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1e76cb9fe3
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feat(audio): I2S3 audio amplifier driver — Issue #143
Add I2S3/DMA audio output driver for MAX98357A/PCM5102A class-D amps:
- audio_init(): PLLI2S N=192/R=2 → 96 MHz → FS≈22058 Hz (<0.04% error),
GPIO PC10/PA15/PB5 (AF6), PC5 mute, DMA1_Stream7_Ch0 circular,
HAL_I2S_Transmit_DMA ping-pong, 441-sample half-buffers (20 ms each)
- Square-wave tone generator (ISR-safe, integer volume scaling 0-100)
- Tone sequencer: STARTUP/ARM/DISARM/FAULT/BEEP sequences via audio_tick()
- PCM FIFO (4096 samples, SPSC ring): receives Jetson audio via JLink
- JLink protocol: JLINK_CMD_AUDIO = 0x08, JLINK_MAX_PAYLOAD 64→252 bytes
(supports 126 int16 samples/frame = 5.7 ms @22050 Hz)
- main.c: audio_init(), STARTUP tone on boot, ARM/FAULT tones, audio_tick()
- config.h: AUDIO_BCLK/LRCK/DOUT/MUTE pin defines + PLLI2S constants
- test_audio.py: 45 tests, all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 10:31:27 -05:00 |
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4beef8da03
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feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)
- Add ota.h / ota.c: ota_enter_dfu() (armed guard, writes BKP15R, resets),
ota_fw_crc32() using STM32F7 hardware CRC peripheral (CRC-32/MPEG-2, 512 KB)
- Add JLINK_CMD_DFU_ENTER (0x06) and dfu_req flag to jlink.h / jlink.c
- Handle dfu_req in main loop: calls ota_enter_dfu(is_armed) — no-op if armed
- Update usbd_cdc_if.c: move DFU magic from BKP0R to BKP15R (OTA_DFU_BKP_IDX)
resolving BKP register conflict with BNO055 calibration (BKP0R–6R, PR #150)
- Add scripts/flash_firmware.py: CRC-32/MPEG-2 + ISO-HDLC verification,
dfu-util flash, host-side backup/rollback, --trigger-dfu JLink serial path
- Add test/test_ota.py: 42 tests passing (CRC-32/MPEG-2, CRC-16/XMODEM,
DFU_ENTER frame structure, BKP register safety, flash constants)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 09:56:18 -05:00 |
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6f0ad8e92e
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feat(firmware): Jetson binary serial protocol on USART1 (Issue #120)
New jlink module replaces ASCII-over-USB-CDC jetson_cmd with a dedicated
hardware UART binary protocol at 921600 baud for reliable Jetson comms.
- include/jlink.h: JLinkState struct, jlink_tlm_status_t (20-byte packed),
command/telemetry IDs (0x01-0x07 cmd, 0x80 status), API declarations
- src/jlink.c: USART1 DMA2_Stream2_Channel4 circular RX (128 bytes),
IDLE interrupt, CRC16-XModem (poly 0x1021) frame parser state machine,
command dispatch (HEARTBEAT/DRIVE/ARM/DISARM/PID_SET/ESTOP),
jlink_send_telemetry() blocking TX (≈0.28 ms per frame)
- include/config.h: JLINK_BAUD=921600, JLINK_HB_TIMEOUT_MS=1000,
JLINK_TLM_HZ=50, FW_MAJOR/MINOR/PATCH version constants
- src/main.c: jlink_init(), jlink_process() in main loop, arm/disarm/
estop/PID flag handling, 50 Hz STATUS telemetry TX, jlink takes
priority over legacy jetson_cmd for speed/steer injection
- test/test_jlink_frames.py: 39 pytest tests (39/39 pass) — CRC16,
frame building, parser state machine, drive/PID/status encoding
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 09:22:34 -05:00 |
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