From 41b8f805a8cd673786b465ac8ee5dc379e569cce Mon Sep 17 00:00:00 2001
From: Joe Bush <jpbush@iastate.edu>
Date: Fri, 27 Jan 2017 15:57:12 -0600
Subject: [PATCH] added new commands to commands.c and quad's callbacks. also
reorganized the ordering of the commands in commands.c added a enum for
message types and subtype but this will get removed on the next commit
---
groundStation/src/backend/commands.c | 826 +++++++++---------
groundStation/src/backend/commands.h | 136 +++
quad/sw/modular_quad_pid/src/callbacks.c | 118 +--
.../src/initialize_components.c | 2 +-
4 files changed, 594 insertions(+), 488 deletions(-)
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index 67d8d4735..5c42238af 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -56,130 +56,124 @@ 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_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_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_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_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_setxp __attribute__((weak, alias("cb_default")));
-command_cb cb_setxi __attribute__((weak, alias("cb_default")));
-command_cb cb_setxd __attribute__((weak, alias("cb_default")));
-command_cb cb_setyp __attribute__((weak, alias("cb_default")));
-command_cb cb_setyi __attribute__((weak, alias("cb_default")));
-command_cb cb_setyd __attribute__((weak, alias("cb_default")));
-command_cb cb_setheightp __attribute__((weak, alias("cb_default")));
-command_cb cb_setheighti __attribute__((weak, alias("cb_default")));
-command_cb cb_setheightd __attribute__((weak, alias("cb_default")));
-command_cb cb_setheight __attribute__((weak, alias("cb_default")));
-command_cb cb_setx __attribute__((weak, alias("cb_default")));
-command_cb cb_sety __attribute__((weak, alias("cb_default")));
-command_cb cb_setlon __attribute__((weak, alias("cb_default")));
-command_cb cb_setlat __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")));
+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_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_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_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_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_getxp __attribute__((weak, alias("cb_default")));
-command_cb cb_getxi __attribute__((weak, alias("cb_default")));
-command_cb cb_getxd __attribute__((weak, alias("cb_default")));
-command_cb cb_getyp __attribute__((weak, alias("cb_default")));
-command_cb cb_getyi __attribute__((weak, alias("cb_default")));
-command_cb cb_getyd __attribute__((weak, alias("cb_default")));
-command_cb cb_getheightp __attribute__((weak, alias("cb_default")));
-command_cb cb_getheighti __attribute__((weak, alias("cb_default")));
-command_cb cb_getheightd __attribute__((weak, alias("cb_default")));
-command_cb cb_getheight __attribute__((weak, alias("cb_default")));
-command_cb cb_getx __attribute__((weak, alias("cb_default")));
-command_cb cb_gety __attribute__((weak, alias("cb_default")));
-command_cb cb_getlon __attribute__((weak, alias("cb_default")));
-command_cb cb_getlat __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")));
+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_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_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_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_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_respxp __attribute__((weak, alias("cb_default")));
-command_cb cb_respxi __attribute__((weak, alias("cb_default")));
-command_cb cb_respxd __attribute__((weak, alias("cb_default")));
-command_cb cb_respyp __attribute__((weak, alias("cb_default")));
-command_cb cb_respyi __attribute__((weak, alias("cb_default")));
-command_cb cb_respyd __attribute__((weak, alias("cb_default")));
-command_cb cb_respheightp __attribute__((weak, alias("cb_default")));
-command_cb cb_respheighti __attribute__((weak, alias("cb_default")));
-command_cb cb_respheightd __attribute__((weak, alias("cb_default")));
-command_cb cb_respheight __attribute__((weak, alias("cb_default")));
-command_cb cb_respx __attribute__((weak, alias("cb_default")));
-command_cb cb_respy __attribute__((weak, alias("cb_default")));
-command_cb cb_resplon __attribute__((weak, alias("cb_default")));
-command_cb cb_resplat __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_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")));
/* Command structure */
struct MessageType MessageTypes[MAX_TYPE] =
{
// DEBUG
{
- // Message Type ID
- 0x00,
+ // Message Type ID: Misc. callbacks
+ DEBUG_TYPE_ID,
// Debug Subtypes
{
// NONE subtype
{
// ID
- 0x00,
+ DEBUG_SUBTYPE_ID,
// Command text
"debug",
// Type of the command data
@@ -190,7 +184,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// NONE subtype
{
