// GETPACKETLOGS
 	{
 		// ID
-		GETPACKETLOGS_TYPE_ID,
+		GETPACKETLOGS_ID,
 		// Command text
 		"getpacketlogs",
 		// Type of the command data
@@ -107,7 +107,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
 	// UPDATE
 	{
 		// ID
-		UPDATE_TYPE_ID,
+		UPDATE_ID,
 		// Command text
 		"update",
 		// Type of the command data
@@ -118,7 +118,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
 	// BEGINUPDATE
 	{
 		// ID
-		BEGINUPDATE_TYPE_ID,
+		BEGINUPDATE_ID,
 		// Command text
 		"beginupdate",
 		// Type of the command data
@@ -129,7 +129,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
 	// LOG
 	{
 		// ID
-		LOG_TYPE_ID,
+		LOG_ID,
 		// Command text
 		"log",
 		// Type of the command data
@@ -140,7 +140,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
 	// RESPONSE
 	{
 		// ID
-		RESPONSE_TYPE_ID,
+		RESPONSE_ID,
 		// Command text
 		"response",
 		// Type of the command data
@@ -148,38 +148,38 @@ struct MessageType MessageTypes[MAX_TYPE] =
 		// Function pointer
 		&cb_response
 	},
-	// SETVAL
+	// SETCONTROL
 	{
 		// ID
-		SETVAL_TYPE_ID,
+		SETCONTROL_ID,
 		// Command text
-		"setval",
+		"setcontrol",
 		// Type of the command data
 		floatType,
 		// Function pointer
-		&cb_setval
+		&cb_setcontrol
 	},
-	// GETVAL
+	// GETCONTROL
 	{
 		// ID
-		GETVAL_TYPE_ID,
+		GETCONTROL_ID,
 		// Command text
-		"getval",
+		"getcontrol",
 		// Type of the command data
 		floatType,
 		// Function pointer
-		&cb_getval
+		&cb_getcontrol
 	},
-	// RESPVAL
+	// RESPCONTROL
 	{
 		// ID
-		RESPVAL_TYPE_ID,
+		RESPCONTROL_ID,
 		// Command text
-		"respval",
+		"respcontrol",
 		// Type of the command data
 		floatType,
 		// Function pointer
-		&cb_respval
+		&cb_respcontrol
 	}
 
 };

groundStation/src/backend/commands.h

@@ -20,9 +20,9 @@ enum Message{
  */
 enum DataType
 {
-	floatType,
-	intType,
-	stringType
+	floatType,            // 00
+	intType,              // 01
+	stringType            // 02
 };
 
 /*
@@ -31,44 +31,42 @@ enum DataType
  * DO NOT change this enum or you will break backwards compatibility.
  */
 enum MessageTypeID{
-	DEBUG_TYPE_ID,             //
-	PACKETLOG_TYPE_ID,         //
-	GETPACKETLOGS_TYPE_ID,     //
-	UPDATE_TYPE_ID,            //
-	BEGINUPDATE_TYPE_ID,       //
-	LOG_TYPE_ID,               //
-	RESPONSE_TYPE_ID,          //
-	SETVAL_TYPE_ID,            // setting values. Example: PID constants
-	GETVAL_TYPE_ID,            // getting values. Example: PID constants
-	RESPVAL_TYPE_ID,           // responding with values. Example: PID constants
-	// This last type is just used to keep track of the size
-	MAX_TYPE
+	DEBUG_ID,             // 00
+	PACKETLOG_ID,         // 01
+	GETPACKETLOGS_ID,     // 02
+	UPDATE_ID,            // 03
+	BEGINUPDATE_ID,       // 04
+	LOG_ID,               // 05
+	RESPONSE_ID,          // 06
+	SETCONTROL_ID,        // 07 - Setting controller values. Example: PID constants
+	GETCONTROL_ID,        // 08 - Getting controller values. Example: PID constants
+	RESPCONTROL_ID,       // 09 - Responding with controller values. Example: PID constants
+	MAX_TYPE_ID           // 10 - Just used to keep track of the size
 };
 
