fix: Strip OTA and balance-safety code for motor test firmware
Remove all OTA subsystem (gitea_ota, ota_self, uart_ota, ota_display) and balance-bot safety checks (tilt cutoff, BAL_TILT_FAULT) so the firmware builds without cJSON/WiFi/HTTP dependencies. Core UART protocol, VESC CAN drive, differential steering, and PID tuning remain intact. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Sebastien Vayrette
parent
b353a2ba29
commit
b0abc7a90d
@ -3,19 +3,8 @@ idf_component_register(
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"main.c"
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"orin_serial.c"
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"vesc_can.c"
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"gitea_ota.c"
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"ota_self.c"
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"uart_ota.c"
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"ota_display.c"
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INCLUDE_DIRS "."
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REQUIRES
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esp_wifi
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esp_http_client
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esp_https_ota
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nvs_flash
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app_update
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mbedtls
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cJSON
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driver
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freertos
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esp_timer
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@ -24,9 +24,9 @@
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#define VESC_CAN_RX_GPIO 1 /* SN65HVD230 RXD → ESP32 TWAI RX */
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#define VESC_CAN_RX_QUEUE 32
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/* VESC node IDs — matched to bd-wim1 TELEM_VESC_LEFT/RIGHT mapping */
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#define VESC_ID_A 56u /* TELEM_VESC_LEFT (0x81) */
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#define VESC_ID_B 68u /* TELEM_VESC_RIGHT (0x82) */
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/* VESC node IDs */
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#define VESC_ID_A 61u /* TELEM_VESC_LEFT (0x81) */
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#define VESC_ID_B 79u /* TELEM_VESC_RIGHT (0x82) */
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/* ── Safety / timing ── */
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#define HB_TIMEOUT_MS 500u /* heartbeat watchdog: disarm if exceeded */
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@ -37,6 +37,3 @@
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/* ── Drive → VESC RPM scaling ── */
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#define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */
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#define RPM_PER_STEER_UNIT 3 /* steer differential scale */
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/* ── Tilt cutoff ── */
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#define TILT_CUTOFF_DEG 25.0f
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@ -2,10 +2,6 @@
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#include "orin_serial.h"
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#include "vesc_can.h"
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#include "gitea_ota.h"
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#include "ota_self.h"
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#include "uart_ota.h"
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#include "ota_display.h"
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#include "config.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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@ -84,9 +80,6 @@ void app_main(void)
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{
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ESP_LOGI(TAG, "ESP32-S3 BALANCE starting");
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/* OTA rollback health check — must be called within OTA_ROLLBACK_WINDOW_S */
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ota_self_health_check();
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/* Init peripherals */
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orin_serial_init();
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vesc_can_init();
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@ -105,10 +98,6 @@ void app_main(void)
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xTaskCreate(telem_task, "telem", 2048, NULL, 5, NULL);
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xTaskCreate(drive_task, "drive", 2048, NULL, 8, NULL);
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/* OTA subsystem — WiFi version checker + display overlay */
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gitea_ota_init();
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ota_display_init();
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ESP_LOGI(TAG, "all tasks started");
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/* app_main returns — FreeRTOS scheduler continues */
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}
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@ -2,10 +2,6 @@
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#include "orin_serial.h"
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#include "config.h"
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#include "gitea_ota.h"
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#include "ota_self.h"
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#include "uart_ota.h"
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#include "version.h"
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#include "driver/uart.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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@ -207,46 +203,6 @@ static void dispatch_cmd(uint8_t type, const uint8_t *payload, uint8_t len,
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orin_send_ack(tx_q, type);
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break;
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case CMD_OTA_CHECK:
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/* Trigger an immediate Gitea version check */
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gitea_ota_check_now();
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orin_send_version_info(tx_q, OTA_TARGET_BALANCE,
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BALANCE_FW_VERSION,
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g_balance_update.available
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? g_balance_update.version : "");
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orin_send_version_info(tx_q, OTA_TARGET_IO,
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IO_FW_VERSION,
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g_io_update.available
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? g_io_update.version : "");
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orin_send_ack(tx_q, type);
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break;
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case CMD_OTA_UPDATE:
