Compare commits
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sl-firmwar
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c958cf4474 | ||
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bb35ddd56d |
@ -1,162 +0,0 @@
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# .gitea/workflows/ota-release.yml
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# Gitea Actions — ESP32 OTA firmware build & release (bd-9kod)
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#
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# Triggers on signed release tags:
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# esp32-balance/vX.Y.Z → builds esp32s3/balance/ (ESP32-S3 Balance board)
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# esp32-io/vX.Y.Z → builds esp32s3-io/ (ESP32-S3 IO board)
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#
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# Uses the official espressif/idf Docker image for reproducible builds.
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# Attaches <app>_<version>.bin + <app>_<version>.sha256 to the Gitea release.
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# The ESP32 Balance OTA system fetches the .bin from the release asset URL.
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name: OTA release — build & attach firmware
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on:
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push:
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tags:
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- "esp32-balance/v*"
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- "esp32-io/v*"
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permissions:
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contents: write
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jobs:
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build-and-release:
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name: Build ${{ github.ref_name }}
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runs-on: ubuntu-latest
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container:
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image: espressif/idf:v5.2.2
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options: --user root
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steps:
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# ── 1. Checkout ───────────────────────────────────────────────────────────
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- name: Checkout
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uses: actions/checkout@v4
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# ── 2. Resolve build target from tag ─────────────────────────────────────
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# Tag format: esp32-balance/v1.2.3 or esp32-io/v1.2.3
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- name: Resolve project from tag
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id: proj
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shell: bash
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run: |
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TAG="${GITHUB_REF_NAME}"
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case "$TAG" in
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esp32-balance/*)
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DIR="esp32s3/balance"
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APP="esp32s3_balance"
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;;
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esp32-io/*)
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DIR="esp32s3-io"
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APP="esp32s3_io"
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;;
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*)
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echo "::error::Unrecognised tag prefix: ${TAG}"
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exit 1
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;;
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esac
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VERSION="${TAG#*/}"
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echo "dir=${DIR}" >> "$GITHUB_OUTPUT"
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echo "app=${APP}" >> "$GITHUB_OUTPUT"
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echo "version=${VERSION}" >> "$GITHUB_OUTPUT"
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echo "tag=${TAG}" >> "$GITHUB_OUTPUT"
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echo "Build: ${APP} ${VERSION} from ${DIR}"
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# ── 3. Build with ESP-IDF ─────────────────────────────────────────────────
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- name: Build firmware (idf.py build)
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shell: bash
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run: |
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. "${IDF_PATH}/export.sh"
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cd "${{ steps.proj.outputs.dir }}"
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idf.py build
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# ── 4. Collect binary & generate checksum ────────────────────────────────
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- name: Collect artifacts
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id: art
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shell: bash
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run: |
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APP="${{ steps.proj.outputs.app }}"
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VER="${{ steps.proj.outputs.version }}"
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BIN_SRC="${{ steps.proj.outputs.dir }}/build/${APP}.bin"
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BIN_OUT="${APP}_${VER}.bin"
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SHA_OUT="${APP}_${VER}.sha256"
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cp "$BIN_SRC" "$BIN_OUT"
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sha256sum "$BIN_OUT" > "$SHA_OUT"
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echo "bin=${BIN_OUT}" >> "$GITHUB_OUTPUT"
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echo "sha=${SHA_OUT}" >> "$GITHUB_OUTPUT"
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echo "Binary: ${BIN_OUT} ($(wc -c < "$BIN_OUT") bytes)"
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echo "Checksum: $(cat "$SHA_OUT")"
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# ── 5. Archive artifacts in CI workspace ─────────────────────────────────
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- name: Upload build artifacts
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uses: actions/upload-artifact@v4
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with:
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name: firmware-${{ steps.proj.outputs.app }}-${{ steps.proj.outputs.version }}
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path: |
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${{ steps.art.outputs.bin }}
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${{ steps.art.outputs.sha }}
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# ── 6. Create Gitea release (if needed) & upload assets ──────────────────
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# Uses GITHUB_TOKEN (auto-provided, contents:write from permissions block).
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# URL-encodes the tag to handle the slash in esp32-balance/vX.Y.Z.
