First implementation of digital out for leg enable

2026-10-02 13:08:52 +03:00
parent 525dc6d8f2
commit 06f53e4afe
9 changed files with 233 additions and 1 deletions
@@ -45,6 +45,7 @@ COMMANDS = {
 	"ADC_READ_ALL": 9,
 	"ADC_SET_READ": 10,
 	"DIGITAL_IN": 11,
+	"DIGITAL_LEG_OUT": 12,
 }
 COMMAND_NAMES = {v: k for k, v in COMMANDS.items()}

@@ -49,6 +49,7 @@ COMMANDS = {
 	"ADC_READ_ALL": 9,
 	"ADC_SET_READ": 10,
 	"DIGITAL_IN": 11,
+	"DIGITAL_LEG_OUT": 12,
 }
 COMMAND_NAMES = {v: k for k, v in COMMANDS.items()}

@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+
+import serial
+import struct
+import threading
+import time
+
+PORT = "/dev/ttyACM0"
+BAUDRATE = 115200
+
+COMMAND_PREFIX = 0x69
+
+COMMAND_ACK = 0
+COMMAND_NACK = 1
+LED_TOGGLE = 2
+LED_SET = 3
+SERVO_SET = 4
+SERVO_SET_ALL = 5
+DIGITAL_LEG_OUT = 12
+
+DEVICE_ID = 0
+
+# Header layout: prefix, length, id, command, tick(int64 LE), crc
+TICK_FORMAT = "<q"                         # signed 64-bit little-endian, milliseconds
+TICK_SIZE = struct.calcsize(TICK_FORMAT)   # 8
+CRC_OFFSET = 4 + TICK_SIZE                 # index of the crc byte -> 12
+HEADER_SIZE = CRC_OFFSET + 1               # bytes before data -> 13
+
+
+def calculate_crc(msg: bytes) -> int:
+	s = sum(msg) & 0xFF
+	return (-s) & 0xFF
+
+
+def make_packet(command: int, data: bytes = b"", tick: int = 0) -> bytes:
+	length = len(data)
+
+	pkt = bytearray()
+	pkt.append(COMMAND_PREFIX)
+	pkt.append(length)
+	pkt.append(DEVICE_ID)
+	pkt.append(command)
+	pkt.extend(struct.pack(TICK_FORMAT, tick))
+	pkt.append(0)			  # CRC placeholder
+	pkt.extend(data)
+
+	pkt[CRC_OFFSET] = calculate_crc(pkt[:CRC_OFFSET] + pkt[CRC_OFFSET + 1:])
+
+	return bytes(pkt)
+
+
+def verify_crc(packet: bytes) -> bool:
+	crc = packet[CRC_OFFSET]
+	calc = calculate_crc(packet[:CRC_OFFSET] + packet[CRC_OFFSET + 1:])
+	return crc == calc
+
+
+def packet_size(buf: bytes):
+	if len(buf) < 2:
+		return None
+	return HEADER_SIZE + buf[1]
+
+
+def unpack_tick(packet: bytes) -> int:
+	return struct.unpack(TICK_FORMAT, packet[4:4 + TICK_SIZE])[0]
+
+
+def reader(ser):
+	rx = bytearray()
+
+	while True:
+		data = ser.read(64)
+		if not data:
+			continue
+
+		rx.extend(data)
+
+		while rx:
+			# Binary packet?
+			if rx[0] == COMMAND_PREFIX:
+				size = packet_size(rx)
+				if size is None or len(rx) < size:
+					break
+
+				pkt = bytes(rx[:size])
+				del rx[:size]
+
+				if not verify_crc(pkt):
+					print("RX: Bad CRC:", pkt.hex())
+					continue
+
+				length = pkt[1]
+				dev_id = pkt[2]
+				cmd = pkt[3]
+				tick = unpack_tick(pkt)
+
+				if cmd == COMMAND_ACK:
+					print(f"<-- ACK (device={dev_id}, tick={tick}ms)")
+
+				elif cmd == COMMAND_NACK:
+					print(f"<-- NACK (device={dev_id}, tick={tick}ms)")
+
+				else:
+					print(f"<-- Command {cmd} (tick={tick}ms) len={length}")
+
+			else:
+				# ASCII log output
+				idx = rx.find(b'\n')
+				if idx == -1:
+					break
+
+				line = rx[:idx + 1]
+				del rx[:idx + 1]
+
+				try:
+					print("[LOG]", line.decode().rstrip())
+				except UnicodeDecodeError:
+					print("[RAW]", line.hex())
+
+
+def main():
+	ser = serial.Serial(PORT, BAUDRATE, timeout=0.05)
+
+	threading.Thread(target=reader, args=(ser,), daemon=True).start()
+
+	for i in range(0x3f):
+		data = struct.pack("<B", i)  # explicitly uint8_t, raises if i is out of 0-255 range
+
+		ser.write(make_packet(DIGITAL_LEG_OUT, data, tick=0))
+		time.sleep(0.1)
+
+	print("Done.")
+	time.sleep(2)
+
+
+if __name__ == "__main__":
+	main()