From 754ed22e3ec2637d5107bce2325816fb7fca4ad6 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sat, 28 Jan 2017 15:09:11 -0600
Subject: [PATCH] Added the IDs for the valuetypes and PID constants to
commands.c/h also added some more comments in both files
---
groundStation/src/backend/commands.c | 12 ++++-
groundStation/src/backend/commands.h | 68 +++++++++++++++++++++-------
2 files changed, 61 insertions(+), 19 deletions(-)
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index 36f42bcd4..59c09ca4c 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -37,7 +37,8 @@
*
*/
-/* List of callbacks. DO NOT MODIFY THESE IN THIS FILE -
+/*
+ * List of callbacks. DO NOT MODIFY THESE IN THIS FILE -
* Simply implement a function with the same name
* in a different file (callbacks.c) and these will
* be overridden.
@@ -60,7 +61,14 @@ 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 */
+/*
+ * Command structure.
+ * This array is used to keep track of the callback functions
+ * for commands between the quad and the ground station.
+ *
+ * There is one callback function pointer associated with each
+ * element in this struct array.
+ */
struct MessageType MessageTypes[MAX_TYPE] =
{
// DEBUG
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index e54e0ee5a..89b006705 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -7,15 +7,17 @@
#include "callbacks.h"
-// ----------------------
-// Helper stuff
+#define MAX_CMD_TEXT_LENGTH 100
enum Message{
BEGIN_CHAR = 0xBE,
END_CHAR = 0xED
};
-// This should also have double to avoid confusion with float values.
+/*
+ * Enumeration of the data types that a callback function may use
+ * doubleType should get added here at some point
+ */
enum DataType
{
floatType,
@@ -23,27 +25,59 @@ 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.
+/*
+ * Message type IDs used to know what kind of message we are dealing with
+ * Enumeration used to index the MessageTypes array in commands.c
+ * 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,
+ 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
};
-// MESSAGE SUBTYPES
+/*
+ * Value types used to know which value the command 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,
+};
+
+/*
+ * Enumeration of PID constants
+ */
+enum PIDType{
+ KP, // P constant
+ KI, // I constant
+ KD, // D constant
+ SP, // Setpoint value
+};
+
+/*
+ * Message type struct used to keep track of the callback function
+ * pointers located in commands.c
+ */
struct MessageType{
char ID;
- char cmdText[100];
+ char cmdText[MAX_CMD_TEXT_LENGTH];
char cmdDataType;
command_cb * functionPtr;
};
--
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