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- name: Publish assets to Gitea release
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shell: bash
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env:
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GITEA_URL: https://gitea.vayrette.com
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TOKEN: ${{ secrets.GITHUB_TOKEN }}
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REPO: ${{ github.repository }}
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TAG: ${{ steps.proj.outputs.tag }}
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BIN: ${{ steps.art.outputs.bin }}
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SHA: ${{ steps.art.outputs.sha }}
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run: |
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API="${GITEA_URL}/api/v1/repos/${REPO}"
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# URL-encode the tag (slash in esp32-balance/vX.Y.Z must be escaped)
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TAG_ENC=$(python3 -c "
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import urllib.parse, sys
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print(urllib.parse.quote(sys.argv[1], safe=''))
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" "$TAG")
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# Try to fetch an existing release for this tag
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RELEASE=$(curl -sf \
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-H "Authorization: token ${TOKEN}" \
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"${API}/releases/tags/${TAG_ENC}") || true
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# If no release yet, create it
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if [ -z "$RELEASE" ]; then
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echo "Creating release for tag: ${TAG}"
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RELEASE=$(curl -sf \
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-X POST \
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-H "Authorization: token ${TOKEN}" \
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-H "Content-Type: application/json" \
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-d "$(python3 -c "
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import json, sys
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print(json.dumps({
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'tag_name': sys.argv[1],
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'name': sys.argv[1],
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'draft': False,
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'prerelease': False,
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}))
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" "$TAG")" \
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"${API}/releases")
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fi
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RELEASE_ID=$(echo "$RELEASE" | python3 -c "
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import sys, json; print(json.load(sys.stdin)['id'])
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")
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echo "Release ID: ${RELEASE_ID}"
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# Upload binary and checksum
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for FILE in "$BIN" "$SHA"; do
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FNAME=$(basename "$FILE")
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echo "Uploading: ${FNAME}"
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curl -sf \
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-X POST \
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-H "Authorization: token ${TOKEN}" \
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-F "attachment=@${FILE}" \
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"${API}/releases/${RELEASE_ID}/assets?name=${FNAME}"
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done
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echo "Published: ${BIN} + ${SHA} → release ${TAG}"
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@ -7,12 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
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### Jetson Autonomous Arming
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- Command: `A\n` (single byte 'A' followed by newline)
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<<<<<<< HEAD
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- Sent via USB CDC to the ESP32 BALANCE firmware
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=======
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- Sent via USB Serial (CH343) to the ESP32-S3 firmware
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
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- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
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- Sent via USB Serial (CH343) to the ESP32-S3 firmware- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
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- Works even when RC is not connected or not armed
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### RC Arming (Optional Override)
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@ -46,12 +41,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
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## Command Protocol
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<<<<<<< HEAD
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### From Jetson to ESP32 BALANCE (USB CDC)
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=======
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### From Jetson to ESP32-S3 (USB Serial (CH343))
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
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```
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### From Jetson to ESP32-S3 (USB Serial (CH343))```
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A — Request arm (triggers safety hold, then motors enable)
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D — Request disarm (immediate motor stop)
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E — Emergency stop (immediate motor cutoff, latched)
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@ -60,12 +50,7 @@ H — Heartbeat (refresh timeout timer, every 500ms)
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C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
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```
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<<<<<<< HEAD
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### From ESP32 BALANCE to Jetson (USB CDC)
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=======
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### From ESP32-S3 to Jetson (USB Serial (CH343))
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
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Motor commands are gated by `bal.state == BALANCE_ARMED`:
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### From ESP32-S3 to Jetson (USB Serial (CH343))Motor commands are gated by `bal.state == BALANCE_ARMED`:
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- When ARMED: Motor commands sent every 20ms (50 Hz)
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- When DISARMED: Zero sent every 20ms (prevents ESC timeout)
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21
CLAUDE.md
21
CLAUDE.md
@ -1,34 +1,13 @@
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# SaltyLab Firmware — Agent Playbook
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## Project
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<<<<<<< HEAD
|
||||
**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
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Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
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| Board | Role |
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|-------|------|
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| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
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| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
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| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
|
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> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
|
||||
=======
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Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.