 /*
- * Value types used to know which value the command is referencing
+ * Controller ID used to know which controller the message is referencing
  */
-enum ValueType{
-	// PID controllers. Each one has a P, I, D, setpoint value option
-	ROLL,
-	PITCH,
-	YAW,
-	ROLL_RATE,
-	PITCH_RATE,
-	YAW_RATE,
-	LOCAL_X,
-	LOCAL_Y,
-	ALT,
+enum ControllerID{
+	ROLL_ID,              // 00 - Roll PID
+	PITCH_ID,             // 01 - Pitch PID
+	YAW_ID,               // 02 - Yaw PID
+	ROLL_RATE_ID,         // 03 - Roll rate PID
+	PITCH_RATE_ID,        // 04 - Pitch rate PID
+	YAW_RATE_ID,          // 05 - Yaw rate PID
+	LOCAL_X_ID,           // 06 - Local X PID
+	LOCAL_Y_ID,           // 07 - Local Y PID
+	ALT_ID,               // 08 - Altitude PID
 };
 
 /*
- * Enumeration of PID constants
+ * Enumeration of controller values
  */
-enum PIDType{
-	KP, // P constant
-	KI, // I constant
-	KD, // D constant
-	SP, // Setpoint value
+enum ControllerValueID{
+	KP_ID,                 // 00 - P constant
+	KI_ID,                 // 01 - I constant
+	KD_ID,                 // 02 - D constant
+	SP_ID,                 // 03 - Setpoint value
 };
 
 /*
@@ -90,7 +88,7 @@ struct MessageType{
 };
 
 /* Defined in commands.c */
-extern struct MessageType MessageTypes[MAX_TYPE];
+extern struct MessageType MessageTypes[MAX_TYPE_ID];
 
 /* Legacy functions - no idea what uses these. Please do not delete. */
 float getFloat(unsigned char* str, int pos);

quad/sw/modular_quad_pid/src/callbacks.c

@@ -39,7 +39,7 @@ int cb_getpacketlogs(modular_structs_t* structs) {
 	// 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(LOG_TYPE_ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	send_data(LOG_ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
 	return 0;
 }
 
@@ -93,32 +93,256 @@ int cb_beginupdate(modular_structs_t *structs) {
 /* Callbacks for configuration */
 
 /**
-  * Handles a command to set a value on the quad.
+  * Handles a command to set a controller value on the quad.
   *
-  * This function handles setting things like:
-  * - PID constants
-  * - set points
-  * - other things in the future, etc.
+  * NOTE: expects the uart buff to have some data in the following format:
+  * |------------------------------------------------------|
+  * | data index||      0      |      1      |    3 - 6    |
+  * |------------------------------------------------------|
+  * |      param||  control ID | ctrl val ID |  float val  |
+  * |------------------------------------------------------|
+  * |      bytes||      1      |      1      |      4      |
+  * |------------------------------------------------------|
   */
-int cb_setval(modular_structs_t *structs)
+int cb_setcontrol(modular_structs_t *structs)
 {
-	//structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
+	// Get the controller ID, value ID, float value
+	u8 controller_id = uart_buff_data_get_u8(0);
+	u8 controller_value_id = uart_buff_data_get_u8(1);
+	float controller_value = uart_buff_data_get_float(3);
+
+	// TODO check if the setpoints really need to be doubles
+	// TODO add rate setpoints
+	// Switch case on the controller ID
+	switch(controller_id)
+	{
+		case ROLL_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.roll_angle_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.roll_angle_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.roll_angle_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					structs->setpoint_struct.desiredQuadPosition.roll = controller_value;
+					break;
+			}
+			break;
+		case PITCH_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.pitch_angle_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.pitch_angle_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.pitch_angle_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					structs->setpoint_struct.desiredQuadPosition.pitch = controller_value;
+					break;
+			}
+			break;
+		case YAW_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.yaw_angle_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.yaw_angle_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.yaw_angle_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					structs->setpoint_struct.desiredQuadPosition.yaw = controller_value;
+					break;
+			}
+			break;
+		case ROLL_RATE_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.roll_ang_vel_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.roll_ang_vel_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.roll_ang_vel_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					// do nothing for now because there is no set point for this conroller
+					break;
+			}
+			break;
+		case PITCH_RATE_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.pitch_ang_vel_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.pitch_ang_vel_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.pitch_ang_vel_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					// do nothing for now because there is no set point for this conroller
+					break;
+			}
+			break;
+		case YAW_RATE_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.yaw_ang_vel_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.yaw_ang_vel_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.yaw_ang_vel_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					// do nothing for now because there is no set point for this conroller
+					break;
+			}
+			break;
+		case LOCAL_X_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.local_x_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.local_x_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.local_x_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					structs->setpoint_struct.desiredQuadPosition.x_pos = controller_value;
+					break;
+			}
+			break;
+		case LOCAL_Y_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.local_y_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.local_y_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.local_y_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					structs->setpoint_struct.desiredQuadPosition.y_pos = controller_value;
+					break;
+			}
+			break;
+		case ALT_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					structs->parameter_struct.alt_pid.Kp = controller_value;
+					break;
+				case KI_ID:
+					structs->parameter_struct.alt_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.alt_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					structs->setpoint_struct.desiredQuadPosition.alt_pos = controller_value;
+					break;
+			}
+			break;
+	}
+
 	return 0;
 }
 
