// ----------------------------------------------------------------------------

//

// Casecatcher generated packet configuration source file

//

// ----------------------------------------------------------------------------



// ----------------------------------------------------------------------------

// Includes

// ----------------------------------------------------------------------------

#include "PacketConfig.h"



// ----------------------------------------------------------------------------

// Packet "Motor1Status" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetMotor1StatusParameterList[6] = 

{

	{ DLParamMotor1ActualSpeed,    0, 16 },

	{ DLParamMotor1EncoderClicks, 16, 16 },

	{ DLParamMotor1CurrentDraw,   32,  8 },

	{ DLParamMotor1DriverTemp,    40,  8 },

	{ DLParamMotor1BridgeAFault,  48,  1 },

	{ DLParamMotor1BridgeBFault,  49,  1 }

};



// ----------------------------------------------------------------------------

// Packet "Motor2Status" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetMotor2StatusParameterList[6] = 

{

	{ DLParamMotor2ActualSpeed,    0, 16 },

	{ DLParamMotor2EncoderClicks, 16, 16 },

	{ DLParamMotor2CurrentDraw,   32,  8 },

	{ DLParamMotor2DriverTemp,    40,  8 },

	{ DLParamMotor2BridgeAFault,  48,  1 },

	{ DLParamMotor2BridgeBFault,  49,  1 }

};



// ----------------------------------------------------------------------------

// Packet "RobotControl" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetRobotControlParameterList[2] = 

{

	{ DLParamRequestTranslationSpeed,  0, 16 },

	{ DLParamRequestRotationSpeed,    16, 16 }

};



// ----------------------------------------------------------------------------

// Packet "PidSetup" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetPidSetupParameterList[3] = 

{

	{ DLParamPidParameter,  0,  8 },

	{ DLParamPidValue,      8, 32 },

	{ DLParamPidUpdating,  40,  1 }

};



// ----------------------------------------------------------------------------

// Packet "MotorSpeeds" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetMotorSpeedsParameterList[2] = 

{

	{ DLParamMotor1RequestSpeed,  0, 16 },

	{ DLParamMotor2RequestSpeed, 16, 16 }

};



// ----------------------------------------------------------------------------

// Packet "DistanceSensors" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetDistanceSensorsParameterList[8] = 

{

	{ DLParamDistanceSensor1,  0, 8 },

	{ DLParamDistanceSensor2,  8, 8 },

	{ DLParamDistanceSensor3, 16, 8 },

	{ DLParamDistanceSensor4, 24, 8 },

	{ DLParamDistanceSensor5, 32, 8 },

	{ DLParamDistanceSensor6, 40, 8 },

	{ DLParamDistanceSensor7, 48, 8 },

	{ DLParamDistanceSensor8, 56, 8 }

};



// ----------------------------------------------------------------------------

// Packet "RobotFeedback" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetRobotFeedbackParameterList[4] = 

{

	{ DLParamRobotFeedback1,  0, 16 },

	{ DLParamRobotFeedback2, 16, 16 },

	{ DLParamRobotFeedback3, 32, 16 },

	{ DLParamRobotFeedback4, 48, 16 }

};



// ----------------------------------------------------------------------------

// Packet "Quaternions" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetQuaternionsParameterList[4] = 

{

	{ DLParamQw,  0, 16 },

	{ DLParamQx, 16, 16 },

	{ DLParamQy, 32, 16 },

	{ DLParamQz, 48, 16 }

};



// ----------------------------------------------------------------------------

// Packet "Emergency" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetEmergencyParameterList[4] = 

{

	{ DLParamEmergencySetEvent,    0,  1 },

	{ DLParamEmergencyClearEvent,  1,  1 },

	{ DLParamEmergencyReserve1,    2,  8 },

	{ DLParamEmergencyReserve2,   10, 16 }

};



// ----------------------------------------------------------------------------

// Packet "Gyro" parameters table

// ----------------------------------------------------------------------------

const PacketParameter packetGyroParameterList[3] = 

{

	{ DLParamGyroX,  0, 16 },

	{ DLParamGyroY, 16, 16 },

	{ DLParamGyroZ, 32, 16 }

};



// ----------------------------------------------------------------------------

// Packets table

// ----------------------------------------------------------------------------

PacketDescriptor PacketDescriptorList[NumberOfPackets] = 

{

	/* Motor1Status    */ { 0xD1, packetMotor1StatusParameterList,    6, 7 },

	/* Motor2Status    */ { 0xD2, packetMotor2StatusParameterList,    6, 7 },

	/* RobotControl    */ { 0xD3, packetRobotControlParameterList,    2, 4 },

	/* PidSetup        */ { 0xD5, packetPidSetupParameterList,        3, 6 },

	/* MotorSpeeds     */ { 0xD0, packetMotorSpeedsParameterList,     2, 4 },

	/* DistanceSensors */ { 0xF0, packetDistanceSensorsParameterList, 8, 8 },

	/* RobotFeedback   */ { 0xD4, packetRobotFeedbackParameterList,   4, 8 },

	/* Quaternions     */ { 0xF2, packetQuaternionsParameterList,     4, 8 },

	/* Emergency       */ { 0xCF, packetEmergencyParameterList,       4, 4 },

	/* Gyro            */ { 0xF1, packetGyroParameterList,            3, 6 }

};