// ID
- 0x01,
+ PACKETLOG_SUBTYPE_ID,
// Command text
"packetlog",
// Type of the command data
@@ -201,7 +195,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// NONE subtype
{
// ID
- 0x02,
+ GETPACKETLOGS_SUBTYPE_ID,
// Command text
"getpacketlogs",
// Type of the command data
@@ -214,48 +208,15 @@ struct MessageType MessageTypes[MAX_TYPE] =
// CALIBRATION
{
- // Message Type ID
- 0x01,
+ // Message Type ID: Callbacks for configuration (setters)
+ SETTER_TYPE_ID,
// Calibration Subtypes (PID coefficients)
{
- // yaw p constant subtype
- {
- // ID
- 0x00,
- // Command text
- "setyawp",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawp
- },
- // yaw i constant subtype
- {
- // ID
- 0x01,
- // Command text
- "setyawi",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawi
- },
- // yaw d constant subtype
- {
- // ID
- 0x02,
- // Command text
- "setyawd",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setyawd
- },
// roll p constant subtype
{
// ID
- 0x03,
+ SETROLLP_SUBTYPE_ID,
// Command text
"setrollp",
// Type of the command data
@@ -266,7 +227,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// roll i constant subtype
{
// ID
- 0x04,
+ SETROLLI_SUBTYPE_ID,
// Command text
"setrolli",
// Type of the command data
@@ -277,7 +238,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// roll d constant subtype
{
// ID
- 0x05,
+ SETROLLD_SUBTYPE_ID,
// Command text
"setrolld",
// Type of the command data
@@ -288,7 +249,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch p constant subtype
{
// ID
- 0x06,
+ SETPITCHP_SUBTYPE_ID,
// Command text
"setpitchp",
// Type of the command data
@@ -299,7 +260,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch i constant subtype
{
// ID
- 0x07,
+ SETPITCHI_SUBTYPE_ID,
// Command text
"setpitchi",
// Type of the command data
@@ -310,7 +271,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch d constant subtype
{
// ID
- 0x08,
+ SETPITCHD_SUBTYPE_ID,
// Command text
"setpitchd",
// Type of the command data
@@ -318,43 +279,43 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_setpitchd
},
- // yawrate p constant subtype
+ // yaw p constant subtype
{
// ID
- 0x09,
+ SETYAWP_SUBTYPE_ID,
// Command text
- "setyawratep",
+ "setyawp",
// Type of the command data
floatType,
// Function pointer
- &cb_setyawratep
+ &cb_setyawp
},
- // yawrate i constant subtype
+ // yaw i constant subtype
{
// ID
- 0x0A,
+ SETYAWI_SUBTYPE_ID,
// Command text
- "setyawratei",
+ "setyawi",
// Type of the command data
floatType,
// Function pointer
- &cb_setyawratei
+ &cb_setyawi
},
- // yawrate d constant subtype
+ // yaw d constant subtype
{
// ID
- 0x0B,
+ SETYAWD_SUBTYPE_ID,
// Command text
- "setyawrated",
+ "setyawd",
// Type of the command data
floatType,
// Function pointer
- &cb_setyawrated
+ &cb_setyawd
},
// rollrate p constant subtype
{
// ID
- 0x0C,
+ SETROLLRATEP_SUBTYPE_ID,
// Command text
"setrollratep",
// Type of the command data
@@ -365,7 +326,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// rollrate i constant subtype
{
// ID
- 0x0D,
+ SETROLLRATEI_SUBTYPE_ID,
// Command text
"setrollratei",
// Type of the command data
@@ -376,7 +337,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// rollrate d constant subtype
{
// ID
- 0x0E,
+ SETROLLRATED_SUBTYPE_ID,
// Command text
"setrollrated",
// Type of the command data
@@ -387,7 +348,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate p constant subtype
{
// ID
- 0x0F,
+ SETPITCHRATEP_SUBTYPE_ID,
// Command text
"setpitchratep",
// Type of the command data
@@ -398,7 +359,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate i constant subtype
{
// ID
- 0x10,
+ SETPITCHRATEI_SUBTYPE_ID,
// Command text
"setpitchratei",
// Type of the command data
@@ -409,7 +370,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate d constant subtype
{
// ID
- 0x11,
+ SETPITCHRATED_SUBTYPE_ID,
// Command text
"setpitchrated",
// Type of the command data
@@ -417,218 +378,218 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_setpitchrated
},
- // height p constant subtype
+ // yawrate p constant subtype
{
// ID
- 0x12,
+ SETYAWRATEP_SUBTYPE_ID,
// Command text
- "setheightp",
+ "setyawratep",
// Type of the command data
floatType,
// Function pointer
- &cb_setheightp
+ &cb_setyawratep
},
- // height i constant subtype
+ // yawrate i constant subtype
{
// ID
- 0x13,
+ SETYAWRATEI_SUBTYPE_ID,
// Command text
- "setheighti",
+ "setyawratei",
// Type of the command data
floatType,
// Function pointer
- &cb_setheighti
+ &cb_setyawratei
},
- // height d constant subtype
+ // yawrate d constant subtype
{
// ID
- 0x14,
+ SETYAWRATED_SUBTYPE_ID,
// Command text
- "setheightd",
+ "setyawrated",
// Type of the command data
floatType,
// Function pointer
- &cb_setheightd
+ &cb_setyawrated
},
- // x p constant subtype
+ // localx p constant subtype
