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Commit d8b25942 authored by dawehr's avatar dawehr
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more progress... broke git, trying to fix things

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quad/sw/modular_quad_pid/src/callbacks.c
+ 3
− 376
View file @ d8b25942
......@@ -75,208 +75,14 @@ int cb_beginupdate(modular_structs_t *structs) {
/* Callbacks for configuration */
int cb_setrollp(modular_structs_t *structs)
int cb_setval(modular_structs_t *structs)
{
structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
int cb_setrolli(modular_structs_t *structs)
{
structs->parameter_struct.roll_angle_pid.Ki = uart_buff_data_get_float(0);
//structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
int cb_setrolld(modular_structs_t *structs)
{
structs->parameter_struct.roll_angle_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
int cb_setpitchp(modular_structs_t *structs)
{
structs->parameter_struct.pitch_angle_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
int cb_setpitchi(modular_structs_t *structs)
{
structs->parameter_struct.pitch_angle_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
int cb_setpitchd(modular_structs_t *structs)
{
structs->parameter_struct.pitch_angle_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
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_setrollratep(modular_structs_t *structs)
{
structs->parameter_struct.roll_ang_vel_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
int cb_setrollratei(modular_structs_t *structs)
{
structs->parameter_struct.roll_ang_vel_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
int cb_setrollrated(modular_structs_t *structs)
{
structs->parameter_struct.roll_ang_vel_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
int cb_setpitchratep(modular_structs_t *structs)
{
structs->parameter_struct.pitch_ang_vel_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
int cb_setpitchratei(modular_structs_t *structs)
{
structs->parameter_struct.pitch_ang_vel_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
int cb_setpitchrated(modular_structs_t *structs)
{
structs->parameter_struct.pitch_ang_vel_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
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_setlocalxi(modular_structs_t *structs)
{
structs->parameter_struct.local_x_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
int cb_setlocalxd(modular_structs_t *structs)
{
structs->parameter_struct.local_x_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
int cb_setlocalyp(modular_structs_t *structs)
{
structs->parameter_struct.local_y_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
int cb_setlocalyi(modular_structs_t *structs)
{
structs->parameter_struct.local_y_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
int cb_setlocalyd(modular_structs_t *structs)
{
structs->parameter_struct.local_y_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
int cb_setaltp(modular_structs_t *structs)
{
structs->parameter_struct.alt_pid.Kp = uart_buff_data_get_float(0);
return 0;
}
int cb_setalti(modular_structs_t *structs)
{
structs->parameter_struct.alt_pid.Ki = uart_buff_data_get_float(0);
return 0;
}
int cb_setaltd(modular_structs_t *structs)
{
structs->parameter_struct.alt_pid.Kd = uart_buff_data_get_float(0);
return 0;
}
int cb_setrollsp(modular_structs_t *structs)
{
structs->setpoint_struct.desiredQuadPosition.roll = uart_buff_data_get_float(0);
return 0;
}
int cb_setpitchsp(modular_structs_t *structs)
{
structs->setpoint_struct.desiredQuadPosition.pitch = uart_buff_data_get_float(0);
return 0;
}
int cb_setyawsp(modular_structs_t *structs)
{
structs->setpoint_struct.desiredQuadPosition.yaw = uart_buff_data_get_float(0);
return 0;
}
int cb_setaltsp(modular_structs_t *structs)
{
structs->setpoint_struct.desiredQuadPosition.alt_pos = uart_buff_data_get_float(0);
return 0;
}
int cb_setlonsp(modular_structs_t *structs)
{
// TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
return 0;
}
int cb_setlatsp(modular_structs_t *structs)
{
// TODO need to be able to take in a lat, lon position and convert it to quad x, y pos
return 0;
}
/* callbacks for getters */
int cb_getyawp(modular_structs_t* structs) {
int cb_getval(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
......@@ -285,182 +91,3 @@ int cb_getyawp(modular_structs_t* structs) {
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[0].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getyawi(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Ki);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[1].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getyawd(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Kd);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[2].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getrollp(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_angle_pid.Kp);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[3].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getrolli(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_angle_pid.Ki);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[4].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getrolld(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_angle_pid.Kd);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[5].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getpitchp(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_angle_pid.Kp);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[6].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getpitchi(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_angle_pid.Ki);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[7].