/Software/LowLevel/VisionBoard/src/PacketConfig.c

https://gitlab.com/TTYRobotiklubi/Follower · C · 108 lines · 62 code · 11 blank · 35 comment · 0 complexity · 21eec884ad75e407f0ab9e1de4fbb69f MD5 · raw file 

    

  1. // ----------------------------------------------------------------------------

    2. 

  2. //

    3. 

  3. // Casecatcher generated packet configuration source file

    4. 

  4. //

    5. 

  5. // ----------------------------------------------------------------------------

    6. 

  6. 

    7. 

  7. // ----------------------------------------------------------------------------

    8. 

  8. // Includes

    9. 

  9. // ----------------------------------------------------------------------------

    10. 

  10. #include "PacketConfig.h"

    11. 

  11. 

    12. 

  12. // ----------------------------------------------------------------------------

    13. 

  13. // Packet "RobotFeedback" parameters table

    14. 

  14. // ----------------------------------------------------------------------------

    15. 

  15. const PacketParameter packetRobotFeedbackParameterList[4] = 

    16. 

  16. {

    17. 

  17. 	{ DLParamRobotFeedback1,  0, 16 },

    18. 

  18. 	{ DLParamRobotFeedback2, 16, 16 },

    19. 

  19. 	{ DLParamRobotFeedback3, 32, 16 },

    20. 

  20. 	{ DLParamRobotFeedback4, 48, 16 }

    21. 

  21. };

    22. 

  22. 

    23. 

  23. // ----------------------------------------------------------------------------

    24. 

  24. // Packet "DistanceSensors" parameters table

    25. 

  25. // ----------------------------------------------------------------------------

    26. 

  26. const PacketParameter packetDistanceSensorsParameterList[8] = 

    27. 

  27. {

    28. 

  28. 	{ DLParamDistanceSensor1,  0, 8 },

    29. 

  29. 	{ DLParamDistanceSensor2,  8, 8 },

    30. 

  30. 	{ DLParamDistanceSensor3, 16, 8 },

    31. 

  31. 	{ DLParamDistanceSensor4, 24, 8 },

    32. 

  32. 	{ DLParamDistanceSensor5, 32, 8 },

    33. 

  33. 	{ DLParamDistanceSensor6, 40, 8 },

    34. 

  34. 	{ DLParamDistanceSensor7, 48, 8 },

    35. 

  35. 	{ DLParamDistanceSensor8, 56, 8 }

    36. 

  36. };

    37. 

  37. 

    38. 

  38. // ----------------------------------------------------------------------------

    39. 

  39. // Packet "Quaternions" parameters table

    40. 

  40. // ----------------------------------------------------------------------------

    41. 

  41. const PacketParameter packetQuaternionsParameterList[4] = 

    42. 

  42. {

    43. 

  43. 	{ DLParamQw,  0, 16 },

    44. 

  44. 	{ DLParamQx, 16, 16 },

    45. 

  45. 	{ DLParamQy, 32, 16 },

    46. 

  46. 	{ DLParamQz, 48, 16 }

    47. 

  47. };

    48. 

  48. 

    49. 

  49. // ----------------------------------------------------------------------------

    50. 

  50. // Packet "MotorSpeeds" parameters table

    51. 

  51. // ----------------------------------------------------------------------------

    52. 

  52. const PacketParameter packetMotorSpeedsParameterList[2] = 

    53. 

  53. {

    54. 

  54. 	{ DLParamMotor1RequestSpeed,  0, 16 },

    55. 

  55. 	{ DLParamMotor2RequestSpeed, 16, 16 }

    56. 

  56. };

    57. 

  57. 

    58. 

  58. // ----------------------------------------------------------------------------

    59. 

  59. // Packet "RobotControl" parameters table

    60. 

  60. // ----------------------------------------------------------------------------

    61. 

  61. const PacketParameter packetRobotControlParameterList[2] = 

    62. 

  62. {

    63. 

  63. 	{ DLParamRequestTranslationSpeed,  0, 16 },

    64. 

  64. 	{ DLParamRequestRotationSpeed,    16, 16 }

    65. 

  65. };

    66. 

  66. 

    67. 

  67. // ----------------------------------------------------------------------------

    68. 

  68. // Packet "PidSetup" parameters table

    69. 

  69. // ----------------------------------------------------------------------------

    70. 

  70. const PacketParameter packetPidSetupParameterList[3] = 

    71. 

  71. {

    72. 

  72. 	{ DLParamPidParameter,  0,  8 },

    73. 

  73. 	{ DLParamPidValue,      8, 32 },

    74. 

  74. 	{ DLParamPidUpdating,  40,  1 }

    75. 

  75. };

    76. 

  76. 

    77. 

  77. // ----------------------------------------------------------------------------

    78. 

  78. // Packet "CameraControl" parameters table

    79. 

  79. // ----------------------------------------------------------------------------

    80. 

  80. const PacketParameter packetCameraControlParameterList[2] = 

    81. 

  81. {

    82. 

  82. 	{ DLParamCameraRequestXDegree, 0, 8 },

    83. 

  83. 	{ DLParamCameraRequestZDegree, 8, 8 }

    84. 

  84. };

    85. 

  85. 

    86. 

  86. // ----------------------------------------------------------------------------

    87. 

  87. // Packet "Visualization" parameters table

    88. 

  88. // ----------------------------------------------------------------------------

    89. 

  89. const PacketParameter packetVisualizationParameterList[1] = 

    90. 

  90. {

    91. 

  91. 	{ DLParamVisualizationActivity, 0, 8 }

    92. 

  92. };

    93. 

  93. 

    94. 

  94. // ----------------------------------------------------------------------------

    95. 

  95. // Packets table

    96. 

  96. // ----------------------------------------------------------------------------

    97. 

  97. PacketDescriptor PacketDescriptorList[NumberOfPackets] = 

    98. 

  98. {

    99. 

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

    100. 

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

    101. 

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

    102. 

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

    103. 

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

    104. 

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

    105. 

  105. 	/* CameraControl   */ { 0xE0, packetCameraControlParameterList,   2, 2 },

    106. 

  106. 	/* Visualization   */ { 0xFA, packetVisualizationParameterList,   1, 1 }

    107. 

  107. };
    108.