From 41b7d72d06a32e7a207d4509d2966527078febd7 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Fri, 27 Jan 2017 18:01:46 -0600
Subject: [PATCH] starting some of the commands changes to make things simpler
but not complete
---
groundStation/src/backend/commands.c | 1411 ++--------------------
groundStation/src/backend/commands.h | 28 +-
quad/sw/modular_quad_pid/src/callbacks.c | 2 +-
3 files changed, 117 insertions(+), 1324 deletions(-)
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index 5c42238af..36f42bcd4 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -55,1338 +55,123 @@ command_cb cb_beginupdate __attribute__((weak, alias("cb_default")));
command_cb cb_log __attribute__((weak, alias("cb_default")));
command_cb cb_response __attribute__((weak, alias("cb_default")));
-/* Callbacks for configuration (setters)*/
-command_cb cb_setrollp __attribute__((weak, alias("cb_default")));
-command_cb cb_setrolli __attribute__((weak, alias("cb_default")));
-command_cb cb_setrolld __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchp __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchi __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchd __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawp __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawi __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawd __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollratep __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollratei __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollrated __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchratep __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchratei __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawratep __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawratei __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawrated __attribute__((weak, alias("cb_default")));
-command_cb cb_setlocalxp __attribute__((weak, alias("cb_default")));
-command_cb cb_setlocalxi __attribute__((weak, alias("cb_default")));
-command_cb cb_setlocalxd __attribute__((weak, alias("cb_default")));
-command_cb cb_setlocalyp __attribute__((weak, alias("cb_default")));
-command_cb cb_setlocalyi __attribute__((weak, alias("cb_default")));
-command_cb cb_setlocalyd __attribute__((weak, alias("cb_default")));
-command_cb cb_setaltp __attribute__((weak, alias("cb_default")));
-command_cb cb_setalti __attribute__((weak, alias("cb_default")));
-command_cb cb_setaltd __attribute__((weak, alias("cb_default")));
-command_cb cb_setrollsp __attribute__((weak, alias("cb_default")));
-command_cb cb_setpitchsp __attribute__((weak, alias("cb_default")));
-command_cb cb_setyawsp __attribute__((weak, alias("cb_default")));
-command_cb cb_setaltsp __attribute__((weak, alias("cb_default")));
-command_cb cb_setlonsp __attribute__((weak, alias("cb_default")));
-command_cb cb_setlatsp __attribute__((weak, alias("cb_default")));
-
-/* Default callbacks for getters */
-command_cb cb_getrollp __attribute__((weak, alias("cb_default")));
-command_cb cb_getrolli __attribute__((weak, alias("cb_default")));
-command_cb cb_getrolld __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchp __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchi __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchd __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawp __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawi __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawd __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollratep __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollratei __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollrated __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchratep __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchratei __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawratep __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawratei __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawrated __attribute__((weak, alias("cb_default")));
-command_cb cb_getlocalxp __attribute__((weak, alias("cb_default")));
-command_cb cb_getlocalxi __attribute__((weak, alias("cb_default")));
-command_cb cb_getlocalxd __attribute__((weak, alias("cb_default")));
-command_cb cb_getlocalyp __attribute__((weak, alias("cb_default")));
-command_cb cb_getlocalyi __attribute__((weak, alias("cb_default")));
-command_cb cb_getlocalyd __attribute__((weak, alias("cb_default")));
-command_cb cb_getaltp __attribute__((weak, alias("cb_default")));
-command_cb cb_getalti __attribute__((weak, alias("cb_default")));
