From bd916f39a718c342dc40e0a69ad5f1ff87090fb6 Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Thu, 10 Nov 2016 13:03:51 -0600
Subject: [PATCH] Added basic frontend_getpid.h
---
groundStation/src/frontend/frontend_common.h | 3 ++-
groundStation/src/frontend/frontend_getpid.h | 26 ++++++++++++++++++++
groundStation/src/frontend/pid_common.h | 20 +++++++++++++++
3 files changed, 48 insertions(+), 1 deletion(-)
create mode 100644 groundStation/src/frontend/frontend_getpid.h
create mode 100644 groundStation/src/frontend/pid_common.h
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index dd2eb7e3b..095c06b81 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -1,5 +1,6 @@
#ifndef FRONTEND_COMMON_H
#define FRONTEND_COMMON_H
+#include <stdlib.h>
struct backend_conn;
@@ -16,6 +17,6 @@ void ucart_backendDisconnect(struct backend_conn * conn);
char * ucart_backendGetline(struct backend_conn * conn);
/* Write a line to the backend */
-void ucart_backendWrite(struct backend_conn * backend, const char * line);
+size_t ucart_backendWrite(struct backend_conn * backend, const char * line);
#endif
diff --git a/groundStation/src/frontend/frontend_getpid.h b/groundStation/src/frontend/frontend_getpid.h
new file mode 100644
index 000000000..977ae97f3
--- /dev/null
+++ b/groundStation/src/frontend/frontend_getpid.h
@@ -0,0 +1,26 @@
+#ifndef FRONTEND_GETPID_H
+#define FRONTEND_GETPID_H
+
+#include "frontend_common.h"
+#include "pid_common.h"
+
+/* Get a specified PID.
+ *
+ * Example:
+ *
+ * struct frontend_pid_data pid_data;
+ * pid_data.pid = PITCH;
+ * if (frontend_getpid(conn, &pid_data)) {
+ * error
+ * } else {
+ * pid_data.p, pid_data.i, and pid_data.d are filled
+ * }
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getpid(
+ struct backend_conn * conn,
+ struct frontend_pid_data * pid_data);
+
+
+#endif
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
new file mode 100644
index 000000000..c1dac6535
--- /dev/null
+++ b/groundStation/src/frontend/pid_common.h
@@ -0,0 +1,20 @@
+#ifndef PID_COMMON_H
+#define PID_COMMON_H
+
+enum frontend_pid {
+ PITCH,
+ ROLL,
+ YAW,
+ NUM_PIDS
+};
+
+struct frontend_pid_data {
+ enum frontend_pid pid;
+
+ float p;
+ float i;
+ float d;
+};
+
+
+#endif
--
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