{
// ID
- 0x15,
+ SETLOCALXP_SUBTYPE_ID,
// Command text
- "setxp",
+ "setlocalxp",
// Type of the command data
floatType,
// Function pointer
- &cb_setxp
+ &cb_setlocalxp
},
- // x i constant subtype
+ // localx i constant subtype
{
// ID
- 0x16,
+ SETLOCALXI_SUBTYPE_ID,
// Command text
- "setxi",
+ "setlocalxi",
// Type of the command data
floatType,
// Function pointer
- &cb_setxi
+ &cb_setlocalxi
},
- // x d constant subtype
+ // localx d constant subtype
{
// ID
- 0x17,
+ SETLOCALXD_SUBTYPE_ID,
// Command text
- "setxd",
+ "setlocalxd",
// Type of the command data
floatType,
// Function pointer
- &cb_setxd
+ &cb_setlocalxd
},
- // y p constant subtype
+ // localy p constant subtype
{
// ID
- 0x18,
+ SETLOCALYP_SUBTYPE_ID,
// Command text
- "setyp",
+ "setlocalyp",
// Type of the command data
floatType,
// Function pointer
- &cb_setyp
+ &cb_setlocalyp
},
- // y i constant subtype
+ // localy i constant subtype
{
// ID
- 0x19,
+ SETLOCALYI_SUBTYPE_ID,
// Command text
- "setyi",
+ "setlocalyi",
// Type of the command data
floatType,
// Function pointer
- &cb_setyi
+ &cb_setlocalyi
},
- // y d constant subtype
+ // localy d constant subtype
{
// ID
- 0x1A,
+ SETLOCALYD_SUBTYPE_ID,
// Command text
- "setyd",
+ "setlocalyd",
// Type of the command data
floatType,
// Function pointer
- &cb_setyd
+ &cb_setlocalyd
},
- // height setpoint subtype
+ // alt p constant subtype
{
// ID
- 0x1B,
+ SETALTP_SUBTYPE_ID,
// Command text
- "setheight",
+ "setaltp",
// Type of the command data
floatType,
// Function pointer
- &cb_setheight
+ &cb_setaltp
},
- // x setpoint subtype
+ // alt i constant subtype
{
// ID
- 0x1C,
+ SETALTI_SUBTYPE_ID,
// Command text
- "setx",
+ "setalti",
// Type of the command data
floatType,
// Function pointer
- &cb_setx
+ &cb_setalti
},
- // y setpoint subtype
+ // alt d constant subtype
{
// ID
- 0x1D,
+ SETALTD_SUBTYPE_ID,
// Command text
- "sety",
+ "setaltd",
// Type of the command data
floatType,
// Function pointer
- &cb_sety
+ &cb_setaltd
},
- // yaw setpoint subtype
+ // rollsp setpoint subtype
{
// ID
- 0x1E,
+ SETROLLSP_SUBTYPE_ID,
// Command text
- "setyaw",
+ "setrollsp",
// Type of the command data
floatType,
// Function pointer
- &cb_setyaw
+ &cb_setrollsp
},
- // pitch setpoint subtype
+ // pitchsp setpoint subtype
{
// ID
- 0x1F,
+ SETPITCHSP_SUBTYPE_ID,
// Command text
- "setpitch",
+ "setpitchsp",
// Type of the command data
floatType,
// Function pointer
- &cb_setpitch
+ &cb_setpitchsp
},
- // roll setpoint subtype
+ // yawsp setpoint subtype
{
// ID
- 0x20,
+ SETYAWSP_SUBTYPE_ID,
// Command text
- "setroll",
+ "setyawsp",
// Type of the command data
floatType,
// Function pointer
- &cb_setroll
- }
- }
- },
-
- // REQUEST
- {
- // Message Type ID
- 0x02,
-
- // Calibration Subtypes (PID coefficients)
- {
- // yaw p constant subtype
+ &cb_setyawsp
+ },
+ // altsp setpoint subtype
{
// ID
- 0x00,
+ SETALTSP_SUBTYPE_ID,
// Command text
- "getyawp",
+ "setaltsp",
// Type of the command data
floatType,
// Function pointer
- &cb_getyawp
+ &cb_setaltsp
},
- // yaw i constant subtype
+ // lonsp setpoint subtype
{
// ID
- 0x01,
+ SETLONSP_SUBTYPE_ID,
// Command text
- "getyawi",
+ "setlonsp",
// Type of the command data
floatType,
// Function pointer
- &cb_getyawi
+ &cb_setlonsp
},
- // yaw d constant subtype
+ // latsp setpoint subtype
{
// ID
- 0x02,
+ SETLATSP_SUBTYPE_ID,
// Command text
- "getyawd",
+ "setlatsp",
// Type of the command data
floatType,
// Function pointer
- &cb_getyawd
- },
+ &cb_setlatsp
+ }
+ }
+ },
+
+ // REQUEST
+ {
+ // Message Type ID
+ GETTER_TYPE_ID,
+
+ // Calibration Subtypes (PID coefficients)
+ {
// roll p constant subtype
{
// ID
- 0x03,
+ GETROLLP_SUBTYPE_ID,
// Command text
"getrollp",
// Type of the command data
@@ -639,7 +600,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// roll i constant subtype
{
// ID
- 0x04,
+ GETROLLI_SUBTYPE_ID,
// Command text
"getrolli",
// Type of the command data
@@ -650,7 +611,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// roll d constant subtype
{
// ID
- 0x05,
+ GETROLLD_SUBTYPE_ID,
// Command text
"getrolld",
// Type of the command data
@@ -661,7 +622,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch p constant subtype
{
// ID
- 0x06,
+ GETPITCHP_SUBTYPE_ID,
// Command text
"getpitchp",
// Type of the command data
@@ -672,7 +633,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch i constant subtype
{
// ID
- 0x07,
+ GETPITCHI_SUBTYPE_ID,
// Command text
"getpitchi",
// Type of the command data
@@ -683,7 +644,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch d constant subtype
{
// ID
- 0x08,
+ GETPITCHD_SUBTYPE_ID,
// Command text
"getpitchd",
// Type of the command data
@@ -691,43 +652,43 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_getpitchd
},
- // yawrate p constant subtype
+ // yaw p constant subtype