-command_cb cb_getaltd __attribute__((weak, alias("cb_default")));
-command_cb cb_getrollsp __attribute__((weak, alias("cb_default")));
-command_cb cb_getpitchsp __attribute__((weak, alias("cb_default")));
-command_cb cb_getyawsp __attribute__((weak, alias("cb_default")));
-command_cb cb_getaltsp __attribute__((weak, alias("cb_default")));
-command_cb cb_getlonsp __attribute__((weak, alias("cb_default")));
-command_cb cb_getlatsp __attribute__((weak, alias("cb_default")));
-
-/* Default callbacks for responses */
-command_cb cb_resprollp __attribute__((weak, alias("cb_default")));
-command_cb cb_resprolli __attribute__((weak, alias("cb_default")));
-command_cb cb_resprolld __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchp __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchi __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchd __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawp __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawi __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawd __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollratep __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollratei __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollrated __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchratep __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchratei __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchrated __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawratep __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawratei __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawrated __attribute__((weak, alias("cb_default")));
-command_cb cb_resplocalxp __attribute__((weak, alias("cb_default")));
-command_cb cb_resplocalxi __attribute__((weak, alias("cb_default")));
-command_cb cb_resplocalxd __attribute__((weak, alias("cb_default")));
-command_cb cb_resplocalyp __attribute__((weak, alias("cb_default")));
-command_cb cb_resplocalyi __attribute__((weak, alias("cb_default")));
-command_cb cb_resplocalyd __attribute__((weak, alias("cb_default")));
-command_cb cb_respaltp __attribute__((weak, alias("cb_default")));
-command_cb cb_respalti __attribute__((weak, alias("cb_default")));
-command_cb cb_respaltd __attribute__((weak, alias("cb_default")));
-command_cb cb_resprollsp __attribute__((weak, alias("cb_default")));
-command_cb cb_resppitchsp __attribute__((weak, alias("cb_default")));
-command_cb cb_respyawsp __attribute__((weak, alias("cb_default")));
-command_cb cb_respaltsp __attribute__((weak, alias("cb_default")));
-command_cb cb_resplonsp __attribute__((weak, alias("cb_default")));
-command_cb cb_resplatsp __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 structure */
struct MessageType MessageTypes[MAX_TYPE] =
{
// DEBUG
{
- // Message Type ID: Misc. callbacks
+ // ID
DEBUG_TYPE_ID,
-
- // Debug Subtypes
- {
- // NONE subtype
- {
- // ID
- DEBUG_SUBTYPE_ID,
- // Command text
- "debug",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_debug
- },
- // NONE subtype
- {
- // ID
- PACKETLOG_SUBTYPE_ID,
- // Command text
- "packetlog",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_packetlog
- },
- // NONE subtype
- {
- // ID
- GETPACKETLOGS_SUBTYPE_ID,
- // Command text
- "getpacketlogs",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_getpacketlogs
- }
- }
+ // Command text
+ "debug",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_debug
},
-
- // CALIBRATION
+ // PACKETLOG
{
- // Message Type ID: Callbacks for configuration (setters)
- SETTER_TYPE_ID,
-
- // Calibration Subtypes (PID coefficients)
- {
- // roll p constant subtype
- {
- // ID
- SETROLLP_SUBTYPE_ID,
- // Command text
- "setrollp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollp
- },
- // roll i constant subtype
- {
- // ID
- SETROLLI_SUBTYPE_ID,
- // Command text
- "setrolli",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrolli
- },
- // roll d constant subtype
- {
- // ID
- SETROLLD_SUBTYPE_ID,
- // Command text
- "setrolld",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrolld
- },
- // pitch p constant subtype
- {
- // ID
- SETPITCHP_SUBTYPE_ID,
- // Command text
- "setpitchp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchp
- },
- // pitch i constant subtype
- {
- // ID
- SETPITCHI_SUBTYPE_ID,
- // Command text
- "setpitchi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchi
- },
- // pitch d constant subtype
- {
- // ID
- SETPITCHD_SUBTYPE_ID,
- // Command text
- "setpitchd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchd
- },
- // yaw p constant subtype
- {
- // ID
- SETYAWP_SUBTYPE_ID,
- // Command text
- "setyawp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawp
