ardupilot/libraries/AP_PiccoloCAN/piccolo_protocol/ServoCommands.c

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// ServoCommands.c was generated by ProtoGen version 3.2.a
/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Author: Oliver Walters / Currawong Engineering Pty Ltd
*/
#include "ServoCommands.h"
#include "fielddecode.h"
#include "fieldencode.h"
#include "scaleddecode.h"
#include "scaledencode.h"
/*!
* \brief Create the Servo_RequestHighFrequencyData packet
*
* Select packets for high-frequency transmission. Selected packets will be
* transmitted at 500Hz for one second. Sending this command again resets the
* timer, allowing continuous data as long as this packet is received
* \param _pg_pkt points to the packet which will be created by this function
* \param packets is Select which telemetry packets are transmitted at high-speed by the servo
*/
void encodeServo_RequestHighFrequencyDataPacket(void* _pg_pkt, const Servo_TelemetryPackets_t* packets)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_REQUEST_HF_DATA), _pg_data, &_pg_byteindex);
// Select which telemetry packets are transmitted at high-speed by the servo
encodeServo_TelemetryPackets_t(_pg_data, &_pg_byteindex, packets);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_RequestHighFrequencyDataPacketID());
}// encodeServo_RequestHighFrequencyDataPacket
/*!
* \brief Decode the Servo_RequestHighFrequencyData packet
*
* Select packets for high-frequency transmission. Selected packets will be
* transmitted at 500Hz for one second. Sending this command again resets the
* timer, allowing continuous data as long as this packet is received
* \param _pg_pkt points to the packet being decoded by this function
* \param packets receives Select which telemetry packets are transmitted at high-speed by the servo
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_RequestHighFrequencyDataPacket(const void* _pg_pkt, Servo_TelemetryPackets_t* packets)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_RequestHighFrequencyDataPacketID())
return 0;
if(_pg_numbytes < getServo_RequestHighFrequencyDataMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_REQUEST_HF_DATA)
return 0;
// Select which telemetry packets are transmitted at high-speed by the servo
if(decodeServo_TelemetryPackets_t(_pg_data, &_pg_byteindex, packets) == 0)
return 0;
return 1;
}// decodeServo_RequestHighFrequencyDataPacket
/*!
* \brief Create the Servo_SetNodeID packet
*
* Set the Node ID (CAN Address) for the servo
* \param _pg_pkt points to the packet which will be created by this function
* \param serialNumber is The serial number must match that of the servo for the command to be accepted
* \param nodeID is Set the CAN Node ID of the target servo
*/
void encodeServo_SetNodeIDPacket(void* _pg_pkt, uint32_t serialNumber, uint8_t nodeID)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_SET_NODE_ID), _pg_data, &_pg_byteindex);
// The serial number must match that of the servo for the command to be accepted
// Range of serialNumber is 0 to 4294967295.
uint32ToBeBytes(serialNumber, _pg_data, &_pg_byteindex);
// Set the CAN Node ID of the target servo
// Range of nodeID is 0 to 255.
uint8ToBytes(nodeID, _pg_data, &_pg_byteindex);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SetNodeIDPacketID());
}// encodeServo_SetNodeIDPacket
/*!
* \brief Decode the Servo_SetNodeID packet
*
* Set the Node ID (CAN Address) for the servo
* \param _pg_pkt points to the packet being decoded by this function
* \param serialNumber receives The serial number must match that of the servo for the command to be accepted
* \param nodeID receives Set the CAN Node ID of the target servo
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_SetNodeIDPacket(const void* _pg_pkt, uint32_t* serialNumber, uint8_t* nodeID)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_SetNodeIDPacketID())
return 0;
if(_pg_numbytes < getServo_SetNodeIDMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_SET_NODE_ID)
return 0;
// The serial number must match that of the servo for the command to be accepted
// Range of serialNumber is 0 to 4294967295.
(*serialNumber) = uint32FromBeBytes(_pg_data, &_pg_byteindex);
// Set the CAN Node ID of the target servo
// Range of nodeID is 0 to 255.
(*nodeID) = uint8FromBytes(_pg_data, &_pg_byteindex);
return 1;
}// decodeServo_SetNodeIDPacket
/*!
* \brief Create the Servo_SetUserIdA packet
*
* Set user programmable ID value
* \param _pg_pkt points to the packet which will be created by this function
* \param id is User configurable value, 16-bit
*/
void encodeServo_SetUserIdAPacket(void* _pg_pkt, uint16_t id)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_SET_USER_ID_A), _pg_data, &_pg_byteindex);
// User configurable value, 16-bit
// Range of id is 0 to 65535.
uint16ToBeBytes(id, _pg_data, &_pg_byteindex);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SetUserIdAPacketID());
}// encodeServo_SetUserIdAPacket
/*!
* \brief Decode the Servo_SetUserIdA packet
*
* Set user programmable ID value
* \param _pg_pkt points to the packet being decoded by this function
* \param id receives User configurable value, 16-bit
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_SetUserIdAPacket(const void* _pg_pkt, uint16_t* id)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_SetUserIdAPacketID())
return 0;
if(_pg_numbytes < getServo_SetUserIdAMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_SET_USER_ID_A)
return 0;
// User configurable value, 16-bit
// Range of id is 0 to 65535.
(*id) = uint16FromBeBytes(_pg_data, &_pg_byteindex);
return 1;
}// decodeServo_SetUserIdAPacket
/*!