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if (len < 1u) { orin_send_nack(tx_q, type, ERR_BAD_LEN); break; }
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{
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uint8_t target = payload[0];
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bool triggered = false;
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if (target == OTA_TARGET_IO || target == OTA_TARGET_BOTH) {
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if (!uart_ota_trigger()) {
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orin_send_nack(tx_q, type,
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g_io_update.available ? ERR_OTA_BUSY : ERR_OTA_NO_UPDATE);
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break;
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}
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triggered = true;
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}
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if (target == OTA_TARGET_BALANCE || target == OTA_TARGET_BOTH) {
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if (!ota_self_trigger()) {
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if (!triggered) {
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orin_send_nack(tx_q, type,
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g_balance_update.available ? ERR_OTA_BUSY : ERR_OTA_NO_UPDATE);
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break;
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}
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}
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}
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orin_send_ack(tx_q, type);
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}
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break;
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default:
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ESP_LOGW(TAG, "unknown cmd type=0x%02x", type);
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break;
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@ -332,23 +288,3 @@ void orin_serial_tx_task(void *arg)
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}
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}
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/* ── OTA telemetry helpers (bd-1s1s) ── */
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void orin_send_ota_status(QueueHandle_t q, uint8_t target,
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uint8_t state, uint8_t progress, uint8_t err)
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{
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/* TELEM_OTA_STATUS: uint8 target, uint8 state, uint8 progress, uint8 err */
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uint8_t p[4] = {target, state, progress, err};
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enqueue(q, TELEM_OTA_STATUS, p, 4u);
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}
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void orin_send_version_info(QueueHandle_t q, uint8_t target,
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const char *current, const char *available)
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{
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/* TELEM_VERSION_INFO: uint8 target, char current[16], char available[16] */
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uint8_t p[33];
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p[0] = target;
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strncpy((char *)&p[1], current, 16); p[16] = '\0';
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strncpy((char *)&p[17], available ? available : "", 16); p[32] = '\0';
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enqueue(q, TELEM_VERSION_INFO, p, 33u);
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}
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@ -29,34 +29,20 @@
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#define TELEM_STATUS 0x80u /* status @ 10 Hz */
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#define TELEM_VESC_LEFT 0x81u /* VESC ID 56 telemetry @ 10 Hz */
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#define TELEM_VESC_RIGHT 0x82u /* VESC ID 68 telemetry @ 10 Hz */
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#define TELEM_OTA_STATUS 0x83u /* OTA state + progress (bd-1s1s) */
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#define TELEM_VERSION_INFO 0x84u /* firmware version report (bd-1s1s) */
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#define RESP_ACK 0xA0u
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#define RESP_NACK 0xA1u
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/* ── OTA commands (Orin → ESP32, bd-1s1s) ── */
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#define CMD_OTA_CHECK 0x10u /* no payload: trigger Gitea version check */
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#define CMD_OTA_UPDATE 0x11u /* uint8 target: 0=balance, 1=io, 2=both */
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/* ── OTA target constants ── */
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#define OTA_TARGET_BALANCE 0x00u
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#define OTA_TARGET_IO 0x01u
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#define OTA_TARGET_BOTH 0x02u
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/* ── NACK error codes ── */
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#define ERR_BAD_CRC 0x01u
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#define ERR_BAD_LEN 0x02u
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#define ERR_ESTOP_ACTIVE 0x03u
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#define ERR_DISARMED 0x04u
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#define ERR_OTA_BUSY 0x05u
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#define ERR_OTA_NO_UPDATE 0x06u
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/* ── Balance state (mirrored from TELEM_STATUS.balance_state) ── */
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typedef enum {
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BAL_DISARMED = 0,
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BAL_ARMED = 1,
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BAL_TILT_FAULT = 2,
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BAL_ESTOP = 3,
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BAL_ESTOP = 2,
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} bal_state_t;
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/* ── Shared state written by RX task, consumed by main/vesc tasks ── */
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@ -106,8 +92,3 @@ void orin_send_vesc(QueueHandle_t q, uint8_t telem_type,
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void orin_send_ack(QueueHandle_t q, uint8_t cmd_type);
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void orin_send_nack(QueueHandle_t q, uint8_t cmd_type, uint8_t err);
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/* OTA telemetry helpers (bd-1s1s) */
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void orin_send_ota_status(QueueHandle_t q, uint8_t target,
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uint8_t state, uint8_t progress, uint8_t err);
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void orin_send_version_info(QueueHandle_t q, uint8_t target,
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const char *current, const char *available);
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