mirror of
https://github.com/infiniteCable2/panda.git
synced 2026-02-18 17:23:52 +08:00
515ac45fc0
* motors * can * cleanup unused stuff * initial clean * more clean * remove integral and derivative clamps, revert pwm driver to original * remove integral and derivative clamps, revert pwm driver to original * remove integral and derivative clamps, revert pwm driver to original * dont need this for now * clean * fix can rx and can version error * ignore body for misra mutation test * fix bus recovery, remove body rx hook
106 lines
2.7 KiB
C
106 lines
2.7 KiB
C
void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
|
|
UNUSED(data);
|
|
UNUSED(len);
|
|
}
|
|
|
|
int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
|
|
unsigned int resp_len = 0;
|
|
|
|
switch (req->request) {
|
|
// **** 0xc1: get hardware type
|
|
case 0xc1:
|
|
resp[0] = hw_type;
|
|
resp_len = 1;
|
|
break;
|
|
|
|
// **** 0xd1: enter bootloader mode
|
|
case 0xd1:
|
|
switch (req->param1) {
|
|
case 0:
|
|
print("-> entering bootloader\n");
|
|
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
|
NVIC_SystemReset();
|
|
break;
|
|
case 1:
|
|
print("-> entering softloader\n");
|
|
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
|
|
NVIC_SystemReset();
|
|
break;
|
|
default:
|
|
print("Bootloader mode invalid\n");
|
|
break;
|
|
}
|
|
break;
|
|
|
|
// **** 0xd3/0xd4: signature bytes
|
|
case 0xd3:
|
|
case 0xd4: {
|
|
uint8_t offset = (req->request == 0xd3) ? 0U : 64U;
|
|
resp_len = 64U;
|
|
char *code = (char *)_app_start;
|
|
int code_len = _app_start[0];
|
|
(void)memcpy(resp, &code[code_len + offset], resp_len);
|
|
break;
|
|
}
|
|
|
|
// **** 0xd6: get version
|
|
case 0xd6:
|
|
(void)memcpy(resp, gitversion, sizeof(gitversion));
|
|
resp_len = sizeof(gitversion) - 1U;
|
|
break;
|
|
|
|
// **** 0xd8: reset ST
|
|
case 0xd8:
|
|
NVIC_SystemReset();
|
|
break;
|
|
|
|
// **** 0xe0: set motor speed
|
|
case 0xe0:
|
|
motor_set_speed((uint8_t)req->param1, (int8_t)req->param2);
|
|
break;
|
|
|
|
// **** 0xe1: stop motor
|
|
case 0xe1:
|
|
motor_set_speed((uint8_t)req->param1, 0);
|
|
break;
|
|
|
|
// **** 0xe2: get motor encoder state
|
|
case 0xe2: {
|
|
uint8_t motor = (uint8_t)req->param1;
|
|
int32_t position = motor_encoder_get_position(motor);
|
|
float rpm = motor_encoder_get_speed_rpm(motor);
|
|
int32_t rpm_milli = (int32_t)(rpm * 1000.0f);
|
|
(void)memcpy(resp, &position, sizeof(position));
|
|
(void)memcpy(resp + sizeof(position), &rpm_milli, sizeof(rpm_milli));
|
|
resp_len = (uint8_t)(sizeof(position) + sizeof(rpm_milli));
|
|
break;
|
|
}
|
|
|
|
// **** 0xe3: reset encoder position
|
|
case 0xe3:
|
|
motor_encoder_reset((uint8_t)req->param1);
|
|
break;
|
|
|
|
// **** 0xe4: set motor target speed (rpm * 0.1)
|
|
case 0xe4: {
|
|
uint8_t motor = (uint8_t)req->param1;
|
|
float target_rpm = ((int16_t)req->param2) * 0.1f;
|
|
motor_speed_controller_set_target_rpm(motor, target_rpm);
|
|
break;
|
|
}
|
|
|
|
// **** 0xdd: get healthpacket and CANPacket versions
|
|
case 0xdd:
|
|
resp[0] = HEALTH_PACKET_VERSION;
|
|
resp[1] = CAN_PACKET_VERSION;
|
|
resp[2] = CAN_HEALTH_PACKET_VERSION;
|
|
resp_len = 3U;
|
|
break;
|
|
|
|
default:
|
|
// Ignore unhandled requests
|
|
break;
|
|
}
|
|
return resp_len;
|
|
}
|