Add bootloader
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35 changed files with 27266 additions and 13 deletions
47
controller/fw/bootloader/test/python_can.py
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47
controller/fw/bootloader/test/python_can.py
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import can
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import struct
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import time
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def process_can_message(msg):
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if msg.dlc == 5: # Check the message length
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print(f"Received message with ID: {msg.arbitration_id}")
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print(f"Data: {msg.data}")
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# The first byte determines the data type (flag)
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flag = chr(msg.data[0])
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if flag == 'A': # Angle
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angle_bytes = msg.data[1:5]
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angle = struct.unpack('<f', bytes(angle_bytes))[0]
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print(f"Angle: {angle} degrees")
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elif flag == 'V': # Velocity
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velocity_bytes = msg.data[1:5]
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velocity = struct.unpack('<f', bytes(velocity_bytes))[0]
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print(f"Velocity: {velocity} rad/s")
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elif flag == 'E' and msg.dlc >= 2: # Enable/Disable
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enabled = msg.data[1] # Expecting 1 byte (0 or 1)
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print(f"Enabled: {bool(enabled)}")
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else:
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print(f"Unknown flag: {flag}")
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else:
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print(f"Received message with unexpected length: {msg.dlc}")
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def receive_can_messages():
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try:
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# Connect to the CAN bus
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bus = can.interface.Bus(channel='can0', bustype='socketcan')
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print("Waiting for messages on the CAN bus...")
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while True:
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msg = bus.recv()
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if msg:
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process_can_message(msg)
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except KeyboardInterrupt:
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print("\nExiting program...")
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except Exception as e:
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print(f"Error: {e}")
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if __name__ == '__main__':
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receive_can_messages()
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