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Add bootloader flag in the flash

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This commit is contained in:
Valentin Dabstep 2025-05-23 09:10:51 +03:00
parent ec086e2d47
commit c0c42339f1
5 changed files with 17 additions and 2 deletions
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11
controller/fw/embed/src/process_can.cpp
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@ -118,6 +118,11 @@ void setup_id(uint8_t my_id) {
write_param(addr_id,my_id);
}
void firmware_update(){
write_param(firmw,FIRMWARE_FLAG);
NVIC_SystemReset();
}
void setup_angle(float target_angle) {
motor.enable(); // Enable motor if disabled
motor.controller = MotionControlType::angle;
@ -142,6 +147,8 @@ void setup_pid_angle(uint8_t param_pid, float data){
write_param(param_pid,data);
}
void listen_can(const CAN_message_t &msg) {
msg_id = msg.id;
msg_ch = msg_id & 0xF; // Extract message channel
@ -203,6 +210,10 @@ void listen_can(const CAN_message_t &msg) {
conv_float_to_int.f = motor.P_angle.D;
write_param(pid_d,conv_float_to_int.i);
break;
case FIRMWARE_UPDATE:
firmware_update();
break;
case MOTOR_ENABLED:
if (msg.buf[1] == 1) {