 /**
-  * Handles a command to get a value from the quad.
+  * Handles a command to get a controller value from the quad.
   *
-  * Used to get basically anything that setval can set.
-  * NOTE: This function sends a response command with the desired data
-  * back to the ground station.
+  * NOTE: expects the uart buff to have some data in the following format:
+  * |----------------------------------------|
+  * | data index||      0      |      1      |
+  * |----------------------------------------|
+  * |      param||  control ID | ctrl val ID |
+  * |----------------------------------------|
+  * |      bytes||      1      |      1      |
+  * |----------------------------------------|
   */
-int cb_getval(modular_structs_t* structs) {
-	char buf[255];
+int cb_getcontrol(modular_structs_t* structs)
+{
+	// Get the controller ID, value ID
+	u8 controller_id = uart_buff_data_get_u8(0);
+	u8 controller_value_id = uart_buff_data_get_u8(1);
 
-	// Message logging number of messages received and size of payload received
-	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Kp);
+	// TODO check if the setpoints really need to be doubles
+	// TODO add rate setpoints
+	// TODO figure out what the message ID should be
+	// Switch case on the controller ID
+	switch(controller_id)
+	{
+		case ROLL_ID:
+			// switch on the value ID
+			switch(controller_value_id)
+			{
+				case KP_ID:
+					float controller_value = structs->parameter_struct.roll_angle_pid.Kp;
+					send_data(RESPCONTROL_ID, 0, ((char *) &controller_value), sizeof(controller_value));
+					break;
+				case KI_ID:
+					structs->parameter_struct.roll_angle_pid.Ki = controller_value;
+					break;
+				case KD_ID:
+					structs->parameter_struct.roll_angle_pid.Kd = controller_value;
+					break;
+				case SP_ID:
+					structs->setpoint_struct.desiredQuadPosition.roll = controller_value;
+					break;
+			}
+			break;
+		case PITCH_ID:
+			// TODO
+		case YAW_ID:
+			// TODO
+		case ROLL_RATE_ID:
+			// TODO
+		case PITCH_RATE_ID:
+			// TODO
+		case YAW_RATE_ID:
+			// TODO
+		case LOCAL_X_ID:
+			// TODO
+		case LOCAL_Y_ID:
+			// TODO
+		case ALT_ID:
+			// TODO
+	}
 
-	send_data(GETVAL_TYPE_ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
 	return 0;
 }

quad/sw/modular_quad_pid/src/initialize_components.c

@@ -33,7 +33,7 @@ int protection_loops(modular_structs_t *structs)
 	length = length >= sizeof(buf) ? 255 : length;
 
 	while (!structs->user_input_struct.receivedBeginUpdate) {
-		//send_data(MessageTypes[4].ID, MessageTypes[4].subtypes[1].ID, 0, buf, length);
+		//send_data(BEGINUPDATE_TYPE_ID, 0, buf, length);
 		process_received(structs);
 		usleep(10000);
 	}

quad/sw/modular_quad_pid/src/log_data.c

@@ -147,7 +147,7 @@ void printLogging(){
 	strcat(buf,header);
 	strcat(buf,units);
 
