Zephyr Sand Table firmware

This repository contains the implementation of Sand Table firmware for the Zephyr RTOS.

The firmware controls 2x stepper motors and RGBW LED strip.

ACK

Every command returns either an ACK or NACK.

Homing, Step, and Polar commands return separate ACK when the arms are done moving.

Command Structure

struct command_message_t {
    uint8_t prefix;     // 0x69
    uint8_t length;		// Length of the data
    uint8_t id;			// 0x00
    uint8_t command;
    uint8_t crc;
    uint8_t data[160];
} __attribute__((packed));

Commands

typedef enum {
	COMMAND_ACK,
	COMMAND_NACK,
	COMMAND_LED,
	COMMAND_HOME,
	COMMAND_DISABLE_MOTORS,
	COMMAND_MOTOR_STEP,
	COMMAND_MOTOR_SPEED,
	COMMAND_POLAR,
	COMMAND_GET_POLAR,
	COMMAND_SET_OFFSET,
	COMMAND_RESET_OFFSET,
} commands_e;

Python test scripts (AI generated)

• home.py = sends homing command
• led.py = sends led command which sends led fade track
• position.py = sends position command and returns the current position
• reset_offset.py = sends reset_offset command
• track.py {track name} = reads a thetarho file and sends polar coordinates line by line