|
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
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## Team
|
||||
| Agent | Role | Focus |
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||||
|-------|------|-------|
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<<<<<<< HEAD
|
||||
| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
|
||||
| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
|
||||
| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
|
||||
=======
|
||||
| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader |
|
||||
| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
|
||||
| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
## Status
|
||||
USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
|
||||
|
||||
|
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36
TEAM.md
36
TEAM.md
@ -1,54 +1,29 @@
|
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# SaltyLab — Ideal Team
|
||||
|
||||
## Project
|
||||
<<<<<<< HEAD
|
||||
**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
|
||||
Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
|
||||
|
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## Current Status
|
||||
- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
|
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- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
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- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
|
||||
=======
|
||||
Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM.
|
||||
|
||||
## Current Status
|
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- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
|
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- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug
|
||||
- **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see `legacy/stm32/USB_CDC_BUG.md` for historical context
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
- **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3
|
||||
---
|
||||
|
||||
## Roles Needed
|
||||
|
||||
### 1. Embedded Firmware Engineer (Lead)
|
||||
**Must-have:**
|
||||
<<<<<<< HEAD
|
||||
- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
|
||||
- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
|
||||
- SPI + UART + USB coexistence on ESP32
|
||||
- PlatformIO or bare-metal ESP32 toolchain
|
||||
- DFU bootloader implementation
|
||||
=======
|
||||
- Deep ESP-IDF experience (ESP32-S3 specifically)
|
||||
- USB Serial (CH343) / UART debugging on ESP32-S3
|
||||
- SPI + UART + USB coexistence on ESP32-S3
|
||||
- ESP-IDF / Arduino-ESP32 toolchain
|
||||
- OTA firmware update implementation
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
**Nice-to-have:**
|
||||
- ESP32-S3 peripheral coexistence (SPI + UART + USB)
|
||||
- PID control loop tuning for balance robots
|
||||
- FOC motor control (hoverboard ESC protocol)
|
||||
|
||||
<<<<<<< HEAD
|
||||
**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.
|
||||
=======
|
||||
**Why:** The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
### 2. Control Systems / Robotics Engineer
|
||||
**Must-have:**
|
||||
- PID tuning for inverted pendulum / self-balancing systems
|
||||
@ -83,12 +58,7 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
|
||||
## Hardware Reference
|
||||
| Component | Details |
|
||||
|-----------|---------|
|
||||
<<<<<<< HEAD
|
||||
| FC | ESP32 BALANCE (ESP32RET6, MPU6000) |
|
||||
=======
|
||||
| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| Motors | 2x 8" pneumatic hoverboard hub motors |
|
||||
| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) || Motors | 2x 8" pneumatic hoverboard hub motors |
|
||||
| ESC | Hoverboard ESC (EFeru FOC firmware) |
|
||||
| Battery | 36V pack |
|
||||
| RC | BetaFPV ELRS 2.4GHz TX + RX |
|
||||
@ -100,4 +70,4 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
|
||||
## Repo
|
||||
- Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
|
||||
- Design doc: `projects/saltybot/SALTYLAB.md`
|
||||
- Bug doc: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era)
|
||||
- Design doc: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
|
||||
|
||||
@ -56,16 +56,7 @@
|
||||
3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
|
||||
4. Insert battery pack; route Velcro straps through slots and cinch.
|
||||
|
||||
<<<<<<< HEAD
|
||||
### 7 MCU mount (ESP32 BALANCE + ESP32 IO)
|
||||
|
||||
> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE retired. Two ESP32 boards replace it.
|
||||
> Board dimensions and hole patterns TBD — await spec from max before machining mount plate.
|
||||
|
||||
=======
|
||||
### 7 FC mount (ESP32-S3 BALANCE)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
|
||||
### 7 FC mount (ESP32-S3 BALANCE)1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
|
||||
2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only.
|
||||
3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions.
|
||||
4. Orient USB connectors toward front of robot for cable access.
|
||||
|
||||
@ -41,12 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
|
||||
| 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` |
|
||||
| 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` |
|
||||
| 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative |
|
||||
<<<<<<< HEAD
|
||||
| 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) |
|
||||
=======
|
||||
| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
|
||||
| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation || 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
|
||||
|
||||
### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
|
||||
|
||||
@ -97,19 +92,10 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
|
||||
|
||||
| # | Part | Qty | Spec | Notes |
|
||||
|---|------|-----|------|-------|
|
||||
<<<<<<< HEAD
|
||||
| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE |
|
||||
| 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O |
|
||||
| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation |
|
||||
| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads |
|
||||
| 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
|
||||
=======
|
||||
| 13 | ESP32-S3 ESP32-S3 BALANCE FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
|
||||
| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
|
||||
| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
|
||||
| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
|
||||
| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern || 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
|
||||
|
||||
---
|
||||
|
||||
|
||||
@ -104,12 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio
|
||||
| Component | Thermal strategy | Max junction | Enclosure budget |
|
||||
|-----------|-----------------|-------------|-----------------|
|
||||
| Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case |
|
||||
<<<<<<< HEAD
|
||||
| FC (ESP32 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
|
||||
=======
|
||||
| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
|
||||
| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK || ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
|
||||
| D435i | Passive; housing vent gap on rear cap | 45 °C surface | — |
|
||||
|
||||
Fan spec: 40 mm, 12 V, ≥10 CFM at 0.1" H₂O static pressure.
