saltylab-firmware

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Author	SHA1	Message	Date
sl-controls	e181dcc786	feat(safety): IWDG watchdog, arm hold interlock, tilt alert (bd-3qh) Safety systems implementation: IWDG Hardware Watchdog (50ms timeout, config.h WATCHDOG_TIMEOUT_MS): - safety_init() configures IWDG at PSC/32 (0.8ms tick), reload=62 - safety_refresh() must be called every loop iteration - Cannot be disabled once started — MCU resets if loop hangs - Started after 3s USB init delay (avoids spurious startup reset) Arm Hold Interlock (3s, config.h ARMING_HOLD_MS): - Arm command starts a hold timer, not immediate motor enable - Motors only enable after ARMING_HOLD_MS consecutive hold - Disarm or tilt > 10° cancels pending arm - Prevents accidental arm from single keypress Tilt Fault Alert: - safety_alert_tilt_fault() fires one-shot buzzer on TILT_FAULT edge - Rider hears alarm when tilt cutoff triggers - Edge-detected (buzzer only fires once per fault event) RC Timeout (infrastructure): - safety_rc_alive() checks crsf_state.last_rx_ms vs RC_TIMEOUT_MS - RC disarm wired but guarded (no CRSF yet) — remove guard when wired - Compatible with future CRSF implementation Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-02-28 12:33:15 -05:00
sl-controls	6dfb5640db	feat(imu): MPU6000 sensor fusion with complementary filter Add src/mpu6000.c implementing a complementary filter (α=0.98) on top of the existing icm42688 SPI driver. Fixes wrong scale factors in balance.c (was ±250°/s / ±2g; hardware is configured ±2000°/s / ±16g). Fusion now lives in the IMU driver layer; balance_update() consumes IMUData directly. - mpu6000_init(): calls icm42688_init(), seeds filter state - mpu6000_read(): reads raw SPI, applies complementary filter, returns fused pitch (degrees) + pitch_rate (°/s) + accel_x/z (g) - balance.c: removes duplicated fusion code, uses IMUData.pitch - main.c: switches to mpu6000_init()/mpu6000_read(), updates telemetry Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-02-28 12:26:28 -05:00
Sebastien Vayrette	ba3e1161b9	Balance firmware + USB CDC bug	2026-02-28 11:58:23 -05:00

Author

SHA1

Message

Date

sl-controls

e181dcc786

feat(safety): IWDG watchdog, arm hold interlock, tilt alert (bd-3qh)

Safety systems implementation:

IWDG Hardware Watchdog (50ms timeout, config.h WATCHDOG_TIMEOUT_MS):
- safety_init() configures IWDG at PSC/32 (0.8ms tick), reload=62
- safety_refresh() must be called every loop iteration
- Cannot be disabled once started — MCU resets if loop hangs
- Started after 3s USB init delay (avoids spurious startup reset)

Arm Hold Interlock (3s, config.h ARMING_HOLD_MS):
- Arm command starts a hold timer, not immediate motor enable
- Motors only enable after ARMING_HOLD_MS consecutive hold
- Disarm or tilt > 10° cancels pending arm
- Prevents accidental arm from single keypress

Tilt Fault Alert:
- safety_alert_tilt_fault() fires one-shot buzzer on TILT_FAULT edge
- Rider hears alarm when tilt cutoff triggers
- Edge-detected (buzzer only fires once per fault event)

RC Timeout (infrastructure):
- safety_rc_alive() checks crsf_state.last_rx_ms vs RC_TIMEOUT_MS
- RC disarm wired but guarded (no CRSF yet) — remove guard when wired
- Compatible with future CRSF implementation

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 12:33:15 -05:00

sl-controls

6dfb5640db

feat(imu): MPU6000 sensor fusion with complementary filter

Add src/mpu6000.c implementing a complementary filter (α=0.98) on top of
the existing icm42688 SPI driver. Fixes wrong scale factors in balance.c
(was ±250°/s / ±2g; hardware is configured ±2000°/s / ±16g). Fusion now
lives in the IMU driver layer; balance_update() consumes IMUData directly.

- mpu6000_init(): calls icm42688_init(), seeds filter state
- mpu6000_read(): reads raw SPI, applies complementary filter, returns
  fused pitch (degrees) + pitch_rate (°/s) + accel_x/z (g)
- balance.c: removes duplicated fusion code, uses IMUData.pitch
- main.c: switches to mpu6000_init()/mpu6000_read(), updates telemetry

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 12:26:28 -05:00

Sebastien Vayrette

ba3e1161b9

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

3 Commits