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142 lines
2.8 KiB
C
142 lines
2.8 KiB
C
#pragma once
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#include "message.h"
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#include <stdbool.h>
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#include <stdint.h>
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static const uint8_t SDK_HOST = 9;
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static const uint8_t SDK_INDEX = 0;
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#define SET_SDK_CONNECTION_CMD 0xD43F
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enum CONNECTION {
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CONNECTION_WIFI_AP = 0,
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CONNECTION_WIFI_STA = 1,
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CONNECTION_USB_RNDIS = 2
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};
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void
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set_sdk_connection(
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union Request* req,
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uint16_t seq,
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bool ack,
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enum CONNECTION connection_type,
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uint32_t ip_address,
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uint16_t port );
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#define SDK_HEARTBEAT_CMD 0xD53F
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void
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sdk_heartbeat(
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union Request* req,
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uint16_t seq,
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bool ack );
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#define SET_SDK_MODE_CMD 0xD13F
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void
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set_sdk_mode(
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union Request* req,
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uint16_t seq,
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bool ack,
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bool enable );
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#define SET_SYSTEM_LED_CMD 0x333F
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enum LEDCOMP {
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LEDCOMP_BOTTOM_BACK = 0x1,
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LEDCOMP_BOTTOM_FRONT = 0x2,
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LEDCOMP_BOTTOM_LEFT = 0x4,
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LEDCOMP_BOTTOM_RIGHT = 0x8,
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LEDCOMP_BOTTOM_ALL = 0xf,
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LEDCOMP_TOP_LEFT = 0x10,
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LEDCOMP_TOP_RIGHT = 0x20,
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LEDCOMP_TOP_ALL = 0x30,
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LEDCOMP_ALL = 0x3f
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};
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enum LEDEFFECT {
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LEDEFFECT_OFF = 0,
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LEDEFFECT_ON = 1,
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LEDEFFECT_BREATH = 2,
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LEDEFFECT_FLASH = 3,
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LEDEFFECT_SCROLLING = 4
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};
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void set_system_led (
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union Request* req,
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uint16_t seq,
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bool ack,
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uint8_t red,
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uint8_t green,
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uint8_t blue,
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enum LEDCOMP comp,
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uint16_t led_mask,
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enum LEDEFFECT effect,
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uint16_t t1,
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uint16_t t2 );
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#define SET_ROBOT_MODE_CMD 0x463F
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enum MOVEMENTMODE {
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MOVEMENTMODE_FREE,
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MOVEMENTMODE_GIMBAL_LEAD,
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MOVEMENTMODE_CHASSIS_LEAD
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};
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void
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set_robot_mode (
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union Request* req,
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uint16_t seq,
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bool ack,
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enum MOVEMENTMODE mode );
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#define SUBNODE_RESET_CMD 0x0248
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void
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subnode_reset (
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union Request* req,
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uint16_t seq,
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bool ack );
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#define SUBSCRIBE_ADD_NODE_CMD 0x0148
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void
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subscribe_add_node (
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union Request* req,
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uint16_t seq,
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bool ack );
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#define ADD_SUB_MSG_CMD 0x0348
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#define PUSH_PERIOD_MSG_CMD 0x0848
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#define DDS_BATTERY 0x000200096862229f
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#define DDS_GIMBAL_BASE 0x00020009f5882874
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#define DDS_VELOCITY 0x0002000949a4009c
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#define DDS_ESC 0x00020009c14cb7c5
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#define DDS_ATTITUDE 0x000200096b986306
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#define DDS_IMU 0x00020009a7985b8d
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#define DDS_POSITION 0x00020009eeb7cece
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#define DDS_SA_STATUS 0x000200094a2c6d55
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#define DDS_CHASSIS_MODE 0x000200094fcb1146
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#define DDS_SBUS 0x0002000988223568
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#define DDS_SERVO 0x000200095f0059e7
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#define DDS_ARM 0x0002000926abd64d
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#define DDS_GRIPPER 0x00020009124d156a
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#define DDS_GIMBAL_POS 0x00020009f79b3c97
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#define DDS_STICK 0x0002000955e9a0fa
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#define DDS_MOVE_MODE 0x00020009784c7bfd
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#define DDS_TOF 0x0002000986e4c05a
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#define DDS_PINBOARD 0x00020009eebb9ffc
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void
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add_sub_msg (
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union Request* req,
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uint16_t seq,
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bool ack,
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uint8_t msg_id,
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uint8_t freq,
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uint64_t subject_uuid );
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