From 1cd99b2451961f9a43a2cb9e198c82d3003cb36d Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Tue, 16 Jul 2024 23:28:05 +0200
Subject: [PATCH] Prefix commands with CMD_
---
controller/src/logic.rs | 40 ++++++++++++++++++++--------------------
1 file changed, 20 insertions(+), 20 deletions(-)
diff --git a/controller/src/logic.rs b/controller/src/logic.rs
index c8fdeeb..1403e27 100644
--- a/controller/src/logic.rs
+++ b/controller/src/logic.rs
@@ -159,14 +159,14 @@ fn i2c_callback(command: &[u8], response: &mut Deque<u8, MESSAGE_SIZE>) {
}
}
-const FIRMWARE_VERSION: u8 = 0x08;
-const WHO_AM_I: u8 = 0x0f;
-const PWM_FREQUENCY: u8 = 0x10;
-const MAX_MOTOR_PERCENTAGE: u8 = 0x11;
-const MOTOR_SHUTDOWN_TIMEOUT: u8 = 0x28;
-const MOTOR_SPEED: u8 = 0x30;
-const ENCODER_TICKS: u8 = 0x32;
-const STATUS: u8 = 0x36;
+const CMD_FIRMWARE_VERSION: u8 = 0x08;
+const CMD_WHO_AM_I: u8 = 0x0f;
+const CMD_PWM_FREQUENCY: u8 = 0x10;
+const CMD_MAX_MOTOR_PERCENTAGE: u8 = 0x11;
+const CMD_MOTOR_SHUTDOWN_TIMEOUT: u8 = 0x28;
+const CMD_MOTOR_SPEED: u8 = 0x30;
+const CMD_ENCODER_TICKS: u8 = 0x32;
+const CMD_STATUS: u8 = 0x36;
include!(concat!(env!("OUT_DIR"), "/version.rs"));
@@ -177,15 +177,15 @@ fn process_command(
) -> bool {
defmt::trace!("Processing command {:?}", command);
match command {
- [FIRMWARE_VERSION] => {
+ [CMD_FIRMWARE_VERSION] => {
for b in PKG_VERSION {
response.push_back(b).unwrap();
}
}
- [WHO_AM_I, ..] => {
+ [CMD_WHO_AM_I, ..] => {
response.push_back(0x57).unwrap();
}
- &[PWM_FREQUENCY, a, b, c] => {
+ &[CMD_PWM_FREQUENCY, a, b, c] => {
let f = u32::from_le_bytes([a, b, c, 0]);
if (1..=100_000).contains(&f) {
state.motors.set_frequency(hz(f));
@@ -194,13 +194,13 @@ fn process_command(
return false;
}
}
- [PWM_FREQUENCY] => {
+ [CMD_PWM_FREQUENCY] => {
let freq = state.motors.get_frequency().0;
for &b in &freq.to_le_bytes()[..3] {
response.push_back(b).unwrap();
}
}
- &[MAX_MOTOR_PERCENTAGE, p] => {
+ &[CMD_MAX_MOTOR_PERCENTAGE, p] => {
if (1..=100).contains(&p) {
state.max_motor_percentage = p;
} else {
@@ -208,17 +208,17 @@ fn process_command(
return false;
}
}
- [MAX_MOTOR_PERCENTAGE] => {
+ [CMD_MAX_MOTOR_PERCENTAGE] => {
response.push_back(state.max_motor_percentage).unwrap();
}
- [MOTOR_SPEED, ms @ ..] if ms.len() == 2 => {
+ [CMD_MOTOR_SPEED, ms @ ..] if ms.len() == 2 => {
state.set_motor_speed([ms[0], ms[1]]);
}
- [MOTOR_SPEED] => {
+ [CMD_MOTOR_SPEED] => {
response.push_back(state.motor_speed[0]).unwrap();
response.push_back(state.motor_speed[1]).unwrap();
}
- &[MOTOR_SHUTDOWN_TIMEOUT, ticks] => {
+ &[CMD_MOTOR_SHUTDOWN_TIMEOUT, ticks] => {
if (1..=100).contains(&ticks) {
WATCHDOG_TICKS.store(ticks, Ordering::Relaxed);
} else {
@@ -226,12 +226,12 @@ fn process_command(
return false;
}
}
- [MOTOR_SHUTDOWN_TIMEOUT] => {
+ [CMD_MOTOR_SHUTDOWN_TIMEOUT] => {
response
.push_back(WATCHDOG_TICKS.load(Ordering::Relaxed))
.unwrap();
}
- [ENCODER_TICKS] => {
+ [CMD_ENCODER_TICKS] => {
let (left, right) = state.encoders.ticks();
let (left, right) = (left.to_le_bytes(), right.to_le_bytes());
response.push_back(left[0]).unwrap();
@@ -239,7 +239,7 @@ fn process_command(
response.push_back(right[0]).unwrap();
response.push_back(right[1]).unwrap();
}
- [STATUS] => {
+ [CMD_STATUS] => {
response.push_back(u8::from(state.is_moving())).unwrap();
}
_ => {
--
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