Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
86 lines
2.1 KiB
C
86 lines
2.1 KiB
C
void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
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UNUSED(data);
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UNUSED(len);
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}
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int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
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unsigned int resp_len = 0;
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switch (req->request) {
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// **** 0xc1: get hardware type
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case 0xc1:
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resp[0] = hw_type;
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resp_len = 1;
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break;
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// **** 0xd1: enter bootloader mode
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case 0xd1:
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switch (req->param1) {
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case 0:
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print("-> entering bootloader\n");
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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break;
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case 1:
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print("-> entering softloader\n");
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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break;
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default:
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print("Bootloader mode invalid\n");
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break;
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}
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break;
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// **** 0xd3/0xd4: signature bytes
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case 0xd3:
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case 0xd4: {
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uint8_t offset = (req->request == 0xd3) ? 0U : 64U;
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resp_len = 64U;
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char *code = (char *)_app_start;
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int code_len = _app_start[0];
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(void)memcpy(resp, &code[code_len + offset], resp_len);
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break;
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}
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// **** 0xd6: get version
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case 0xd6:
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(void)memcpy(resp, gitversion, sizeof(gitversion));
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resp_len = sizeof(gitversion) - 1U;
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break;
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// **** 0xd8: reset ST
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case 0xd8:
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NVIC_SystemReset();
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break;
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// **** 0xdd: get healthpacket and CANPacket version hashes
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case 0xdd: {
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uint32_t versions[2] = {HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
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(void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
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resp_len = sizeof(versions);
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break;
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}
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// **** 0xb3: set motor speeds
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case 0xb3:
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rpm_left = (int16_t)req->param1;
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rpm_right = (int16_t)req->param2;
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break;
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// **** 0xb4: enable/disable motors
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case 0xb4:
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enable_motors = (req->param1 == 1U);
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if (enable_motors == 0) {
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rpm_left = 0;
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rpm_right = 0;
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}
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break;
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default:
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// Ignore unhandled requests
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break;
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}
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return resp_len;
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}
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