{
// ID
- 0x09,
+ GETYAWP_SUBTYPE_ID,
// Command text
- "getyawratep",
+ "getyawp",
// Type of the command data
floatType,
// Function pointer
- &cb_getyawratep
+ &cb_getyawp
},
- // yawrate i constant subtype
+ // yaw i constant subtype
{
// ID
- 0x0A,
+ GETYAWI_SUBTYPE_ID,
// Command text
- "getyawratei",
+ "getyawi",
// Type of the command data
floatType,
// Function pointer
- &cb_getyawratei
+ &cb_getyawi
},
- // yawrate d constant subtype
+ // yaw d constant subtype
{
// ID
- 0x0B,
+ GETYAWD_SUBTYPE_ID,
// Command text
- "getyawrated",
+ "getyawd",
// Type of the command data
floatType,
// Function pointer
- &cb_getyawrated
+ &cb_getyawd
},
// rollrate p constant subtype
{
// ID
- 0x0C,
+ GETROLLRATEP_SUBTYPE_ID,
// Command text
"getrollratep",
// Type of the command data
@@ -738,7 +699,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// rollrate i constant subtype
{
// ID
- 0x0D,
+ GETROLLRATEI_SUBTYPE_ID,
// Command text
"getrollratei",
// Type of the command data
@@ -749,7 +710,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// rollrate d constant subtype
{
// ID
- 0x0E,
+ GETROLLRATED_SUBTYPE_ID,
// Command text
"getrollrated",
// Type of the command data
@@ -760,7 +721,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate p constant subtype
{
// ID
- 0x0F,
+ GETPITCHRATEP_SUBTYPE_ID,
// Command text
"getpitchratep",
// Type of the command data
@@ -771,7 +732,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate i constant subtype
{
// ID
- 0x10,
+ GETPITCHRATEI_SUBTYPE_ID,
// Command text
"getpitchratei",
// Type of the command data
@@ -782,7 +743,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate d constant subtype
{
// ID
- 0x11,
+ GETPITCHRATED_SUBTYPE_ID,
// Command text
"getpitchrated",
// Type of the command data
@@ -790,219 +751,219 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_getpitchrated
},
- // height p constant subtype
+ // yawrate p constant subtype
{
// ID
- 0x12,
+ GETYAWRATEP_SUBTYPE_ID,
// Command text
- "getheightp",
+ "getyawratep",
// Type of the command data
floatType,
// Function pointer
- &cb_getheightp
+ &cb_getyawratep
},
- // height i constant subtype
+ // yawrate i constant subtype
{
// ID
- 0x13,
+ GETYAWRATEI_SUBTYPE_ID,
// Command text
- "getheighti",
+ "getyawratei",
// Type of the command data
floatType,
// Function pointer
- &cb_getheighti
+ &cb_getyawratei
},
- // height d constant subtype
+ // yawrate d constant subtype
{
// ID
- 0x14,
+ GETYAWRATED_SUBTYPE_ID,
// Command text
- "getheightd",
+ "getyawrated",
// Type of the command data
floatType,
// Function pointer
- &cb_getheightd
+ &cb_getyawrated
},
- // x p constant subtype
+ // localx p constant subtype
{
// ID
- 0x15,
+ GETLOCALXP_SUBTYPE_ID,
// Command text
- "getxp",
+ "getlocalxp",
// Type of the command data
floatType,
// Function pointer
- &cb_getxp
+ &cb_getlocalxp
},
- // x i constant subtype
+ // localx i constant subtype
{
// ID
- 0x16,
+ GETLOCALXI_SUBTYPE_ID,
// Command text
- "getxi",
+ "getlocalxi",
// Type of the command data
floatType,
// Function pointer
- &cb_getxi
+ &cb_getlocalxi
},
- // x d constant subtype
+ // localx d constant subtype
{
// ID
- 0x17,
+ GETLOCALXD_SUBTYPE_ID,
// Command text
- "getxd",
+ "getlocalxd",
// Type of the command data
floatType,
// Function pointer
- &cb_getxd
+ &cb_getlocalxd
},
- // y p constant subtype
+ // localy p constant subtype
{
// ID
- 0x18,
+ GETLOCALYP_SUBTYPE_ID,
// Command text
- "getyp",
+ "getlocalyp",
// Type of the command data
floatType,
// Function pointer
- &cb_getyp
+ &cb_getlocalyp
},
- // y i constant subtype
+ // localy i constant subtype
{
// ID
- 0x19,
+ GETLOCALYI_SUBTYPE_ID,
// Command text
- "getyi",
+ "getlocalyi",
// Type of the command data
floatType,
// Function pointer
- &cb_getyi
+ &cb_getlocalyi
},
- // y d constant subtype
+ // localy d constant subtype
{
// ID
- 0x1A,
+ GETLOCALYD_SUBTYPE_ID,
// Command text
- "getyd",
+ "getlocalyd",
// Type of the command data
floatType,
// Function pointer
- &cb_getyd
+ &cb_getlocalyd
},
- // height setpoint subtype
+ // alt p constant subtype
{
// ID
- 0x1B,
+ GETALTP_SUBTYPE_ID,
// Command text
- "getheight",
+ "getaltp",
// Type of the command data
floatType,
// Function pointer
- &cb_getheight
+ &cb_getaltp
},
- // x getpoint subtype
+ // alt i constant subtype
{
// ID
- 0x1C,
+ GETALTI_SUBTYPE_ID,
// Command text
- "getx",
+ "getalti",
// Type of the command data
floatType,
// Function pointer
- &cb_getx
+ &cb_getalti
},
- // y getpoint subtype
+ // alt d constant subtype
{
// ID
- 0x1D,
+ GETALTD_SUBTYPE_ID,
// Command text
- "gety",
+ "getaltd",
// Type of the command data
floatType,
// Function pointer
- &cb_gety
+ &cb_getaltd
},
- // yaw getpoint subtype
+ // rollsp setpoint subtype
{
// ID
- 0x1E,
+ GETROLLSP_SUBTYPE_ID,
// Command text
- "getyaw",