- },
- // yaw i constant subtype
- {
- // ID
- SETYAWI_SUBTYPE_ID,
- // Command text
- "setyawi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawi
- },
- // yaw d constant subtype
- {
- // ID
- SETYAWD_SUBTYPE_ID,
- // Command text
- "setyawd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawd
- },
- // rollrate p constant subtype
- {
- // ID
- SETROLLRATEP_SUBTYPE_ID,
- // Command text
- "setrollratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollratep
- },
- // rollrate i constant subtype
- {
- // ID
- SETROLLRATEI_SUBTYPE_ID,
- // Command text
- "setrollratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollratei
- },
- // rollrate d constant subtype
- {
- // ID
- SETROLLRATED_SUBTYPE_ID,
- // Command text
- "setrollrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollrated
- },
- // pitchrate p constant subtype
- {
- // ID
- SETPITCHRATEP_SUBTYPE_ID,
- // Command text
- "setpitchratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchratep
- },
- // pitchrate i constant subtype
- {
- // ID
- SETPITCHRATEI_SUBTYPE_ID,
- // Command text
- "setpitchratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchratei
- },
- // pitchrate d constant subtype
- {
- // ID
- SETPITCHRATED_SUBTYPE_ID,
- // Command text
- "setpitchrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchrated
- },
- // yawrate p constant subtype
- {
- // ID
- SETYAWRATEP_SUBTYPE_ID,
- // Command text
- "setyawratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawratep
- },
- // yawrate i constant subtype
- {
- // ID
- SETYAWRATEI_SUBTYPE_ID,
- // Command text
- "setyawratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawratei
- },
- // yawrate d constant subtype
- {
- // ID
- SETYAWRATED_SUBTYPE_ID,
- // Command text
- "setyawrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawrated
- },
- // localx p constant subtype
- {
- // ID
- SETLOCALXP_SUBTYPE_ID,
- // Command text
- "setlocalxp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlocalxp
- },
- // localx i constant subtype
- {
- // ID
- SETLOCALXI_SUBTYPE_ID,
- // Command text
- "setlocalxi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlocalxi
- },
- // localx d constant subtype
- {
- // ID
- SETLOCALXD_SUBTYPE_ID,
- // Command text
- "setlocalxd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlocalxd
- },
- // localy p constant subtype
- {
- // ID
- SETLOCALYP_SUBTYPE_ID,
- // Command text
- "setlocalyp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlocalyp
- },
- // localy i constant subtype
- {
- // ID
- SETLOCALYI_SUBTYPE_ID,
- // Command text
- "setlocalyi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlocalyi
- },
- // localy d constant subtype
- {
- // ID
- SETLOCALYD_SUBTYPE_ID,
- // Command text
- "setlocalyd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlocalyd
- },
- // alt p constant subtype
- {
- // ID
- SETALTP_SUBTYPE_ID,
- // Command text
- "setaltp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setaltp
- },
- // alt i constant subtype
- {
- // ID
- SETALTI_SUBTYPE_ID,
- // Command text
- "setalti",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setalti
- },
- // alt d constant subtype
- {
- // ID
- SETALTD_SUBTYPE_ID,
- // Command text
- "setaltd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setaltd
- },
- // rollsp setpoint subtype
- {
- // ID
- SETROLLSP_SUBTYPE_ID,
- // Command text
- "setrollsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setrollsp
- },
- // pitchsp setpoint subtype
- {
- // ID
- SETPITCHSP_SUBTYPE_ID,
- // Command text
- "setpitchsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setpitchsp
- },
- // yawsp setpoint subtype
- {
- // ID
- SETYAWSP_SUBTYPE_ID,
- // Command text
- "setyawsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawsp
- },
- // altsp setpoint subtype
- {
- // ID
- SETALTSP_SUBTYPE_ID,
- // Command text
- "setaltsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setaltsp
- },
- // lonsp setpoint subtype
- {
- // ID
- SETLONSP_SUBTYPE_ID,
- // Command text
- "setlonsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlonsp
- },
- // latsp setpoint subtype
- {
- // ID
- SETLATSP_SUBTYPE_ID,
- // Command text
- "setlatsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setlatsp
- }
- }
+ // ID
+ PACKETLOG_TYPE_ID,
+ // Command text
+ "packetlog",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_packetlog
},
-
- // REQUEST
+ // GETPACKETLOGS
{
- // Message Type ID
- GETTER_TYPE_ID,
-
- // Calibration Subtypes (PID coefficients)
- {
- // roll p constant subtype
- {
- // ID
- GETROLLP_SUBTYPE_ID,
- // Command text