|
||||
|
||||
@ -4,24 +4,6 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read
|
||||
|
||||
## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)
|
||||
|
||||
<<<<<<< HEAD
|
||||
Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
|
||||
|
||||
| Board | Role |
|
||||
|-------|------|
|
||||
| **ESP32-S3 BALANCE** | Waveshare Touch LCD 1.28 (CH343 USB). QMI8658 IMU, PID loop, CAN→VESC L(68)/R(56), GC9A01 LCD |
|
||||
| **ESP32-S3 IO** | Bare devkit (JTAG USB). TBS Crossfire RC (UART0), ELRS failover (UART2), BTS7960 motors, NFC/baro/ToF, WS2812, buzzer/horn/headlight/fan |
|
||||
| **Jetson Orin** | CANable2 USB→CAN. Cmds on 0x300–0x303, telemetry on 0x400–0x401 |
|
||||
|
||||
```
|
||||
Jetson Orin ──CANable2──► CAN 500kbps ◄───────────────────────┐
|
||||
│ │
|
||||
ESP32-S3 BALANCE ←─UART 460800─► ESP32-S3 IO
|
||||
(QMI8658, PID loop) (BTS7960, RC, sensors)
|
||||
│ CAN 500kbps
|
||||
┌─────────┴──────────┐
|
||||
VESC Left (ID 68) VESC Right (ID 56)
|
||||
=======
|
||||
A hoverboard-based balancing robot with two compute layers:
|
||||
1. **ESP32-S3 BALANCE** — ESP32-S3 BALANCE (ESP32-S3RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer.
|
||||
2. **Jetson Orin Nano Super** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.
|
||||
@ -33,12 +15,10 @@ Jetson (speed+steer via UART1) ←→ ELRS RC (UART3, kill switch)
|
||||
ESP32-S3 BALANCE (MPU6000 IMU, PID balance)
|
||||
│
|
||||
▼ UART2
|
||||
Hoverboard ESC (FOC) → 2× 8" hub motors
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
```
|
||||
Hoverboard ESC (FOC) → 2× 8" hub motors```
|
||||
|
||||
Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`
|
||||
Legacy `src/` STM32 HAL code is **archived — do not extend.**
|
||||
Active firmware: `esp32/balance_fw/` (ESP32-S3 BALANCE) and `esp32/io_fw/` (ESP32-S3 IO).
|
||||
|
||||
## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
|
||||
|
||||
@ -57,12 +37,7 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
|
||||
## Repository Layout
|
||||
|
||||
```
|
||||
<<<<<<< HEAD
|
||||
firmware/ # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived)
|
||||
=======
|
||||
firmware/ # ESP-IDF firmware (PlatformIO)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
├── src/
|
||||
firmware/ # ESP-IDF firmware (PlatformIO)├── src/
|
||||
│ ├── main.c # Entry point, clock config, main loop
|
||||
│ ├── icm42688.c # QMI8658-P SPI driver (backup IMU — currently broken)
|
||||
│ ├── bmp280.c # Barometer driver (disabled)
|
||||
@ -108,25 +83,16 @@ PLATFORM.md # Hardware platform reference
|
||||
|
||||
## Hardware Quick Reference
|
||||
|
||||
<<<<<<< HEAD
|
||||
### ESP32 BALANCE Flight Controller
|
||||
|
||||
| Spec | Value |
|
||||
|------|-------|
|
||||
| MCU | ESP32RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
|
||||
=======
|
||||
### ESP32-S3 BALANCE Flight Controller
|
||||
|
||||
| Spec | Value |
|
||||
|------|-------|
|
||||
| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
|
||||
| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) || Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
|
||||
| IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 |
|
||||
| IMU EXTI | PC4 (data ready interrupt) |
|
||||
| IMU Orientation | CW270 (Betaflight convention) |
|
||||
| Secondary IMU | QMI8658-P (on same SPI1, CS unknown — currently non-functional) |
|
||||
| Betaflight Target | DIAT-MAMBAF722_2022B |
|
||||
| Board Name | Waveshare ESP32-S3 Touch LCD 1.28 |
|
||||
| USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 |
|
||||
| VID/PID | 0x0483/0x5740 |
|
||||
| LEDs | PC15 (LED1), PC14 (LED2), active low |
|
||||
@ -194,12 +160,7 @@ PLATFORM.md # Hardware platform reference
|
||||
### Critical Lessons Learned (DON'T REPEAT THESE)
|
||||
|
||||
1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times.
