You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
140 lines
2.7 KiB
C
140 lines
2.7 KiB
C
#pragma once
|
|
|
|
#include "message.h"
|
|
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
static const uint8_t SDK_HOST = 9;
|
|
static const uint8_t SDK_INDEX = 0;
|
|
|
|
#define SET_SDK_CONNECTION_CMD 0xD43F
|
|
|
|
enum CONNECTION {
|
|
CONNECTION_WIFI_AP = 0,
|
|
CONNECTION_WIFI_STA = 1,
|
|
CONNECTION_USB_RNDIS = 2
|
|
};
|
|
|
|
void
|
|
set_sdk_connection(
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack,
|
|
enum CONNECTION connection_type,
|
|
uint32_t ip_address,
|
|
uint16_t port );
|
|
|
|
#define SDK_HEARTBEAT_CMD 0xD53F
|
|
|
|
void
|
|
sdk_heartbeat(
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack );
|
|
|
|
#define SET_SDK_MODE_CMD 0xD13F
|
|
|
|
void
|
|
set_sdk_mode(
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack,
|
|
bool enable );
|
|
|
|
#define SET_SYSTEM_LED_CMD 0x333F
|
|
|
|
enum LEDCOMP {
|
|
LEDCOMP_BOTTOM_BACK = 0x1,
|
|
LEDCOMP_BOTTOM_FRONT = 0x2,
|
|
LEDCOMP_BOTTOM_LEFT = 0x4,
|
|
LEDCOMP_BOTTOM_RIGHT = 0x8,
|
|
LEDCOMP_BOTTOM_ALL = 0xf,
|
|
LEDCOMP_TOP_LEFT = 0x10,
|
|
LEDCOMP_TOP_RIGHT = 0x20,
|
|
LEDCOMP_TOP_ALL = 0x30,
|
|
LEDCOMP_ALL = 0x3f
|
|
};
|
|
|
|
enum LEDEFFECT {
|
|
LEDEFFECT_OFF = 0,
|
|
LEDEFFECT_ON = 1,
|
|
LEDEFFECT_BREATH = 2,
|
|
LEDEFFECT_FLASH = 3,
|
|
LEDEFFECT_SCROLLING = 4
|
|
};
|
|
|
|
void set_system_led (
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack,
|
|
uint8_t red,
|
|
uint8_t green,
|
|
uint8_t blue,
|
|
enum LEDCOMP comp,
|
|
uint16_t led_mask,
|
|
enum LEDEFFECT effect,
|
|
uint16_t t1,
|
|
uint16_t t2 );
|
|
|
|
#define SET_ROBOT_MODE_CMD 0x463F
|
|
|
|
enum MOVEMENTMODE {
|
|
MOVEMENTMODE_FREE,
|
|
MOVEMENTMODE_GIMBAL_LEAD,
|
|
MOVEMENTMODE_CHASSIS_LEAD
|
|
};
|
|
|
|
void
|
|
set_robot_mode (
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack,
|
|
enum MOVEMENTMODE mode );
|
|
|
|
#define SUBNODE_RESET_CMD 0x0248
|
|
|
|
void
|
|
subnode_reset (
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack );
|
|
|
|
#define SUBSCRIBE_ADD_NODE_CMD 0x0148
|
|
|
|
void
|
|
subscribe_add_node (
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack );
|
|
|
|
#define ADD_SUB_MSG_CMD 0x0348
|
|
|
|
#define DDS_BATTERY 0x000200096862229f
|
|
#define DDS_GIMBAL_BASE 0x00020009f5882874
|
|
#define DDS_VELOCITY 0x0002000949a4009c
|
|
#define DDS_ESC 0x00020009c14cb7c5
|
|
#define DDS_ATTITUDE 0x000200096b986306
|
|
#define DDS_IMU 0x00020009a7985b8d
|
|
#define DDS_POSITION 0x00020009eeb7cece
|
|
#define DDS_SA_STATUS 0x000200094a2c6d55
|
|
#define DDS_CHASSIS_MODE 0x000200094fcb1146
|
|
#define DDS_SBUS 0x0002000988223568
|
|
#define DDS_SERVO 0x000200095f0059e7
|
|
#define DDS_ARM 0x0002000926abd64d
|
|
#define DDS_GRIPPER 0x00020009124d156a
|
|
#define DDS_GIMBAL_POS 0x00020009f79b3c97
|
|
#define DDS_STICK 0x0002000955e9a0fa
|
|
#define DDS_MOVE_MODE 0x00020009784c7bfd
|
|
#define DDS_TOF 0x0002000986e4c05a
|
|
#define DDS_PINBOARD 0x00020009eebb9ffc
|
|
|
|
void
|
|
add_sub_msg (
|
|
union Request* req,
|
|
uint16_t seq,
|
|
bool ack,
|
|
uint8_t msg_id,
|
|
uint8_t freq,
|
|
uint64_t subject_uuid );
|