- "getrollp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollp
- },
- // roll i constant subtype
- {
- // ID
- GETROLLI_SUBTYPE_ID,
- // Command text
- "getrolli",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrolli
- },
- // roll d constant subtype
- {
- // ID
- GETROLLD_SUBTYPE_ID,
- // Command text
- "getrolld",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrolld
- },
- // pitch p constant subtype
- {
- // ID
- GETPITCHP_SUBTYPE_ID,
- // Command text
- "getpitchp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchp
- },
- // pitch i constant subtype
- {
- // ID
- GETPITCHI_SUBTYPE_ID,
- // Command text
- "getpitchi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchi
- },
- // pitch d constant subtype
- {
- // ID
- GETPITCHD_SUBTYPE_ID,
- // Command text
- "getpitchd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchd
- },
- // yaw p constant subtype
- {
- // ID
- GETYAWP_SUBTYPE_ID,
- // Command text
- "getyawp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawp
- },
- // yaw i constant subtype
- {
- // ID
- GETYAWI_SUBTYPE_ID,
- // Command text
- "getyawi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawi
- },
- // yaw d constant subtype
- {
- // ID
- GETYAWD_SUBTYPE_ID,
- // Command text
- "getyawd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawd
- },
- // rollrate p constant subtype
- {
- // ID
- GETROLLRATEP_SUBTYPE_ID,
- // Command text
- "getrollratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollratep
- },
- // rollrate i constant subtype
- {
- // ID
- GETROLLRATEI_SUBTYPE_ID,
- // Command text
- "getrollratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollratei
- },
- // rollrate d constant subtype
- {
- // ID
- GETROLLRATED_SUBTYPE_ID,
- // Command text
- "getrollrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollrated
- },
- // pitchrate p constant subtype
- {
- // ID
- GETPITCHRATEP_SUBTYPE_ID,
- // Command text
- "getpitchratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchratep
- },
- // pitchrate i constant subtype
- {
- // ID
- GETPITCHRATEI_SUBTYPE_ID,
- // Command text
- "getpitchratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchratei
- },
- // pitchrate d constant subtype
- {
- // ID
- GETPITCHRATED_SUBTYPE_ID,
- // Command text
- "getpitchrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchrated
- },
- // yawrate p constant subtype
- {
- // ID
- GETYAWRATEP_SUBTYPE_ID,
- // Command text
- "getyawratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawratep
- },
- // yawrate i constant subtype
- {
- // ID
- GETYAWRATEI_SUBTYPE_ID,
- // Command text
- "getyawratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawratei
- },
- // yawrate d constant subtype
- {
- // ID
- GETYAWRATED_SUBTYPE_ID,
- // Command text
- "getyawrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawrated
- },
- // localx p constant subtype
- {
- // ID
- GETLOCALXP_SUBTYPE_ID,
- // Command text
- "getlocalxp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlocalxp
- },
- // localx i constant subtype
- {
- // ID
- GETLOCALXI_SUBTYPE_ID,
- // Command text
- "getlocalxi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlocalxi
- },
- // localx d constant subtype
- {
- // ID
- GETLOCALXD_SUBTYPE_ID,
- // Command text
- "getlocalxd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlocalxd
- },
- // localy p constant subtype
- {
- // ID
- GETLOCALYP_SUBTYPE_ID,
- // Command text
- "getlocalyp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlocalyp
- },
- // localy i constant subtype
- {
- // ID
- GETLOCALYI_SUBTYPE_ID,
- // Command text
- "getlocalyi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlocalyi
- },
- // localy d constant subtype
- {
- // ID
- GETLOCALYD_SUBTYPE_ID,
- // Command text
- "getlocalyd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlocalyd
- },
- // alt p constant subtype
- {
- // ID
- GETALTP_SUBTYPE_ID,
- // Command text
- "getaltp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getaltp
- },
- // alt i constant subtype
- {
- // ID
- GETALTI_SUBTYPE_ID,
- // Command text
- "getalti",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getalti
- },
- // alt d constant subtype
- {
- // ID
- GETALTD_SUBTYPE_ID,
- // Command text
- "getaltd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getaltd
- },
- // rollsp setpoint subtype
- {
- // ID
- GETROLLSP_SUBTYPE_ID,
- // Command text
- "getrollsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getrollsp
- },
- // pitchsp getpoint subtype
- {
- // ID
- GETPITCHSP_SUBTYPE_ID,
- // Command text
- "getpitchsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getpitchsp
- },
- // yawsp getpoint subtype
