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add(cmd):构建推杆的命令M3推出，M4拉回

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This commit is contained in:
yelvlab
2026-07-28 15:29:14 +08:00
parent 6e3290c70e
commit c8700aa353
1 changed files with 45 additions and 0 deletions
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Src/command.c
+45
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@@ -445,6 +445,51 @@ void handle_command(const uint8_t *frame, uint8_t len) {
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
return;
case 3u: // M3 p_val: Actuator Channel. s_val: Actuator Duty Cycle
{
uint32_t p_val = 0;
uint32_t s_val = 0;
bool has_p = find_parameter_value(cmd, cmd_len, 'P', &p_val);
bool has_s = find_parameter_value(cmd, cmd_len, 'S', &s_val);
if (!(has_p && has_s)) {
send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
return;
}
if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > 999u) {
send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
return;
}
COMMAND_DEBUG("M3 Command(PUSH): Actuator Channel=%u, Duty Cycle=%u", p_val, s_val);
actuator_output((actuator_channel_t)p_val, (uint16_t)s_val, DIRECTION_PUSH);
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
}
return;
case 4u: // M4 p_val: Actuator Channel. s_val: Actuator Duty Cycle
{
uint32_t p_val = 0;
uint32_t s_val = 0;
bool has_p = find_parameter_value(cmd, cmd_len, 'P', &p_val);
bool has_s = find_parameter_value(cmd, cmd_len, 'S', &s_val);
if (!(has_p && has_s)) {
send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
return;
}
if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > 999u) {
send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
return;
}
COMMAND_DEBUG("M4 Command(PULL): Actuator Channel=%u, Duty Cycle=%u", p_val, s_val);
actuator_output((actuator_channel_t)p_val, (uint16_t)s_val, DIRECTION_PULL);
send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
}
return;
/* ==========================================
* M888 软件重启命令
* ========================================== */