Add bootloader

controller/fw/bootloader/test/python_enable_motor.py

@@ -0,0 +1,54 @@
+import can
+import sys
+
+# Function to send the motor enable/disable command
+def send_motor_enable(bus, enable):
+    """
+    Sends a command to enable or disable the motor.
+
+    :param bus: The CAN bus
+    :param enable: 1 to enable the motor, 0 to disable it
+    """
+    msg = can.Message()
+    msg.arbitration_id = 1  # Message ID
+    msg.is_extended_id = False
+    msg.dlc = 2  # Message length (flag + 1 byte of data)
+    msg.data = [ord('E'), enable]  # 'E' for the command, followed by 0 or 1
+
+    try:
+        bus.send(msg)
+        state = "enabled" if enable else "disabled"
+        print(f"Sent message to {state} motor")
+        print(f"Message data: {msg.data}")
+    except can.CanError as e:
+        print(f"Message failed to send: {e}")
+        sys.exit(1)  # Exit the program on failure
+
+def main():
+    # CAN interface setup
+    bus = None  # Define outside the try block for proper shutdown
+    try:
+        bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=1000000)  # Ensure the bitrate matches the microcontroller settings
+        print("CAN bus initialized.")
+
+        # Ensure the state is passed via arguments
+        if len(sys.argv) != 2 or sys.argv[1] not in ['0', '1']:
+            print("Usage: python3 script_name.py <0|1>")
+            print("0 - Disable motor, 1 - Enable motor")
+            sys.exit(1)
+
+        enable = int(sys.argv[1])
+        send_motor_enable(bus, enable)
+
+    except Exception as e:
+        print(f"Error initializing CAN bus: {e}")
+        sys.exit(1)
+
+    finally:
+        # Ensure the bus is properly shut down
+        if bus is not None:
+            bus.shutdown()
+            print("CAN bus shut down.")
+
+if __name__ == '__main__':
+    main()