- {
- // ID
- GETYAWSP_SUBTYPE_ID,
- // Command text
- "getyawsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getyawsp
- },
- // altsp getpoint subtype
- {
- // ID
- GETALTSP_SUBTYPE_ID,
- // Command text
- "getaltsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getaltsp
- },
- // lonsp getpoint subtype
- {
- // ID
- GETLONSP_SUBTYPE_ID,
- // Command text
- "getlonsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlonsp
- },
- // latsp getpoint subtype
- {
- // ID
- GETLATSP_SUBTYPE_ID,
- // Command text
- "getlatsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getlatsp
- }
-
- }
- },
-
- // RESPONSE
- {
- // Message Type ID
- RESP_TYPE_ID,
-
- // Calibration Subtypes (PID coefficients)
- {
- // roll p constant subtype
- {
- // ID
- RESPROLLP_SUBTYPE_ID,
- // Command text
- "resprollp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollp
- },
- // roll i constant subtype
- {
- // ID
- RESPROLLI_SUBTYPE_ID,
- // Command text
- "resprolli",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprolli
- },
- // roll d constant subtype
- {
- // ID
- RESPROLLD_SUBTYPE_ID,
- // Command text
- "resprolld",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprolld
- },
- // pitch p constant subtype
- {
- // ID
- RESPPITCHP_SUBTYPE_ID,
- // Command text
- "resppitchp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchp
- },
- // pitch i constant subtype
- {
- // ID
- RESPPITCHI_SUBTYPE_ID,
- // Command text
- "resppitchi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchi
- },
- // pitch d constant subtype
- {
- // ID
- RESPPITCHD_SUBTYPE_ID,
- // Command text
- "resppitchd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchd
- },
- // yaw p constant subtype
- {
- // ID
- RESPYAWP_SUBTYPE_ID,
- // Command text
- "respyawp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawp
- },
- // yaw i constant subtype
- {
- // ID
- RESPYAWI_SUBTYPE_ID,
- // Command text
- "respyawi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawi
- },
- // yaw d constant subtype
- {
- // ID
- RESPYAWD_SUBTYPE_ID,
- // Command text
- "respyawd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawd
- },
- // rollrate p constant subtype
- {
- // ID
- RESPROLLRATEP_SUBTYPE_ID,
- // Command text
- "resprollratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollratep
- },
- // rollrate i constant subtype
- {
- // ID
- RESPROLLRATEI_SUBTYPE_ID,
- // Command text
- "resprollratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollratei
- },
- // rollrate d constant subtype
- {
- // ID
- RESPROLLRATED_SUBTYPE_ID,
- // Command text
- "resprollrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollrated
- },
- // pitchrate p constant subtype
- {
- // ID
- RESPPITCHRATEP_SUBTYPE_ID,
- // Command text
- "resppitchratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchratep
- },
- // pitchrate i constant subtype
- {
- // ID
- RESPPITCHRATEI_SUBTYPE_ID,
- // Command text
- "resppitchratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchratei
- },
- // pitchrate d constant subtype
- {
- // ID
- RESPPITCHRATED_SUBTYPE_ID,
- // Command text
- "resppitchrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchrated
- },
- // yawrate p constant subtype
- {
- // ID
- RESPYAWRATEP_SUBTYPE_ID,
- // Command text
- "respyawratep",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawratep
- },
- // yawrate i constant subtype
- {
- // ID
- RESPYAWRATEI_SUBTYPE_ID,
- // Command text
- "respyawratei",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawratei
- },
- // yawrate d constant subtype
- {
- // ID
- RESPYAWRATED_SUBTYPE_ID,
- // Command text
- "respyawrated",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawrated
- },
- // localx p constant subtype
- {
- // ID
- RESPLOCALXP_SUBTYPE_ID,
- // Command text
- "resplocalxp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplocalxp
- },
- // localx i constant subtype
- {
- // ID
- RESPLOCALXI_SUBTYPE_ID,
- // Command text
- "resplocalxi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplocalxi
- },
- // localx d constant subtype
- {
- // ID
- RESPLOCALXD_SUBTYPE_ID,
- // Command text
- "resplocalxd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplocalxd
- },
- // localy p constant subtype
- {
- // ID
- RESPLOCALYP_SUBTYPE_ID,
- // Command text
- "resplocalyp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplocalyp
- },
- // localy i constant subtype
- {
- // ID
- RESPLOCALYI_SUBTYPE_ID,
- // Command text
- "resplocalyi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplocalyi
- },
- // localy d constant subtype
- {
- // ID
- RESPLOCALYD_SUBTYPE_ID,
- // Command text