+ "getrollsp",
// Type of the command data
floatType,
// Function pointer
- &cb_getyaw
+ &cb_getrollsp
},
- // pitch getpoint subtype
+ // pitchsp getpoint subtype
{
// ID
- 0x1F,
+ GETPITCHSP_SUBTYPE_ID,
// Command text
- "getpitch",
+ "getpitchsp",
// Type of the command data
floatType,
// Function pointer
- &cb_getpitch
+ &cb_getpitchsp
},
- // roll getpoint subtype
+ // yawsp getpoint subtype
{
// ID
- 0x20,
+ GETYAWSP_SUBTYPE_ID,
// Command text
- "getroll",
+ "getyawsp",
// Type of the command data
floatType,
// Function pointer
- &cb_getroll
- }
-
- }
- },
-
- // RESPONSE
- {
- // Message Type ID
- 0x03,
-
- // Calibration Subtypes (PID coefficients)
- {
- // yaw p constant subtype
+ &cb_getyawsp
+ },
+ // altsp getpoint subtype
{
// ID
- 0x00,
+ GETALTSP_SUBTYPE_ID,
// Command text
- "respyawp",
+ "getaltsp",
// Type of the command data
floatType,
// Function pointer
- &cb_respyawp
+ &cb_getaltsp
},
- // yaw i constant subtype
+ // lonsp getpoint subtype
{
// ID
- 0x01,
+ GETLONSP_SUBTYPE_ID,
// Command text
- "respyawi",
+ "getlonsp",
// Type of the command data
floatType,
// Function pointer
- &cb_respyawi
+ &cb_getlonsp
},
- // yaw d constant subtype
+ // latsp getpoint subtype
{
// ID
- 0x02,
+ GETLATSP_SUBTYPE_ID,
// Command text
- "respyawd",
+ "getlatsp",
// Type of the command data
floatType,
// Function pointer
- &cb_respyawd
- },
+ &cb_getlatsp
+ }
+
+ }
+ },
+
+ // RESPONSE
+ {
+ // Message Type ID
+ RESP_TYPE_ID,
+
+ // Calibration Subtypes (PID coefficients)
+ {
// roll p constant subtype
{
// ID
- 0x03,
+ RESPROLLP_SUBTYPE_ID,
// Command text
"resprollp",
// Type of the command data
@@ -1013,7 +974,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// roll i constant subtype
{
// ID
- 0x04,
+ RESPROLLI_SUBTYPE_ID,
// Command text
"resprolli",
// Type of the command data
@@ -1024,7 +985,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// roll d constant subtype
{
// ID
- 0x05,
+ RESPROLLD_SUBTYPE_ID,
// Command text
"resprolld",
// Type of the command data
@@ -1035,7 +996,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch p constant subtype
{
// ID
- 0x06,
+ RESPPITCHP_SUBTYPE_ID,
// Command text
"resppitchp",
// Type of the command data
@@ -1046,7 +1007,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch i constant subtype
{
// ID
- 0x07,
+ RESPPITCHI_SUBTYPE_ID,
// Command text
"resppitchi",
// Type of the command data
@@ -1057,7 +1018,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitch d constant subtype
{
// ID
- 0x08,
+ RESPPITCHD_SUBTYPE_ID,
// Command text
"resppitchd",
// Type of the command data
@@ -1065,43 +1026,43 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_resppitchd
},
- // yawrate p constant subtype
+ // yaw p constant subtype
{
// ID
- 0x09,
+ RESPYAWP_SUBTYPE_ID,
// Command text
- "respyawratep",
+ "respyawp",
// Type of the command data
floatType,
// Function pointer
- &cb_respyawratep
+ &cb_respyawp
},
- // yawrate i constant subtype
+ // yaw i constant subtype
{
// ID
- 0x0A,
+ RESPYAWI_SUBTYPE_ID,
// Command text
- "respyawratei",
+ "respyawi",
// Type of the command data
floatType,
// Function pointer
- &cb_respyawratei
+ &cb_respyawi
},
- // yawrate d constant subtype
+ // yaw d constant subtype
{
// ID
- 0x0B,
+ RESPYAWD_SUBTYPE_ID,
// Command text
- "respyawrated",
+ "respyawd",
// Type of the command data
floatType,
// Function pointer
- &cb_respyawrated
+ &cb_respyawd
},
// rollrate p constant subtype
{
// ID
- 0x0C,
+ RESPROLLRATEP_SUBTYPE_ID,
// Command text
"resprollratep",
// Type of the command data
@@ -1112,7 +1073,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// rollrate i constant subtype
{
// ID
- 0x0D,
+ RESPROLLRATEI_SUBTYPE_ID,
// Command text
"resprollratei",
// Type of the command data
@@ -1123,7 +1084,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// rollrate d constant subtype
{
// ID
- 0x0E,
+ RESPROLLRATED_SUBTYPE_ID,
// Command text
"resprollrated",
// Type of the command data
@@ -1134,7 +1095,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate p constant subtype
{
// ID
- 0x0F,
+ RESPPITCHRATEP_SUBTYPE_ID,
// Command text
"resppitchratep",
// Type of the command data
@@ -1145,7 +1106,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate i constant subtype
{
// ID
- 0x10,
+ RESPPITCHRATEI_SUBTYPE_ID,
// Command text
"resppitchratei",
// Type of the command data
@@ -1156,7 +1117,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// pitchrate d constant subtype
{
// ID
- 0x11,
+ RESPPITCHRATED_SUBTYPE_ID,
// Command text
"resppitchrated",
// Type of the command data
@@ -1164,184 +1125,217 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Function pointer
&cb_resppitchrated
},
- // height p constant subtype
+ // 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
- 0x12,
+ RESPLOCALXP_SUBTYPE_ID,
// Command text
