command.py

#!/usr/bin/env python
"""
cmd module
authors: stanbaek, apullin
Created on 2010-07-07:
Modified by Andrew Pullin for OctoROACH

"""

# CMD values of 0x00 - 0x7F(127) are defined here
# Add CMD definitions 
# for bootloader (0x00 - 0x1F)
CMD_NACK = 0x00        # START_APPLICATION = 0
CMD_ACK = 0x01
CMD_READ_PM = 0x02
CMD_WRITE_PM = 0x03
CMD_READ_EE = 0x04
CMD_WRITE_EE = 0x05
CMD_READ_CM = 0x06
CMD_WRITE_CM = 0x07
CMD_RESET = 0x08
CMD_READ_ID = 0x09
CMD_READ_GOTO = 0x10

SET_THRUST = 0x11
SET_STEER = 0x12
ECHO = 0x1F      # send back the received packet

# for IMU (0x20 - 0x3F)
GET_IMU_DATA = 0x20
GET_IMU_LOOP = 0x21
START_IMU_SAVE = 0x22
STOP_IMU_SAVE = 0x23

SET_POSE_SAVE_FLASH = 0x25
SET_ESTIMATE_POSE = 0x26

TX_SAVED_IMU_DATA = 0x2A
TX_SAVED_STATE_DATA = 0x2B
TX_DUTY_CYCLE = 0x2C

START_AUTO_CTRL = 0x30
STOP_AUTO_CTRL = 0x31

ERASE_MEM_SECTOR = 0x3A
 
RESET_STOPWATCH = 0x3B

BASE_ECHO = 0x3f


# CMD values of 0x80(128) - 0xEF(239) are available for user applications.
SET_THRUST_OPEN_LOOP    =   0x80

SET_THRUST_CLOSED_LOOP 	=    0x81
#TODO: Change this back if trying to do AMD PID!!!
PID_START_MOTORS	    =   0x81
SET_PID_GAINS           =   0x82
GET_PID_TELEMETRY       =   0x83
GET_AMS_POS		        =   0x84
#STREAM_TELEMETRY       =   0x85
STREAM_TELEMETRY 		= 	0x100
SET_TIMEOUT				=   0x85
SET_MOVE_QUEUE          =   0x86
SET_STEERING_GAINS      =   0x87
#SOFTWARE_RESET         =   0x88
SET_GAINS_GET_TELEM     =   0x88
ERASE_SECTORS           =   0x8A
FLASH_READBACK          =   0x8B
SLEEP                   =   0x8C
SET_VEL_PROFILE         =   0x8D
WHO_AM_I                =   0x8E
START_TELEMETRY         =   0x8F
ZERO_POS                =   0x90
START_TIMED_RUN         =   0x91
PID_STOP_MOTORS         =   0x92
SET_PHASE               =   0x93
SET_MOTOR_MODE          =   0x94

SET_THRUST_GET_IMU 		= 	0x95
SET_VEL_GET_IMU 		= 	0x96
SET_PID_OUTPUT_CHANNEL 	=	0x97
START_FANS				=	0x21
STOP_FANS				=	0x22
# CMD values of 0xF0(240) - 0xFF(255) are reserved for future use