- "resplocalyd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplocalyd
- },
- // alt p constant subtype
- {
- // ID
- RESPALTP_SUBTYPE_ID,
- // Command text
- "respaltp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respaltp
- },
- // alt i constant subtype
- {
- // ID
- RESPALTI_SUBTYPE_ID,
- // Command text
- "respalti",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respalti
- },
- // alt d constant subtype
- {
- // ID
- RESPALTD_SUBTYPE_ID,
- // Command text
- "respaltd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respaltd
- },
- // rollsp setpoint subtype
- {
- // ID
- RESPROLLSP_SUBTYPE_ID,
- // Command text
- "resprollsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resprollsp
- },
- // pitchsp resppoint subtype
- {
- // ID
- RESPPITCHSP_SUBTYPE_ID,
- // Command text
- "resppitchsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resppitchsp
- },
- // yawsp resppoint subtype
- {
- // ID
- RESPYAWSP_SUBTYPE_ID,
- // Command text
- "respyawsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respyawsp
- },
- // altsp resppoint subtype
- {
- // ID
- RESPALTSP_SUBTYPE_ID,
- // Command text
- "respaltsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respaltsp
- },
- // lonsp resppoint subtype
- {
- // ID
- RESPLONSP_SUBTYPE_ID,
- // Command text
- "resplonsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplonsp
- },
- // latsp resppoint subtype
- {
- // ID
- RESPLATSP_SUBTYPE_ID,
- // Command text
- "resplatsp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_resplatsp
- }
- }
+ // ID
+ GETPACKETLOGS_TYPE_ID,
+ // Command text
+ "getpacketlogs",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_getpacketlogs
},
// UPDATE
{
- // Message Type ID
+ // ID
UPDATE_TYPE_ID,
-
- // Update Subtypes
- {
- // NONE subtype
- {
- // ID
- UPDATE_SUBTYPE_ID,
- // Command text
- "update",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_update
- },
- // BEGIN update
- {
- // ID
- BEGINUPDATE_SUBTYPE_ID,
- // Command text
- "beginupdate",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_beginupdate
- }
- }
+ // Command text
+ "update",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_update
+ },
+ // BEGINUPDATE
+ {
+ // ID
+ BEGINUPDATE_TYPE_ID,
+ // Command text
+ "beginupdate",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_beginupdate
},
-
// LOG
{
- // Message Type ID
+ // ID
LOG_TYPE_ID,
-
- // Log Subtypes
- {
- // NONE subtype
- {
- // ID
- LOG_SUBTYPE_ID,
- // Command text
- "log",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_log
- },
- // Response subtype
- {
- // ID
- RESPONSE_SUBTYPE_ID,
- // Command text
- "response",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_response
- }
- }
+ // Command text
+ "log",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_log
},
+ // RESPONSE
+ {
+ // ID
+ RESPONSE_TYPE_ID,
+ // Command text
+ "response",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_response
+ },
+ // SETVAL
+ {
+ // ID
+ SETVAL_TYPE_ID,
+ // Command text
+ "setval",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_setval
+ },
+ // GETVAL
+ {
+ // ID
+ GETVAL_TYPE_ID,
+ // Command text
+ "getval",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_getval
+ },
+ // RESPVAL
+ {
+ // ID
+ RESPVAL_TYPE_ID,
+ // Command text
+ "respval",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respval
+ }
};
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 9e57ae11a..e54e0ee5a 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -10,9 +10,6 @@
// ----------------------
// Helper stuff
-#define MAX_TYPE 6
-#define MAX_SUBTYPE 100
-
enum Message{
BEGIN_CHAR = 0xBE,
END_CHAR = 0xED
@@ -26,20 +23,31 @@ enum DataType
stringType
};
+// message type IDs used to know what kind of message we are dealing with
+// 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,
+ GETVAL_TYPE_ID,
+ RESPVAL_TYPE_ID,
+ // This last type is just used to keep track of the size
+ MAX_TYPE
+};
+
// MESSAGE SUBTYPES
-struct MessageSubtype{
+struct MessageType{
char ID;
char cmdText[100];
char cmdDataType;
command_cb * functionPtr;
};
-// MESSAGE TYPES
-struct MessageType{
- char ID;
- struct MessageSubtype subtypes[MAX_SUBTYPE];
-};
-
/* Defined in commands.c */
extern struct MessageType MessageTypes[MAX_TYPE];
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index d04c3d828..4cf2d6937 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -73,7 +73,7 @@ int cb_beginupdate(modular_structs_t *structs) {
}
-/* Callbacks for configuration (setters)*/
+/* Callbacks for configuration */
int cb_setrollp(modular_structs_t *structs)
{
--
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