- "respheightp",
+ "resplocalxp",
// Type of the command data
floatType,
// Function pointer
- &cb_respheightp
+ &cb_resplocalxp
},
- // height i constant subtype
+ // localx i constant subtype
{
// ID
- 0x13,
+ RESPLOCALXI_SUBTYPE_ID,
// Command text
- "respheighti",
+ "resplocalxi",
// Type of the command data
floatType,
// Function pointer
- &cb_respheighti
+ &cb_resplocalxi
},
- // height d constant subtype
+ // localx d constant subtype
{
// ID
- 0x14,
+ RESPLOCALXD_SUBTYPE_ID,
// Command text
- "respheightd",
+ "resplocalxd",
// Type of the command data
floatType,
// Function pointer
- &cb_respheightd
+ &cb_resplocalxd
},
- // x p constant subtype
+ // localy p constant subtype
{
// ID
- 0x15,
+ RESPLOCALYP_SUBTYPE_ID,
// Command text
- "respxp",
+ "resplocalyp",
// Type of the command data
floatType,
// Function pointer
- &cb_respxp
+ &cb_resplocalyp
},
- // x i constant subtype
+ // localy i constant subtype
{
// ID
- 0x16,
+ RESPLOCALYI_SUBTYPE_ID,
// Command text
- "respxi",
+ "resplocalyi",
// Type of the command data
floatType,
// Function pointer
- &cb_respxi
+ &cb_resplocalyi
},
- // x d constant subtype
+ // localy d constant subtype
{
// ID
- 0x17,
+ RESPLOCALYD_SUBTYPE_ID,
// Command text
- "respxd",
+ "resplocalyd",
// Type of the command data
floatType,
// Function pointer
- &cb_respxd
+ &cb_resplocalyd
},
- // y p constant subtype
+ // alt p constant subtype
{
// ID
- 0x18,
+ RESPALTP_SUBTYPE_ID,
// Command text
- "respyp",
+ "respaltp",
// Type of the command data
floatType,
// Function pointer
- &cb_respyp
+ &cb_respaltp
},
- // y i constant subtype
+ // alt i constant subtype
{
// ID
- 0x19,
+ RESPALTI_SUBTYPE_ID,
// Command text
- "respyi",
+ "respalti",
// Type of the command data
floatType,
// Function pointer
- &cb_respyi
+ &cb_respalti
},
- // y d constant subtype
+ // alt d constant subtype
{
// ID
- 0x1A,
+ RESPALTD_SUBTYPE_ID,
// Command text
- "respyd",
+ "respaltd",
// Type of the command data
floatType,
// Function pointer
- &cb_respyd
+ &cb_respaltd
},
- // height setpoint subtype
+ // rollsp setpoint subtype
{
// ID
- 0x1B,
+ RESPROLLSP_SUBTYPE_ID,
// Command text
- "respheight",
+ "resprollsp",
// Type of the command data
floatType,
// Function pointer
- &cb_respheight
+ &cb_resprollsp
},
- // x resppoint subtype
+ // pitchsp resppoint subtype
{
// ID
- 0x1C,
+ RESPPITCHSP_SUBTYPE_ID,
// Command text
- "respx",
+ "resppitchsp",
// Type of the command data
floatType,
// Function pointer
- &cb_respx
+ &cb_resppitchsp
},
- // y resppoint subtype
+ // yawsp resppoint subtype
{
// ID
- 0x1D,
+ RESPYAWSP_SUBTYPE_ID,
// Command text
- "respy",
+ "respyawsp",
// Type of the command data
floatType,
// Function pointer
- &cb_respy
+ &cb_respyawsp
},
- // yaw resppoint subtype
+ // altsp resppoint subtype
{
// ID
- 0x1E,
+ RESPALTSP_SUBTYPE_ID,
// Command text
- "respyaw",
+ "respaltsp",
// Type of the command data
floatType,
// Function pointer
- &cb_respyaw
+ &cb_respaltsp
},
- // pitch resppoint subtype
+ // lonsp resppoint subtype
{
// ID
- 0x1F,
+ RESPLONSP_SUBTYPE_ID,
// Command text
- "resppitch",
+ "resplonsp",
// Type of the command data
floatType,
// Function pointer
- &cb_resppitch
+ &cb_resplonsp
},
- // roll resppoint subtype
+ // latsp resppoint subtype
{
// ID
- 0x20,
+ RESPLATSP_SUBTYPE_ID,
// Command text
- "resproll",
+ "resplatsp",
// Type of the command data
floatType,
// Function pointer
- &cb_resproll
+ &cb_resplatsp
}
}
},
// UPDATE
{
// Message Type ID
- 0x04,
+ UPDATE_TYPE_ID,
// Update Subtypes
{
// NONE subtype
{
// ID
- 0x00,
+ UPDATE_SUBTYPE_ID,
// Command text
"update",
// Type of the command data
@@ -1352,7 +1346,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// BEGIN update
{
// ID
- 0x01,
+ BEGINUPDATE_SUBTYPE_ID,
// Command text
"beginupdate",
// Type of the command data
@@ -1366,14 +1360,14 @@ struct MessageType MessageTypes[MAX_TYPE] =
// LOG
{
// Message Type ID
- 0x05,
+ LOG_TYPE_ID,
// Log Subtypes
{
// NONE subtype
{
// ID
- 0x00,
+ LOG_SUBTYPE_ID,
// Command text
"log",
// Type of the command data
@@ -1384,7 +1378,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Response subtype
{
// ID
- 0x01,
+ RESPONSE_SUBTYPE_ID,
// Command text
"response",
// Type of the command data
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 9e57ae11a..34bce3f70 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -26,6 +26,142 @@ enum DataType
stringType
};
+enum MessageTypeID{
+ DEBUG_TYPE_ID = 0x00,
+ SETTER_TYPE_ID = 0x01,
+ GETTER_TYPE_ID = 0x02,
+ RESP_TYPE_ID = 0x03,
+ UPDATE_TYPE_ID = 0x04,
+ LOG_TYPE_ID = 0x05
+};
+
+enum MessageSubTypeID{
+ // DEBUG
+ DEBUG_SUBTYPE_ID = 0x00,
+ PACKETLOG_SUBTYPE_ID = 0x01,
+ GETPACKETLOGS_SUBTYPE_ID = 0x02,
+ // SETTER
+ // angle
+ SETROLLP_SUBTYPE_ID = 0x00,
+ SETROLLI_SUBTYPE_ID = 0x01,
+ SETROLLD_SUBTYPE_ID = 0x02,
+ SETPITCHP_SUBTYPE_ID = 0x03,