|
||||
<<<<<<< HEAD
|
||||
2. **DCache breaks SPI on ESP32** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
|
||||
=======
|
||||
2. **DCache breaks SPI on ESP32-S3** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes.
|
||||
2. **DCache breaks SPI on ESP32-S3** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes.
|
||||
4. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first.
|
||||
5. **USB Serial (CH343) needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
|
||||
|
||||
@ -210,19 +171,14 @@ The firmware supports reboot-to-DFU via USB command:
|
||||
2. Firmware writes `0xDEADBEEF` to RTC backup register 0
|
||||
3. `NVIC_SystemReset()` — clean hardware reset
|
||||
4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic
|
||||
<<<<<<< HEAD
|
||||
5. If magic found: clears it, remaps system memory, jumps to ESP32 BALANCE bootloader at `0x1FF00000`
|
||||
=======
|
||||
5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000`
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
6. Board appears as DFU device, ready for `dfu-util` flash
|
||||
5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000`6. Board appears as DFU device, ready for `dfu-util` flash
|
||||
|
||||
### Build & Flash
|
||||
|
||||
```bash
|
||||
cd firmware/
|
||||
python3 -m platformio run # Build
|
||||
dfu-util -a 0 -s 0x08000000:leave -D .pio/build/f722/firmware.bin # Flash
|
||||
esptool.py --port /dev/esp32-balance write_flash 0x0 firmware.bin # Flash
|
||||
```
|
||||
|
||||
Dev machine: mbpm4 (seb@192.168.87.40), PlatformIO project at `~/Projects/saltylab-firmware/`
|
||||
|
||||
@ -1,11 +1,6 @@
|
||||
# Face LCD Animation System (Issue #507)
|
||||
|
||||
<<<<<<< HEAD
|
||||
Implements expressive face animations on an ESP32 LCD display with 5 core emotions and smooth transitions.
|
||||
=======
|
||||
Implements expressive face animations on an ESP32-S3 LCD display with 5 core emotions and smooth transitions.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
## Features
|
||||
|
||||
### Emotions
|
||||
@ -86,12 +81,7 @@ STATUS → Echo current emotion + idle state
|
||||
- Colors: Monochrome (1-bit) or RGB565
|
||||
|
||||
### Microcontroller
|
||||
<<<<<<< HEAD
|
||||
- ESP32xx (ESP32 BALANCE)
|
||||
=======
|
||||
- ESP32-S3xx (ESP32-S3 BALANCE)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
- Available UART: USART3 (PB10=TX, PB11=RX)
|
||||
- ESP32-S3xx (ESP32-S3 BALANCE)- Available UART: USART3 (PB10=TX, PB11=RX)
|
||||
- Clock: 216 MHz
|
||||
|
||||
## Animation Timing
|
||||
|
||||
@ -102,11 +102,8 @@ balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super
|
||||
sends velocity commands over UART1. ELRS receiver on UART3 provides RC
|
||||
override and kill-switch capability.
|
||||
|
||||
The legacy STM32 firmware (Mamba F722S era) has been archived to
|
||||
=======
|
||||
The legacy STM32 firmware (STM32 era) has been archived to
|
||||
`legacy/stm32/` and is no longer built or deployed.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
## LED Subsystem (ESP32-C3)
|
||||
|
||||
|
||||
@ -1,26 +1,18 @@
|
||||
# SaltyLab / SAUL-TEE Wiring Reference
|
||||
|
||||
> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S / STM32 retired.
