sl-android
d5246fe3a8
chore: Guard ESC debug output behind compile flag (Issue #521 )
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- esc_hoverboard.c: huart2 static in production; non-static only under
#ifdef DEBUG_MOTOR_TEST (needed by R command in jetson_uart.c)
- esc_hoverboard.c: UART5 diagnostic in hoverboard_backend_init() and
per-packet printf in hoverboard_backend_send() guarded by same flag
- esc_hoverboard.c: #include <stdio.h> also guarded (not needed in production)
- jetson_uart.c: R (baud sweep) and X (GPIO test) commands guarded by
#ifdef DEBUG_MOTOR_TEST — not compiled into production firmware
Production build: no debug output, static huart2, no R/X commands.
Debug build: define DEBUG_MOTOR_TEST to re-enable all diagnostics.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-06 23:07:36 -05:00
Salty Bead
3bb4b71cea
feat: motor bench test working — UART5 ESC + USART6 Jetson + W command
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- Fix UART5 ESC: PC12=TX, PD2=RX @ 115200 baud (was USART2/38400)
- Add jetson_uart.c: USART6 command interface (A/D/E/Z/H/C/W/R/X/? commands)
- Add W command: persistent direct motor test (sets globals, main loop sends at 50Hz)
- Fix power_mgmt: keep UART5 clock active, PC7 EXTI wake source
- Fix main loop: direct_test_speed/steer override disarmed zero-send
- Add boot banner on USART6
Tested: Orin -> FC USART6 -> FC UART5 -> EFeru ESC -> both motors spin
2026-03-06 22:35:24 -05:00
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