+ SETPITCHI_SUBTYPE_ID = 0x04,
+ SETPITCHD_SUBTYPE_ID = 0x05,
+ SETYAWP_SUBTYPE_ID = 0x06,
+ SETYAWI_SUBTYPE_ID = 0x07,
+ SETYAWD_SUBTYPE_ID = 0x08,
+ // rate
+ SETROLLRATEP_SUBTYPE_ID = 0x09,
+ SETROLLRATEI_SUBTYPE_ID = 0x0A,
+ SETROLLRATED_SUBTYPE_ID = 0x0B,
+ SETPITCHRATEP_SUBTYPE_ID = 0x0C,
+ SETPITCHRATEI_SUBTYPE_ID = 0x0D,
+ SETPITCHRATED_SUBTYPE_ID = 0x0E,
+ SETYAWRATEP_SUBTYPE_ID = 0x0F,
+ SETYAWRATEI_SUBTYPE_ID = 0x10,
+ SETYAWRATED_SUBTYPE_ID = 0x11,
+ // local pos
+ SETLOCALXP_SUBTYPE_ID = 0x12,
+ SETLOCALXI_SUBTYPE_ID = 0x13,
+ SETLOCALXD_SUBTYPE_ID = 0x14,
+ SETLOCALYP_SUBTYPE_ID = 0x15,
+ SETLOCALYI_SUBTYPE_ID = 0x16,
+ SETLOCALYD_SUBTYPE_ID = 0x17,
+ SETALTP_SUBTYPE_ID = 0x18,
+ SETALTI_SUBTYPE_ID = 0x19,
+ SETALTD_SUBTYPE_ID = 0x1A,
+ // setpoints
+ SETROLLSP_SUBTYPE_ID = 0x1B,
+ SETPITCHSP_SUBTYPE_ID = 0x1C,
+ SETYAWSP_SUBTYPE_ID = 0x1D,
+ SETALTSP_SUBTYPE_ID = 0x1E,
+ SETLONSP_SUBTYPE_ID = 0x1F,
+ SETLATSP_SUBTYPE_ID = 0x20,
+ // GETTERS
+ // angle
+ GETROLLP_SUBTYPE_ID = 0x00,
+ GETROLLI_SUBTYPE_ID = 0x01,
+ GETROLLD_SUBTYPE_ID = 0x02,
+ GETPITCHP_SUBTYPE_ID = 0x03,
+ GETPITCHI_SUBTYPE_ID = 0x04,
+ GETPITCHD_SUBTYPE_ID = 0x05,
+ GETYAWP_SUBTYPE_ID = 0x06,
+ GETYAWI_SUBTYPE_ID = 0x07,
+ GETYAWD_SUBTYPE_ID = 0x08,
+ // rate
+ GETROLLRATEP_SUBTYPE_ID = 0x09,
+ GETROLLRATEI_SUBTYPE_ID = 0x0A,
+ GETROLLRATED_SUBTYPE_ID = 0x0B,
+ GETPITCHRATEP_SUBTYPE_ID = 0x0C,
+ GETPITCHRATEI_SUBTYPE_ID = 0x0D,
+ GETPITCHRATED_SUBTYPE_ID = 0x0E,
+ GETYAWRATEP_SUBTYPE_ID = 0x0F,
+ GETYAWRATEI_SUBTYPE_ID = 0x10,
+ GETYAWRATED_SUBTYPE_ID = 0x11,
+ // local pos
+ GETLOCALXP_SUBTYPE_ID = 0x12,
+ GETLOCALXI_SUBTYPE_ID = 0x13,
+ GETLOCALXD_SUBTYPE_ID = 0x14,
+ GETLOCALYP_SUBTYPE_ID = 0x15,
+ GETLOCALYI_SUBTYPE_ID = 0x16,
+ GETLOCALYD_SUBTYPE_ID = 0x17,
+ GETALTP_SUBTYPE_ID = 0x18,
+ GETALTI_SUBTYPE_ID = 0x19,
+ GETALTD_SUBTYPE_ID = 0x1A,
+ // setpoints
+ GETROLLSP_SUBTYPE_ID = 0x1B,
+ GETPITCHSP_SUBTYPE_ID = 0x1C,
+ GETYAWSP_SUBTYPE_ID = 0x1D,
+ GETALTSP_SUBTYPE_ID = 0x1E,
+ GETLONSP_SUBTYPE_ID = 0x1F,
+ GETLATSP_SUBTYPE_ID = 0x20,
+ // RESPONSE
+ // angle
+ RESPROLLP_SUBTYPE_ID = 0x00,
+ RESPROLLI_SUBTYPE_ID = 0x01,
+ RESPROLLD_SUBTYPE_ID = 0x02,
+ RESPPITCHP_SUBTYPE_ID = 0x03,
+ RESPPITCHI_SUBTYPE_ID = 0x04,
+ RESPPITCHD_SUBTYPE_ID = 0x05,
+ RESPYAWP_SUBTYPE_ID = 0x06,
+ RESPYAWI_SUBTYPE_ID = 0x07,
+ RESPYAWD_SUBTYPE_ID = 0x08,
+ // rate
+ RESPROLLRATEP_SUBTYPE_ID = 0x09,
+ RESPROLLRATEI_SUBTYPE_ID = 0x0A,
+ RESPROLLRATED_SUBTYPE_ID = 0x0B,
+ RESPPITCHRATEP_SUBTYPE_ID = 0x0C,
+ RESPPITCHRATEI_SUBTYPE_ID = 0x0D,
+ RESPPITCHRATED_SUBTYPE_ID = 0x0E,
+ RESPYAWRATEP_SUBTYPE_ID = 0x0F,
+ RESPYAWRATEI_SUBTYPE_ID = 0x10,
+ RESPYAWRATED_SUBTYPE_ID = 0x11,
+ // local pos
+ RESPLOCALXP_SUBTYPE_ID = 0x12,
+ RESPLOCALXI_SUBTYPE_ID = 0x13,
+ RESPLOCALXD_SUBTYPE_ID = 0x14,
+ RESPLOCALYP_SUBTYPE_ID = 0x15,
+ RESPLOCALYI_SUBTYPE_ID = 0x16,
+ RESPLOCALYD_SUBTYPE_ID = 0x17,
+ RESPALTP_SUBTYPE_ID = 0x18,
+ RESPALTI_SUBTYPE_ID = 0x19,
+ RESPALTD_SUBTYPE_ID = 0x1A,
+ // setpoints
+ RESPROLLSP_SUBTYPE_ID = 0x1B,
+ RESPPITCHSP_SUBTYPE_ID = 0x1C,
+ RESPYAWSP_SUBTYPE_ID = 0x1D,
+ RESPALTSP_SUBTYPE_ID = 0x1E,
+ RESPLONSP_SUBTYPE_ID = 0x1F,
+ RESPLATSP_SUBTYPE_ID = 0x20,
+ // UPDATE
+ UPDATE_SUBTYPE_ID = 0x00,
+ BEGINUPDATE_SUBTYPE_ID = 0x01,
+ // LOG
+ LOG_SUBTYPE_ID = 0x00,
+ RESPONSE_SUBTYPE_ID = 0x01
+};
+
// MESSAGE SUBTYPES
struct MessageSubtype{
char ID;
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index 9f304dd4b..d04c3d828 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/quad/sw/modular_quad_pid/src/callbacks.c
@@ -72,41 +72,9 @@ int cb_beginupdate(modular_structs_t *structs) {
return 0;
}
-int cb_log(modular_structs_t *structs)
-{
- size_t length;
- unsigned char *packet = uart_buff_get_raw(&length);
- return 0;
-}
-
-int cb_response(modular_structs_t *structs)
-{
- size_t length;
- char *packet = uart_buff_get_raw(&length);
- return 0;
-}
-
/* Callbacks for configuration (setters)*/
-int cb_setyawp(modular_structs_t *structs)
-{
- structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setyawi(modular_structs_t *structs)
-{
- structs->parameter_struct.yaw_angle_pid.Ki = uart_buff_data_get_float(0);
- return 0;
-}
-
-int cb_setyawd(modular_structs_t *structs)
-{
- structs->parameter_struct.yaw_angle_pid.Kd = uart_buff_data_get_float(0);
- return 0;
-}
-
int cb_setrollp(modular_structs_t *structs)
{
structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
@@ -143,21 +111,21 @@ int cb_setpitchd(modular_structs_t *structs)
return 0;
}
-int cb_setyawratep(modular_structs_t *structs)
+int cb_setyawp(modular_structs_t *structs)
{
- structs->parameter_struct.yaw_ang_vel_pid.Kp = uart_buff_data_get_float(0);
+ structs->parameter_struct.yaw_angle_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
-int cb_setyawratei(modular_structs_t *structs)