|
||||
> New stack: **ESP32-S3 BALANCE** + **ESP32-S3 IO** + VESCs on 500 kbps CAN.
|
||||
> **Authoritative reference:** [`docs/SAUL-TEE-SYSTEM-REFERENCE.md`](SAUL-TEE-SYSTEM-REFERENCE.md)
|
||||
> Historical STM32/Mamba wiring below is **obsolete** — retained for reference only.
|
||||
> New stack: **ESP32-S3 BALANCE** + **ESP32-S3 IO** + VESCs on 500 kbps CAN.
|
||||
|
||||
---
|
||||
|
||||
## ~~System Overview~~ (OBSOLETE — see SAUL-TEE-SYSTEM-REFERENCE.md)
|
||||
## System Overview
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────────────────────┐
|
||||
│ ORIN NANO SUPER │
|
||||
│ (Top Plate — 25W) │
|
||||
│ │
|
||||
<<<<<<< HEAD
|
||||
│ USB-A ──── CANable2 USB-CAN adapter (slcan0, 500 kbps) │
|
||||
│ USB-A ──── ESP32-S3 IO (/dev/esp32-io, 460800 baud) │
|
||||
=======
|
||||
│ USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud) │
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
│ USB-A1 ─── RealSense D435i (USB 3.1) │
|
||||
│ USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud) ││ USB-A1 ─── RealSense D435i (USB 3.1) │
|
||||
│ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │
|
||||
│ USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP) │
|
||||
│ USB ─────── Leap Motion Controller (hand/gesture tracking) │
|
||||
@ -38,14 +30,8 @@
|
||||
│ 500 kbps │
|
||||
▼ ▼
|
||||
┌─────────────────────────────────────────────────────────────────────┐
|
||||
<<<<<<< HEAD
|
||||
│ ESP32-S3 BALANCE │
|
||||
│ (Waveshare Touch LCD 1.28, Middle Plate) │
|
||||
=======
|
||||
│ ESP32-S3 BALANCE (FC) │
|
||||
│ (Middle Plate — foam mounted) │
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
│ │
|
||||
│ (Middle Plate — foam mounted) ││ │
|
||||
│ CAN bus ──── CANable2 → Orin (primary link, ISO 11898) │
|
||||
│ UART0 ──── Orin UART fallback (460800 baud, 3.3V) │
|
||||
│ UART1 ──── VESC Left (CAN ID 56) via UART/CAN bridge │
|
||||
@ -77,29 +63,16 @@
|
||||
|
||||
## Wire-by-Wire Connections
|
||||
|
||||
<<<<<<< HEAD
|
||||
### 1. Orin <-> ESP32-S3 BALANCE (Primary: CAN Bus via CANable2)
|
||||
=======
|
||||
### 1. Orin ↔ FC (Primary: USB Serial (CH343))
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
### 1. Orin ↔ ESP32-S3 BALANCE (Primary: USB Serial via CH343)
|
||||
| From | To | Wire | Notes |
|
||||
|------|----|------|-------|
|
||||
| Orin USB-A | CANable2 USB | USB cable | SocketCAN slcan0 @ 500 kbps |
|
||||
| CANable2 CAN-H | ESP32-S3 BALANCE CAN-H | twisted pair | ISO 11898 differential |
|
||||
| CANable2 CAN-L | ESP32-S3 BALANCE CAN-L | twisted pair | ISO 11898 differential |
|
||||
|
||||
<<<<<<< HEAD
|
||||
- Interface: SocketCAN `slcan0`, 500 kbps
|
||||
- Device node: `/dev/canable2` (via udev, symlink to ttyUSBx)
|
||||
- Protocol: CAN frames --- ORIN_CMD_DRIVE (0x300), ORIN_CMD_MODE (0x301), ORIN_CMD_ESTOP (0x302)
|
||||
- Telemetry: BALANCE_STATUS (0x400), BALANCE_VESC (0x401), BALANCE_IMU (0x402), BALANCE_BATTERY (0x403)
|
||||
=======
|
||||
- Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge`
|
||||
- Baud: 921600, 8N1
|
||||
- Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
### 2. Orin <-> ESP32-S3 BALANCE (Fallback: Hardware UART)
|
