mirror of https://github.com/ArduPilot/ardupilot
195 lines
6.9 KiB
C
195 lines
6.9 KiB
C
// ServoCommands.h 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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#ifndef _SERVOCOMMANDS_H
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#define _SERVOCOMMANDS_H
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// Language target is C, C++ compilers: don't mangle us
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* \file
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*/
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#include <stdbool.h>
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#include "ServoProtocol.h"
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#include "ServoDefines.h"
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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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*/
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typedef struct
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{
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Servo_TelemetryPackets_t packets; //!< Select which telemetry packets are transmitted at high-speed by the servo
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}Servo_RequestHighFrequencyData_t;
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//! Create the Servo_RequestHighFrequencyData packet from parameters
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void encodeServo_RequestHighFrequencyDataPacket(void* pkt, const Servo_TelemetryPackets_t* packets);
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//! Decode the Servo_RequestHighFrequencyData packet to parameters
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int decodeServo_RequestHighFrequencyDataPacket(const void* pkt, Servo_TelemetryPackets_t* packets);
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//! return the packet ID for the Servo_RequestHighFrequencyData packet
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#define getServo_RequestHighFrequencyDataPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_RequestHighFrequencyData packet
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#define getServo_RequestHighFrequencyDataMinDataLength() (2)
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//! return the maximum encoded length for the Servo_RequestHighFrequencyData packet
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#define getServo_RequestHighFrequencyDataMaxDataLength() (2)
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/*!
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* Set the Node ID (CAN Address) for the servo
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*/
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typedef struct
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{
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uint32_t serialNumber; //!< The serial number must match that of the servo for the command to be accepted
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uint8_t nodeID; //!< Set the CAN Node ID of the target servo
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}Servo_SetNodeID_t;
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//! Create the Servo_SetNodeID packet from parameters
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void encodeServo_SetNodeIDPacket(void* pkt, uint32_t serialNumber, uint8_t nodeID);
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//! Decode the Servo_SetNodeID packet to parameters
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int decodeServo_SetNodeIDPacket(const void* pkt, uint32_t* serialNumber, uint8_t* nodeID);
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//! return the packet ID for the Servo_SetNodeID packet
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#define getServo_SetNodeIDPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_SetNodeID packet
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#define getServo_SetNodeIDMinDataLength() (6)
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//! return the maximum encoded length for the Servo_SetNodeID packet
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#define getServo_SetNodeIDMaxDataLength() (6)
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/*!
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* Set user programmable ID value
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*/
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typedef struct
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{
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uint16_t id; //!< User configurable value, 16-bit
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}Servo_SetUserIdA_t;
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//! Create the Servo_SetUserIdA packet from parameters
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void encodeServo_SetUserIdAPacket(void* pkt, uint16_t id);
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//! Decode the Servo_SetUserIdA packet to parameters
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int decodeServo_SetUserIdAPacket(const void* pkt, uint16_t* id);
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//! return the packet ID for the Servo_SetUserIdA packet
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#define getServo_SetUserIdAPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_SetUserIdA packet
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#define getServo_SetUserIdAMinDataLength() (3)
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//! return the maximum encoded length for the Servo_SetUserIdA packet
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#define getServo_SetUserIdAMaxDataLength() (3)
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/*!
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* Set user programmable ID value
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*/
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typedef struct
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{
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uint16_t id; //!< User configurable value, 16-bit
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}Servo_SetUserIdB_t;
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//! Create the Servo_SetUserIdB packet from parameters
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void encodeServo_SetUserIdBPacket(void* pkt, uint16_t id);
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//! Decode the Servo_SetUserIdB packet to parameters
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int decodeServo_SetUserIdBPacket(const void* pkt, uint16_t* id);
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//! return the packet ID for the Servo_SetUserIdB packet
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#define getServo_SetUserIdBPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_SetUserIdB packet
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#define getServo_SetUserIdBMinDataLength() (3)
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//! return the maximum encoded length for the Servo_SetUserIdB packet
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#define getServo_SetUserIdBMaxDataLength() (3)
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//! Create the Servo_ResetDefaultSettings packet from parameters
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void encodeServo_ResetDefaultSettingsPacket(void* pkt);
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//! Decode the Servo_ResetDefaultSettings packet to parameters
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int decodeServo_ResetDefaultSettingsPacket(const void* pkt);
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//! return the packet ID for the Servo_ResetDefaultSettings packet
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#define getServo_ResetDefaultSettingsPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_ResetDefaultSettings packet
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#define getServo_ResetDefaultSettingsMinDataLength() (3)
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//! return the maximum encoded length for the Servo_ResetDefaultSettings packet
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#define getServo_ResetDefaultSettingsMaxDataLength() (3)
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//! Create the Servo_UnlockSettings packet from parameters
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void encodeServo_UnlockSettingsPacket(void* pkt);
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//! Decode the Servo_UnlockSettings packet to parameters
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int decodeServo_UnlockSettingsPacket(const void* pkt);
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//! return the packet ID for the Servo_UnlockSettings packet
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#define getServo_UnlockSettingsPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_UnlockSettings packet
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#define getServo_UnlockSettingsMinDataLength() (4)
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//! return the maximum encoded length for the Servo_UnlockSettings packet
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#define getServo_UnlockSettingsMaxDataLength() (4)
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//! Create the Servo_LockSettings packet from parameters
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void encodeServo_LockSettingsPacket(void* pkt);
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//! Decode the Servo_LockSettings packet to parameters
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int decodeServo_LockSettingsPacket(const void* pkt);
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//! return the packet ID for the Servo_LockSettings packet
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#define getServo_LockSettingsPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_LockSettings packet
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#define getServo_LockSettingsMinDataLength() (4)
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//! return the maximum encoded length for the Servo_LockSettings packet
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#define getServo_LockSettingsMaxDataLength() (4)
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//! Create the Servo_EnterBootloader packet from parameters
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void encodeServo_EnterBootloaderPacket(void* pkt);
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//! Decode the Servo_EnterBootloader packet to parameters
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int decodeServo_EnterBootloaderPacket(const void* pkt);
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//! return the packet ID for the Servo_EnterBootloader packet
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#define getServo_EnterBootloaderPacketID() (PKT_SERVO_SYSTEM_COMMAND)
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//! return the minimum encoded length for the Servo_EnterBootloader packet
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#define getServo_EnterBootloaderMinDataLength() (3)
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//! return the maximum encoded length for the Servo_EnterBootloader packet
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#define getServo_EnterBootloaderMaxDataLength() (3)
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#ifdef __cplusplus
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}
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#endif
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#endif // _SERVOCOMMANDS_H
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