* \brief Create the Servo_SetUserIdB packet
*
* Set user programmable ID value
* \param _pg_pkt points to the packet which will be created by this function
* \param id is User configurable value, 16-bit
*/
void encodeServo_SetUserIdBPacket(void* _pg_pkt, uint16_t id)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_SET_USER_ID_B), _pg_data, &_pg_byteindex);
// User configurable value, 16-bit
// Range of id is 0 to 65535.
uint16ToBeBytes(id, _pg_data, &_pg_byteindex);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_SetUserIdBPacketID());
}// encodeServo_SetUserIdBPacket
/*!
* \brief Decode the Servo_SetUserIdB packet
*
* Set user programmable ID value
* \param _pg_pkt points to the packet being decoded by this function
* \param id receives User configurable value, 16-bit
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_SetUserIdBPacket(const void* _pg_pkt, uint16_t* id)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_SetUserIdBPacketID())
return 0;
if(_pg_numbytes < getServo_SetUserIdBMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_SET_USER_ID_B)
return 0;
// User configurable value, 16-bit
// Range of id is 0 to 65535.
(*id) = uint16FromBeBytes(_pg_data, &_pg_byteindex);
return 1;
}// decodeServo_SetUserIdBPacket
/*!
* \brief Create the Servo_ResetDefaultSettings packet
*
* Reset servo settings to default values
* \param _pg_pkt points to the packet which will be created by this function
*/
void encodeServo_ResetDefaultSettingsPacket(void* _pg_pkt)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_RESET_DEFAULT_SETTINGS), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0xAA), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0x55), _pg_data, &_pg_byteindex);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_ResetDefaultSettingsPacketID());
}// encodeServo_ResetDefaultSettingsPacket
/*!
* \brief Decode the Servo_ResetDefaultSettings packet
*
* Reset servo settings to default values
* \param _pg_pkt points to the packet being decoded by this function
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_ResetDefaultSettingsPacket(const void* _pg_pkt)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_ResetDefaultSettingsPacketID())
return 0;
if(_pg_numbytes < getServo_ResetDefaultSettingsMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_RESET_DEFAULT_SETTINGS)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xAA)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x55)
return 0;
return 1;
}// decodeServo_ResetDefaultSettingsPacket
/*!
* \brief Create the Servo_UnlockSettings packet
*
* Servo system command
* \param _pg_pkt points to the packet which will be created by this function
*/
void encodeServo_UnlockSettingsPacket(void* _pg_pkt)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_UNLOCK_SETTINGS), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0xA0), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0xB0), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0xC0), _pg_data, &_pg_byteindex);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_UnlockSettingsPacketID());
}// encodeServo_UnlockSettingsPacket
/*!
* \brief Decode the Servo_UnlockSettings packet
*
* Servo system command
* \param _pg_pkt points to the packet being decoded by this function
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_UnlockSettingsPacket(const void* _pg_pkt)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_UnlockSettingsPacketID())
return 0;
if(_pg_numbytes < getServo_UnlockSettingsMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_UNLOCK_SETTINGS)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xA0)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xB0)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xC0)
return 0;
return 1;
}// decodeServo_UnlockSettingsPacket
/*!
* \brief Create the Servo_LockSettings packet
*
* Servo system command
* \param _pg_pkt points to the packet which will be created by this function
*/
void encodeServo_LockSettingsPacket(void* _pg_pkt)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_LOCK_SETTINGS), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0x0A), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0x0B), _pg_data, &_pg_byteindex);
uint8ToBytes((uint8_t)(0x0C), _pg_data, &_pg_byteindex);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_LockSettingsPacketID());
}// encodeServo_LockSettingsPacket
/*!
* \brief Decode the Servo_LockSettings packet
*
* Servo system command
* \param _pg_pkt points to the packet being decoded by this function
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_LockSettingsPacket(const void* _pg_pkt)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_LockSettingsPacketID())
return 0;
if(_pg_numbytes < getServo_LockSettingsMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_LOCK_SETTINGS)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x0A)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x0B)
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x0C)
return 0;
return 1;
}// decodeServo_LockSettingsPacket
/*!
* \brief Create the Servo_EnterBootloader packet
*
* Servo system command
* \param _pg_pkt points to the packet which will be created by this function
*/
void encodeServo_EnterBootloaderPacket(void* _pg_pkt)
{
uint8_t* _pg_data = getServoPacketData(_pg_pkt);
int _pg_byteindex = 0;
uint8ToBytes((uint8_t)(CMD_SERVO_ENTER_BOOTLOADER), _pg_data, &_pg_byteindex);
// This byte is required for the command to be accepted
uint8ToBytes((uint8_t)(0xAA), _pg_data, &_pg_byteindex);
// This byte is required for the command to be accepted
uint8ToBytes((uint8_t)(0x55), _pg_data, &_pg_byteindex);
// complete the process of creating the packet
finishServoPacket(_pg_pkt, _pg_byteindex, getServo_EnterBootloaderPacketID());
}// encodeServo_EnterBootloaderPacket
/*!
* \brief Decode the Servo_EnterBootloader packet
*
* Servo system command
* \param _pg_pkt points to the packet being decoded by this function
* \return 0 is returned if the packet ID or size is wrong, else 1
*/
int decodeServo_EnterBootloaderPacket(const void* _pg_pkt)
{
int _pg_byteindex = 0;
const uint8_t* _pg_data = getServoPacketDataConst(_pg_pkt);
int _pg_numbytes = getServoPacketSize(_pg_pkt);
// Verify the packet identifier
if(getServoPacketID(_pg_pkt) != getServo_EnterBootloaderPacketID())
return 0;
if(_pg_numbytes < getServo_EnterBootloaderMinDataLength())
return 0;
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_ENTER_BOOTLOADER)
return 0;
// This byte is required for the command to be accepted
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xAA)
return 0;
// This byte is required for the command to be accepted
if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0x55)
return 0;
return 1;
}// decodeServo_EnterBootloaderPacket
// end of ServoCommands.c