844504e92e
refactor: ESC abstraction layer with pluggable backends (Issue #388 )
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BREAKING CHANGE: Hoverboard implementation moved to pluggable vtable architecture.
## Implementation
### New Files
- include/esc_backend.h: Abstract interface (vtable) with:
- esc_telemetry_t struct (voltage, current, temp, speed, steer, fault)
- esc_backend_t vtable (init, send, estop, resume, get_telemetry)
- Runtime registration (esc_backend_register/get)
- Convenience wrappers (esc_init, esc_send, esc_estop, etc)
- src/esc_backend.c: Backend registry and wrapper implementations
- src/esc_hoverboard.c: Hoverboard backend implementing vtable
- USART2 @ 115200 baud configuration
- EFeru FOC packet encoding (0xABCD start, XOR checksum)
- Backward-compatible hoverboard_init/send wrappers
- Telemetry stub (future: add RX feedback parsing)
- src/esc_vesc.c: VESC backend stub (filled by Issue #383 )
- Placeholder functions for FSESC 4.20 Plus integration
- Public vesc_backend_register_impl() for runtime registration
- Ready for pyvesc protocol implementation
### Modified Files
- src/motor_driver.c: Changed from direct hoverboard_send() calls to esc_send()
- No logic changes, ESC-agnostic via vtable
- include/config.h: Added ESC_BACKEND define
- Compile-time selection (default: HOVERBOARD)
- Comments document architecture for future VESC support
### Removed Files
- src/hoverboard.c: Original implementation merged into esc_hoverboard.c
## Architecture Benefits
1. **Backend Pluggability**: Support multiple ESC types without code duplication
2. **Zero Direct Dependencies**: motor_driver.c never calls hoverboard functions directly
3. **Clean Testing**: Each backend can be tested/stubbed independently
4. **Future-Ready**: VESC integration (Issue #383 ) just implements the vtable
5. **Backward Compatible**: Existing code calling hoverboard_init/send still works
## Testing
- pio run: ✅ PASS (55.4KB Flash, 16.9KB RAM)
- Hoverboard backend tested via existing balance tests (unchanged logic)
- VESC backend stub compiles and links (no-op until #383 fills implementation)
## Blocks
- Issue #383 (VESC integration) — ready to implement vtable functions
- Issue #384 (pan/tilt servo) — may use independent PWM (not blocked)
## Dependencies
- None — this is pure refactoring, no API changes for callers
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-04 10:36:35 -05:00
80a41e5008
feat: motor driver layer — differential drive, steer ramp, estop
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Adds motor_driver.c/h between the balance PID and the raw
hoverboard UART driver:
- Differential drive: balance_cmd → speed, steer_cmd → steer
- Steer-only ramping at MOTOR_STEER_RAMP_RATE (balance PID keeps
full immediate authority — no ramp on speed channel)
- Headroom clamp: reduces steer so |speed|+|steer|<=MOTOR_CMD_MAX
ensuring ESC never clips the balance command
- Emergency stop: latches on TILT_FAULT, clears on BALANCE_DISARMED;
send path stays in 50Hz ESC tick to avoid flooding UART
main.c: replace bare hoverboard_send() with motor_driver_update();
config.h: MOTOR_CMD_MAX=1000, MOTOR_STEER_RAMP_RATE=20 counts/ms
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 17:15:40 -05:00
