From 8f74049209abd800b365a31d1d90dd63ea873de1 Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Wed, 17 Jul 2024 01:05:18 +0200
Subject: [PATCH] Add RESET command
---
README.org | 4 ++++
controller/python/controller.py | 5 +++++
controller/src/logic/mod.rs | 5 +++++
3 files changed, 14 insertions(+)
diff --git a/README.org b/README.org
index dee21c9..d42e2a7 100644
--- a/README.org
+++ b/README.org
@@ -125,6 +125,10 @@ Multibyte values are exchanged in little endian format.
duration in 10th of seconds on 1 byte. This cannot be used if the
motor is moving.
+** [IMPLEMENTED] 0xE0 Reset (W)
+
+- Reset the device. Used mainly for testing.
+
** 0xF0-0xF7 Unique device ID (R)
- Unique device ID as found in addresses 0x1FFFF7E8-0x1FFFF7EF
diff --git a/controller/python/controller.py b/controller/python/controller.py
index 29c9b8f..abe1040 100644
--- a/controller/python/controller.py
+++ b/controller/python/controller.py
@@ -22,6 +22,7 @@ class Controller:
MOTOR_SPEED = 0x30
ENCODER_TICKS = 0x32
STATUS = 0x36
+ RESET = 0xE0
def __init__(self, i2cbus=8):
import smbus
@@ -161,3 +162,7 @@ class Controller:
"""Return the PWM frequency in Hz."""
a, b, c = self._read(self.PWM_FREQUENCY, 3, "BBB")
return a | (b << 8) | (c << 16)
+
+ def reset(self):
+ """Reset the device. Used mainly for testing."""
+ self._write(self.RESET, [])
diff --git a/controller/src/logic/mod.rs b/controller/src/logic/mod.rs
index 3ed0269..5de199d 100644
--- a/controller/src/logic/mod.rs
+++ b/controller/src/logic/mod.rs
@@ -60,6 +60,7 @@ const CMD_MOTOR_SHUTDOWN_TIMEOUT: u8 = 0x28;
const CMD_MOTOR_SPEED: u8 = 0x30;
const CMD_ENCODER_TICKS: u8 = 0x32;
const CMD_STATUS: u8 = 0x36;
+const CMD_RESET: u8 = 0xe0;
include!(concat!(env!("OUT_DIR"), "/version.rs"));
@@ -153,6 +154,10 @@ fn process_command(
.push_back(u8::from(motor_control::is_moving()))
.unwrap();
}
+ [CMD_RESET] => {
+ defmt::info!("resetting device after receiving the RESET command");
+ cortex_m::peripheral::SCB::sys_reset();
+ }
_ => {
defmt::warn!("unknown command or args {:#04x}", command);
return false;
--
GitLab