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