Data Sheet

ManualsBrandsRobotis ManualsMiscellaneous MicrocontrollersRobotis OpenCR1.0 Cortex Microcontroller for ROS

4/27/2018 OpenCR1.0

http://emanual.robotis.com/docs/en/parts/controller/opencr10/ 7/50

For example, the Mavlink_msg_read_version_decode() function parses the message data into

the data structure of the command. If the field Responsive to parsed mav_data is active, it

sends the boot loader version and revision via the ACK command.

int main(void)

{

tTime = millis();

while(1)

{

msg_process_vcp();

}

void msg_process_vcp(void)

{

BOOL ret;

uint8_t ch;

msg_t msg;

while(vcp_is_available())

{

ch = vcp_getch();

ret = msg_recv( 0, ch, &msg );

if( ret == TRUE )

{

switch( msg.p_msg->msgid )

{

case MAVLINK_MSG_ID_READ_VERSION:

cmd_read_version(&msg);

break;

case MAVLINK_MSG_ID_READ_BOARD_NAME:

cmd_read_board_name(&msg);

break;

... omit ...

default:

cmd_send_error(&msg, ERR_INVALID_CMD);

break;

}

void cmd_read_version( msg_t *p_msg )

{

err_code_t err_code = OK;

mavlink_ack_t mav_ack;

mavlink_read_version_t mav_data;

mavlink_msg_read_version_decode(p_msg->p_msg, &mav_data);

if( mav_data.resp == 1 )

{

mav_ack.msg_id = p_msg->p_msg->msgid;

mav_ack.err_code = err_code;

mav_ack.data[0] = boot_version;

mav_ack.data[1] = boot_version>>8;

mav_ack.data[2] = boot_version>>16;

mav_ack.data[3] = boot_version>>24;

OpenCR1.0