+int cb_setyawi(modular_structs_t *structs)
{
- structs->parameter_struct.yaw_ang_vel_pid.Ki = uart_buff_data_get_float(0);
+ structs->parameter_struct.yaw_angle_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
-int cb_setyawrated(modular_structs_t *structs)
+int cb_setyawd(modular_structs_t *structs)
{
- structs->parameter_struct.yaw_ang_vel_pid.Kd = uart_buff_data_get_float(0);
+ structs->parameter_struct.yaw_angle_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
@@ -197,103 +165,111 @@ int cb_setpitchrated(modular_structs_t *structs)
return 0;
}
-int cb_setxp(modular_structs_t *structs)
+int cb_setyawratep(modular_structs_t *structs)
+{
+ structs->parameter_struct.yaw_ang_vel_pid.Kp = uart_buff_data_get_float(0);
+ return 0;
+}
+
+int cb_setyawratei(modular_structs_t *structs)
+{
+ structs->parameter_struct.yaw_ang_vel_pid.Ki = uart_buff_data_get_float(0);
+ return 0;
+}
+
+int cb_setyawrated(modular_structs_t *structs)
+{
+ structs->parameter_struct.yaw_ang_vel_pid.Kd = uart_buff_data_get_float(0);
+ return 0;
+}
+
+int cb_setlocalxp(modular_structs_t *structs)
{
structs->parameter_struct.local_x_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
-int cb_setxi(modular_structs_t *structs)
+int cb_setlocalxi(modular_structs_t *structs)
{
structs->parameter_struct.local_x_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
-int cb_setxd(modular_structs_t *structs)
+int cb_setlocalxd(modular_structs_t *structs)
{
structs->parameter_struct.local_x_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
-int cb_setyp(modular_structs_t *structs)
+int cb_setlocalyp(modular_structs_t *structs)
{
structs->parameter_struct.local_y_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
-int cb_setyi(modular_structs_t *structs)
+int cb_setlocalyi(modular_structs_t *structs)
{
structs->parameter_struct.local_y_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
-int cb_setyd(modular_structs_t *structs)
+int cb_setlocalyd(modular_structs_t *structs)
{
structs->parameter_struct.local_y_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
-int cb_setheightp(modular_structs_t *structs)
+int cb_setaltp(modular_structs_t *structs)
{
structs->parameter_struct.alt_pid.Kp = uart_buff_data_get_float(0);
+ return 0;
}
-int cb_setheighti(modular_structs_t *structs)
+int cb_setalti(modular_structs_t *structs)
{
structs->parameter_struct.alt_pid.Ki = uart_buff_data_get_float(0);
-}
-
-int cb_setheightd(modular_structs_t *structs)
-{
- structs->parameter_struct.alt_pid.Kd = uart_buff_data_get_float(0);
-}
-
-int cb_setheight(modular_structs_t *structs)
-{
- structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
return 0;
}
-int cb_setx(modular_structs_t *structs)
+int cb_setaltd(modular_structs_t *structs)
{
- structs->setpoint_struct.desiredQuadPosition.x_pos = uart_buff_data_get_float(0);
+ structs->parameter_struct.alt_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
-// TODO cb_sety will replace cb_setlat in commands.c once we talk about it
-int cb_sety(modular_structs_t *structs)
+int cb_setrollsp(modular_structs_t *structs)
{
- structs->setpoint_struct.desiredQuadPosition.y_pos = uart_buff_data_get_float(0);
+ structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
return 0;
}
-int cb_setlon(modular_structs_t *structs)
+int cb_setpitchsp(modular_structs_t *structs)
{
- // TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
+ structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
return 0;
}
-int cb_setlat(modular_structs_t *structs)
+int cb_setyawsp(modular_structs_t *structs)
{
- // TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
+ structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
return 0;
}
-int cb_setyaw(modular_structs_t *structs)
+int cb_setaltsp(modular_structs_t *structs)
{
- structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
+ structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
return 0;
}
-int cb_setpitch(modular_structs_t *structs)
+int cb_setlonsp(modular_structs_t *structs)
{
- structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
+ // TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
return 0;
}
-int cb_setroll(modular_structs_t *structs)
+int cb_setlatsp(modular_structs_t *structs)
{
- structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
+ // TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
return 0;
}
diff --git a/quad/sw/modular_quad_pid/src/initialize_components.c b/quad/sw/modular_quad_pid/src/initialize_components.c
index 913141be7..740268d6b 100644
--- a/quad/sw/modular_quad_pid/src/initialize_components.c
+++ b/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(MessageTypes[4].ID, MessageTypes[4].subtypes[1].ID, 0, buf, length);
process_received(structs);
usleep(10000);
}
--
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