IQ.Pilot Release Commit @ b6534c0

2026-08-27 20:17:33 -05:00
commit 00f07cac48
4706 changed files with 1257146 additions and 0 deletions
--- a/artifacts/package_sources/panda/board/body/main_comms.h
+++ b/artifacts/package_sources/panda/board/body/main_comms.h
@@ -0,0 +1,105 @@
+void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
+  UNUSED(data);
+  UNUSED(len);
+}
+
+int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
+  unsigned int resp_len = 0;
+
+  switch (req->request) {
+    // **** 0xc1: get hardware type
+    case 0xc1:
+      resp[0] = hw_type;
+      resp_len = 1;
+      break;
+
+    // **** 0xd1: enter bootloader mode
+    case 0xd1:
+      switch (req->param1) {
+        case 0:
+          print("-> entering bootloader\n");
+          enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+          NVIC_SystemReset();
+          break;
+        case 1:
+          print("-> entering softloader\n");
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+          break;
+        default:
+          print("Bootloader mode invalid\n");
+          break;
+      }
+      break;
+
+    // **** 0xd3/0xd4: signature bytes
+    case 0xd3:
+    case 0xd4: {
+      uint8_t offset = (req->request == 0xd3) ? 0U : 64U;
+      resp_len = 64U;
+      char *code = (char *)_app_start;
+      int code_len = _app_start[0];
+      (void)memcpy(resp, &code[code_len + offset], resp_len);
+      break;
+    }
+
+    // **** 0xd6: get version
+    case 0xd6:
+      (void)memcpy(resp, gitversion, sizeof(gitversion));
+      resp_len = sizeof(gitversion) - 1U;
+      break;
+
+    // **** 0xd8: reset ST
+    case 0xd8:
+      NVIC_SystemReset();
+      break;
+
+    // **** 0xe0: set motor speed
+    case 0xe0:
+      motor_set_speed((uint8_t)req->param1, (int8_t)req->param2);
+      break;
+
+    // **** 0xe1: stop motor
+    case 0xe1:
+      motor_set_speed((uint8_t)req->param1, 0);
+      break;
+
+    // **** 0xe2: get motor encoder state
+    case 0xe2: {
+      uint8_t motor = (uint8_t)req->param1;
+      int32_t position = motor_encoder_get_position(motor);
+      float rpm = motor_encoder_get_speed_rpm(motor);
+      int32_t rpm_milli = (int32_t)(rpm * 1000.0f);
+      (void)memcpy(resp, &position, sizeof(position));
+      (void)memcpy(resp + sizeof(position), &rpm_milli, sizeof(rpm_milli));
+      resp_len = (uint8_t)(sizeof(position) + sizeof(rpm_milli));
+      break;
+    }
+
+    // **** 0xe3: reset encoder position
+    case 0xe3:
+      motor_encoder_reset((uint8_t)req->param1);
+      break;
+
+    // **** 0xe4: set motor target speed (rpm * 0.1)
+    case 0xe4: {
+      uint8_t motor = (uint8_t)req->param1;
+      float target_rpm = ((int16_t)req->param2) * 0.1f;
+      motor_speed_controller_set_target_rpm(motor, target_rpm);
+      break;
+    }
+
+    // **** 0xdd: get healthpacket and CANPacket versions
+    case 0xdd:
+      resp[0] = HEALTH_PACKET_VERSION;
+      resp[1] = CAN_PACKET_VERSION;
+      resp[2] = CAN_HEALTH_PACKET_VERSION;
+      resp_len = 3U;
+      break;
+
+    default:
+      // Ignore unhandled requests
+      break;
+  }
+  return resp_len;
+}