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getpitchd(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_angle_pid.Kd);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[8].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getyawratep(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_ang_vel_pid.Kp);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[9].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getyawratei(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_ang_vel_pid.Ki);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[10].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getyawrated(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_ang_vel_pid.Kd);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[11].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getrollratep(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_ang_vel_pid.Kp);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[12].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getrollratei(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_ang_vel_pid.Ki);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[13].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getrollrated(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.roll_ang_vel_pid.Kd);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[14].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getpitchratep(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_ang_vel_pid.Kp);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[15].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getpitchratei(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_ang_vel_pid.Ki);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[16].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
int cb_getpitchrated(modular_structs_t* structs) {
char buf[255];
// Message logging number of messages received and size of payload received
int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.pitch_ang_vel_pid.Kd);
send_data(MessageTypes[2].ID, MessageTypes[2].subtypes[17].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
return 0;
}
quad/sw/modular_quad_pid/src/communication.c
+ 9
− 15
View file @ d8b25942
......@@ -73,8 +73,7 @@ int process_packet(modular_structs_t *structs) {
metadata_t meta_data;
// parse metadata
meta_data.begin_char = uart_buff_get_u8(0);
meta_data.msg_type = uart_buff_get_u8(1);
meta_data.msg_subtype = uart_buff_get_u8(2);
meta_data.msg_type = uart_buff_get_u16(1);
meta_data.msg_id = uart_buff_get_u16(3);
meta_data.data_len = uart_buff_get_u16(5);
unsigned char packet_checksum = uart_buff_get_u8(7+meta_data.data_len);
......@@ -93,7 +92,7 @@ int process_packet(modular_structs_t *structs) {
}
// Call appropriate function for packet
(* (MessageTypes[meta_data.msg_type].subtypes[meta_data.msg_subtype].functionPtr))(structs);
(* (MessageTypes[meta_data.msg_type].functionPtr))(structs);
uart_buff_consume_packet();
......@@ -167,24 +166,23 @@ void uart_interrupt_handler(XUartPs *InstancePtr) {
IsrStatus);
}
int send_data(u16 type_id, u16 subtype_id, u16 msg_id, char* data, size_t size) {
int send_data(u16 type_id, u16 msg_id, char* data, size_t size) {
//----------------------------------------------------------------------------------------------
// 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 |
//----------------------------------------------------------------------------------------------
char formattedHeader[7];
// Begin Char:
formattedHeader[0] = BEGIN_CHAR;
// Msg type:
formattedHeader[1] = type_id;
// Msg subtype
formattedHeader[2] = subtype_id;
//Msg id 2 bytes
// Msg type 2 bytes:
formattedHeader[1] = type_id & 0x000000ff;
formattedHeader[2] = (type_id >> 8) & 0x000000ff;
// Msg id 2 bytes
formattedHeader[3] = msg_id & 0x000000ff;
formattedHeader[4] = (msg_id >> 8) & 0x000000ff;
// Data length and data - bytes 5&6 for len, 7+ for data
......@@ -195,10 +193,6 @@ int send_data(u16 type_id, u16 subtype_id, u16 msg_id, char* data, size_t size)
unsigned char packet_checksum = 0;
int i;
// TODO: Look into uart0_sendBytes and see if it would be better to use
// Send header
//uart0_sendBytes(formattedHeader, 7);
for(i = 0; i < 7; i++) {
packet_checksum ^= formattedHeader[i];
uart0_sendByte(formattedHeader[i]);
......
quad/sw/modular_quad_pid/src/log_data.c
+ 1
− 1
View file @ d8b25942
......@@ -147,7 +147,7 @@ void printLogging(){
strcat(buf,header);
strcat(buf,units);
send_data(MessageTypes[5].ID, MessageTypes[5].subtypes[0].ID, 0, buf, strlen(buf) + 1);
send_data(MessageTypes[LOG_TYPE_ID].ID, MessageTypes[5].subtypes[0].ID, 0, buf, strlen(buf) + 1);
//uart0_sendBytes(buf, strlen(buf));
//usleep(100000);
......
quad/sw/modular_quad_pid/src/type_def.h
+ 1
− 2
View file @ d8b25942
......@@ -28,8 +28,7 @@ enum flight_mode{
//----------------------------------------------------------------------------------------------
typedef struct {
char begin_char;
char msg_type;
char msg_subtype;
uint16_t msg_type;
uint16_t msg_id;
uint16_t data_len;
} metadata_t;
......
quad/sw/modular_quad_pid/src/uart.c
+ 2
− 2
View file @ d8b25942
......@@ -298,8 +298,8 @@ void uart0_sendStr(char* str) {
void uart0_sendMetaData(metadata_t md)
{
uart0_sendByte(md.begin_char);
uart0_sendByte(md.msg_type);
uart0_sendByte(md.msg_subtype);
uart0_sendByte(md.msg_type & 0x00ff);
uart0_sendByte((md.msg_type >> 8) & 0x00ff);
uart0_sendByte(md.msg_id & 0x00ff);
uart0_sendByte((md.msg_id >> 8) & 0x00ff);
uart0_sendByte(md.data_len & 0x00ff);
......
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