-	send_data(LOG_TYPE_ID, 0, buf, strlen(buf) + 1);
+	send_data(LOG_ID, 0, buf, strlen(buf) + 1);
 	//uart0_sendBytes(buf, strlen(buf));
 	//usleep(100000);
 
@@ -155,7 +155,7 @@ void printLogging(){
 	/* print & send log data */
 	for(i = 0; i < arrayIndex; i++){
 		char* logLine = format(logArray[i]);
-		send_data(LOG_TYPE_ID, 0, logLine, strlen(logLine) + 1);
+		send_data(LOG_ID, 0, logLine, strlen(logLine) + 1);
 		free(logLine);
 	}
 }

quad/sw/modular_quad_pid/src/sensor.c

@@ -38,12 +38,11 @@ int get_sensors(log_t* log_struct, user_input_t* user_input_struct, raw_sensor_t
 //		metadata_t metadata =
 //		{
 //			BEGIN_CHAR,
-//			MessageTypes[5].ID,
-//			MessageTypes[5].subtypes[1].ID,
+//			RESPONSE_TYPE_ID,
 //			0,
 //			(strlen(buf) + 1)
 //		};
-//		formatPacket(&metadata, buf, &responsePacket);
+//		formatPacket(&metadata, buf, MessageTypes[RESPONSE_TYPE_ID].functionPtr);
 //
 //		// Send each byte of the packet individually
 //		int i;

quad/sw/modular_quad_pid/src/type_def.h

@@ -22,9 +22,9 @@ enum flight_mode{
 //----------------------------------------------------------------------------------------------
 //     index||     0    |     1    |      2      |  3 & 4 |      5 & 6       |  7+  |   end    |
 //---------------------------------------------------------------------------------------------|
-// msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+// msg param|| beg char |       msg type         | msg id | data len (bytes) | data | checksum |
 //-------------------------------------------------------------------------------------------- |
-//     bytes||     1    |     1    |      1      |    2   |        2         | var  |    1     |
+//     bytes||     1    |          2             |    2   |        2         | var  |    1     |
 //----------------------------------------------------------------------------------------------
 typedef struct {
 	char begin_char;

quad/sw/modular_quad_pid/test/test_uart_buff.c

@@ -50,10 +50,10 @@ int failed(char *msg) {
   return 1;
 }
 
-void add_packet(unsigned char type, unsigned char subtype, unsigned short id, unsigned short length, unsigned char *data) {
+void add_packet(u16 type, unsigned short id, unsigned short length, unsigned char *data) {
   uart_buff_add_u8(0xBE);
   uart_buff_add_u8(type);
-  uart_buff_add_u8(subtype);
+  uart_buff_add_u8(type >> 8);
   uart_buff_add_u8(id);
   uart_buff_add_u8(id >> 8);
   uart_buff_add_u8(length);

[dawehr]

Let's get rid of this type.

[dawehr]

Let's rename this to LOGPACKET_ID to be consistent with action-thing style of other names.

[dawehr]

Proposed to remove this enum.

[dawehr]

Let's erase this. No longer necessary with uart_buff_data_get_float() function. And not even implemented?

[dawehr]

I believe that we did not want to have a 9-case switch statement for the controller.

The idea is that we would have an array of the different controllers in the same order as the enum:

PID* controllers[] = {&structs->parameter_struct.roll_angle_pid,
                                 &structs->parameter_struct.pitch_angle_pid,
                                  ...}

Then we will get the correct controller by index:

PID_t* controller = controllers[controller_id];

Now we can switch based upon controller_id to set Ki, Kp, Kd, or setpoint of controller.

[dawehr]

RE:

TODO: figure out what message ID I should send back when I get a getpid command

We should send back a message of type RESPONSE_ID.

[dawehr]

Is there not a uart_buff_add_u16? If not, we should make one instead of doing two add_u8() calls with a bitshift.