Your Name
88 lines
1.4 KiB
Markdown
88 lines
1.4 KiB
Markdown
# USB Command Handler
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Implementation of command handler for this project.
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### ACK
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Every command returns either an ACK or NACK.
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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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LED_TOGGLE,
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LED_SET,
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SERVO_SET,
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SERVO_SET_ALL,
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ADC_READ_RAW,
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ADC_READ_RAW_ALL,
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ADC_READ,
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ADC_READ_ALL,
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ADC_SET_READ,
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DIGITAL_IN,
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DIGITAL_LEG_OUT,
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POWER_MONITOR_SET_READ,
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POWER_MONITOR_READ,
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SETTINGS_TEST_SAVE,
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SETTINGS_TEST_READ,
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MOVE_COMMAND_START,
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// All the commands going to robot thread go here
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TEST_COMMAND, // 16
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MOVE_COMMAND_END
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} commands_e;
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```
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### Command Structure
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```c
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#define COMMAND_PREFIX 0x69
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#define COMMAND_ID 0x00
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#define COMMAND_DATA_SIZE 160
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#define COMMAND_HEADER_SIZE 13
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struct command_message_t {
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uint8_t prefix;
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uint8_t length;
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uint8_t id;
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uint8_t command;
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int64_t tick;
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uint8_t crc;
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uint8_t data[COMMAND_DATA_SIZE];
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} __attribute__((packed));
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```
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### CRC Calculation Function
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```c
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uint8_t command_calculate_crc(struct command_message_t *msg) {
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uint32_t sum = 0;
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uint8_t crc = 0;
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uint8_t *byte_ptr = (uint8_t *)msg;
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int loop_length = (sizeof(struct command_message_t) - sizeof(msg->data) + msg->length);
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for (int i = 0; i < loop_length; i++) {
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if (i == (COMMAND_HEADER_SIZE - 1)) { continue; }
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sum += byte_ptr[i];
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}
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crc = 0x100 - (sum & 0xff);
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return crc;
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}
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```
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### Python test script (AI generated)
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**Command Usage:**
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```bash
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python3 scripts/send_cmd.py --help
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```
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This script sends/reads commands |