ardupilot/libraries/AP_PiccoloCAN/piccolo_protocol/ServoCommands.h

// ServoCommands.h 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
 */

#ifndef _SERVOCOMMANDS_H
#define _SERVOCOMMANDS_H

// Language target is C, C++ compilers: don't mangle us
#ifdef __cplusplus
extern "C" {
#endif

/*!
 * \file
 */

#include <stdbool.h>
#include "ServoProtocol.h"
#include "ServoDefines.h"

/*!
 * 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
 */
typedef struct
{
    Servo_TelemetryPackets_t packets; //!< Select which telemetry packets are transmitted at high-speed by the servo
}Servo_RequestHighFrequencyData_t;

//! Create the Servo_RequestHighFrequencyData packet from parameters
void encodeServo_RequestHighFrequencyDataPacket(void* pkt, const Servo_TelemetryPackets_t* packets);

//! Decode the Servo_RequestHighFrequencyData packet to parameters
int decodeServo_RequestHighFrequencyDataPacket(const void* pkt, Servo_TelemetryPackets_t* packets);

//! return the packet ID for the Servo_RequestHighFrequencyData packet
#define getServo_RequestHighFrequencyDataPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_RequestHighFrequencyData packet
#define getServo_RequestHighFrequencyDataMinDataLength() (2)

//! return the maximum encoded length for the Servo_RequestHighFrequencyData packet
#define getServo_RequestHighFrequencyDataMaxDataLength() (2)

/*!
 * Set the Node ID (CAN Address) for the servo
 */
typedef struct
{
    uint32_t serialNumber; //!< The serial number must match that of the servo for the command to be accepted
    uint8_t  nodeID;       //!< Set the CAN Node ID of the target servo
}Servo_SetNodeID_t;

//! Create the Servo_SetNodeID packet from parameters
void encodeServo_SetNodeIDPacket(void* pkt, uint32_t serialNumber, uint8_t nodeID);

//! Decode the Servo_SetNodeID packet to parameters
int decodeServo_SetNodeIDPacket(const void* pkt, uint32_t* serialNumber, uint8_t* nodeID);

//! return the packet ID for the Servo_SetNodeID packet
#define getServo_SetNodeIDPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_SetNodeID packet
#define getServo_SetNodeIDMinDataLength() (6)

//! return the maximum encoded length for the Servo_SetNodeID packet
#define getServo_SetNodeIDMaxDataLength() (6)

/*!
 * Set user programmable ID value
 */
typedef struct
{
    uint16_t id; //!< User configurable value, 16-bit
}Servo_SetUserIdA_t;

//! Create the Servo_SetUserIdA packet from parameters
void encodeServo_SetUserIdAPacket(void* pkt, uint16_t id);

//! Decode the Servo_SetUserIdA packet to parameters
int decodeServo_SetUserIdAPacket(const void* pkt, uint16_t* id);

//! return the packet ID for the Servo_SetUserIdA packet
#define getServo_SetUserIdAPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_SetUserIdA packet
#define getServo_SetUserIdAMinDataLength() (3)

//! return the maximum encoded length for the Servo_SetUserIdA packet
#define getServo_SetUserIdAMaxDataLength() (3)

/*!
 * Set user programmable ID value
 */
typedef struct
{
    uint16_t id; //!< User configurable value, 16-bit
}Servo_SetUserIdB_t;

//! Create the Servo_SetUserIdB packet from parameters
void encodeServo_SetUserIdBPacket(void* pkt, uint16_t id);

//! Decode the Servo_SetUserIdB packet to parameters
int decodeServo_SetUserIdBPacket(const void* pkt, uint16_t* id);

//! return the packet ID for the Servo_SetUserIdB packet
#define getServo_SetUserIdBPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_SetUserIdB packet
#define getServo_SetUserIdBMinDataLength() (3)

//! return the maximum encoded length for the Servo_SetUserIdB packet
#define getServo_SetUserIdBMaxDataLength() (3)

//! Create the Servo_ResetDefaultSettings packet from parameters
void encodeServo_ResetDefaultSettingsPacket(void* pkt);

//! Decode the Servo_ResetDefaultSettings packet to parameters
int decodeServo_ResetDefaultSettingsPacket(const void* pkt);

//! return the packet ID for the Servo_ResetDefaultSettings packet
#define getServo_ResetDefaultSettingsPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_ResetDefaultSettings packet
#define getServo_ResetDefaultSettingsMinDataLength() (3)

//! return the maximum encoded length for the Servo_ResetDefaultSettings packet
#define getServo_ResetDefaultSettingsMaxDataLength() (3)

//! Create the Servo_UnlockSettings packet from parameters
void encodeServo_UnlockSettingsPacket(void* pkt);

//! Decode the Servo_UnlockSettings packet to parameters
int decodeServo_UnlockSettingsPacket(const void* pkt);

//! return the packet ID for the Servo_UnlockSettings packet
#define getServo_UnlockSettingsPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_UnlockSettings packet
#define getServo_UnlockSettingsMinDataLength() (4)

//! return the maximum encoded length for the Servo_UnlockSettings packet
#define getServo_UnlockSettingsMaxDataLength() (4)

//! Create the Servo_LockSettings packet from parameters
void encodeServo_LockSettingsPacket(void* pkt);

//! Decode the Servo_LockSettings packet to parameters
int decodeServo_LockSettingsPacket(const void* pkt);

//! return the packet ID for the Servo_LockSettings packet
#define getServo_LockSettingsPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_LockSettings packet
#define getServo_LockSettingsMinDataLength() (4)

//! return the maximum encoded length for the Servo_LockSettings packet
#define getServo_LockSettingsMaxDataLength() (4)

//! Create the Servo_EnterBootloader packet from parameters
void encodeServo_EnterBootloaderPacket(void* pkt);

//! Decode the Servo_EnterBootloader packet to parameters
int decodeServo_EnterBootloaderPacket(const void* pkt);

//! return the packet ID for the Servo_EnterBootloader packet
#define getServo_EnterBootloaderPacketID() (PKT_SERVO_SYSTEM_COMMAND)

//! return the minimum encoded length for the Servo_EnterBootloader packet
#define getServo_EnterBootloaderMinDataLength() (3)

//! return the maximum encoded length for the Servo_EnterBootloader packet
#define getServo_EnterBootloaderMaxDataLength() (3)

#ifdef __cplusplus
}
#endif
#endif // _SERVOCOMMANDS_H