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492 lines
16 KiB
492 lines
16 KiB
// 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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// Verify the packet identifier |
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if(getServoPacketID(_pg_pkt) != getServo_EnterBootloaderPacketID()) |
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return 0; |
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if(_pg_numbytes < getServo_EnterBootloaderMinDataLength()) |
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return 0; |
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) CMD_SERVO_ENTER_BOOTLOADER) |
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return 0; |
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// This byte is required for the command to be accepted |
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if (uint8FromBytes(_pg_data, &_pg_byteindex) != (uint8_t) 0xAA) |
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return 0; |
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// This byte is required for the command to be accepted |
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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_EnterBootloaderPacket |
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// end of ServoCommands.c
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