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50 lines
1.1 KiB
Markdown
50 lines
1.1 KiB
Markdown
# Zephyr Sand Table firmware
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This repository contains the implementation of Sand Table firmware for the Zephyr RTOS.
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The firmware controls 2x stepper motors and RGBW LED strip.
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### ACK
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Every command returns either an ACK or NACK.
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Homing, Step, and Polar commands return separate ACK when the arms are done moving.
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### Command Structure
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```c
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struct command_message_t {
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uint8_t prefix; // 0x69
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uint8_t length; // Length of the data
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uint8_t id; // 0x00
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uint8_t command;
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uint8_t crc;
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uint8_t data[160];
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} __attribute__((packed));
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```
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### Commands
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```c
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typedef enum {
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COMMAND_ACK,
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COMMAND_NACK,
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COMMAND_LED,
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COMMAND_HOME,
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COMMAND_DISABLE_MOTORS,
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COMMAND_MOTOR_STEP,
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COMMAND_MOTOR_SPEED,
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COMMAND_POLAR,
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COMMAND_GET_POLAR,
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COMMAND_SET_OFFSET,
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COMMAND_RESET_OFFSET,
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} commands_e;
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```
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### Python test scripts (AI generated)
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* `home.py` = sends homing command
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* `led.py` = sends led command which sends led fade track
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* `position.py` = sends position command and returns the current position
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* `reset_offset.py` = sends reset_offset command
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* `track.py {track name}` = reads a thetarho file and sends polar coordinates line by line |