||||
|
||||
| Orin Pin | Signal | ESP32-S3 Pin | Notes |
|
||||
@ -164,47 +137,14 @@ BATTERY (36V) ──┬── VESC Left (36V direct -> BLDC left motor)
|
||||
| CANable2 | USB-CAN | USB-A | `/dev/canable2` -> `slcan0` |
|
||||
|
||||
|
||||
<<<<<<< HEAD
|
||||
## FC UART Summary (MAMBA F722S — OBSOLETE)
|
||||
|
||||
| Interface | Pins | Baud/Rate | Assignment | Notes |
|
||||
|-----------|------|-----------|------------|-------|
|
||||
| UART0 | GPIO17=RX, GPIO18=TX | 460800 | Orin UART fallback | 3.3V, cross-connect |
|
||||
| UART1 | GPIO19=RX, GPIO20=TX | 115200 | Debug serial | Optional |
|
||||
| CAN (TWAI) | GPIO21=H, GPIO22=L | 500 kbps | CAN bus (VESCs + Orin) | SN65HVD230 transceiver |
|
||||
| I2C | GPIO4=SDA, GPIO5=SCL | 400 kHz | QMI8658 IMU (addr 0x6B) | Onboard |
|
||||
| SPI | GPIO36=MOSI, GPIO37=SCLK, GPIO35=CS | 40 MHz | GC9A01 LCD (onboard) | 240x240 round |
|
||||
| USB CDC | USB-C | 460800 | Orin USB fallback | /dev/esp32-balance |
|
||||
|
||||
## CAN Frame ID Map
|
||||
|
||||
| CAN ID | Direction | Name | Contents |
|
||||
|--------|-----------|------|----------|
|
||||
| 0x300 | Orin -> BALANCE | ORIN_CMD_DRIVE | left_rpm_f32, right_rpm_f32 (8 bytes LE) |
|
||||
| 0x301 | Orin -> BALANCE | ORIN_CMD_MODE | mode byte (0=IDLE, 1=DRIVE, 2=ESTOP) |
|
||||
| 0x302 | Orin -> BALANCE | ORIN_CMD_ESTOP | flags byte (bit0=stop, bit1=clear) |
|
||||
| 0x400 | BALANCE -> Orin | BALANCE_STATUS | pitch x10:i16, motor_cmd:u16, vbat_mv:u16, state:u8, flags:u8 |
|
||||
| 0x401 | BALANCE -> Orin | BALANCE_VESC | l_rpm x10:i16, r_rpm x10:i16, l_cur x10:i16, r_cur x10:i16 |
|
||||
| 0x402 | BALANCE -> Orin | BALANCE_IMU | pitch x100:i16, roll x100:i16, yaw x100:i16, ax x100:i16, ay x100:i16, az x100:i16 |
|
||||
| 0x403 | BALANCE -> Orin | BALANCE_BATTERY | vbat_mv:u16, current_ma:i16, soc_pct:u8 |
|
||||
| 0x900+ID | VESC Left -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 |
|
||||
| 0x910+ID | VESC Right -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 |
|
||||
|
||||
VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
|
||||
=======
|
||||
## FC UART Summary (ESP32-S3 BALANCE)
|
||||
|
||||
| UART | Pins | Baud | Assignment | Notes |
|
||||
|------|------|------|------------|-------|
|
||||
| USART1 | PB6=TX, PB7=RX | — | SmartAudio/VTX | Unused in SaltyLab |
|
||||
| USART2 | PA2=TX, PA3=RX | 26400 | Hoverboard ESC | Binary motor commands |
|
||||
| USART3 | PB10=TX, PB11=RX | — | Available | Was SBUS default |
|
||||
| UART4 | PA0=TX, PA1=RX | 420000 | ELRS RX (CRSF) | RC control |
|
||||
| UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional |
|
||||
| USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link |
|
||||
| USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
## ESP32-S3 BALANCE — UART Summary
|
||||
|
||||
| UART | GPIO Pins | Baud | Assignment | Notes |
|
||||
|------|-----------|------|------------|-------|
|
||||
| UART0 (CRSF primary) | IO44=RX, IO43=TX | 400000 | TBS Crossfire RC | via ESP32-S3 IO board |
|
||||
| UART1 (inter-board) | IO17=TX, IO18=RX | 460800 | ESP32-S3 IO ↔ BALANCE | binary `[0xAA][LEN][TYPE]` |
|
||||
| CAN (SN65HVD230) | IO43=TX, IO44=RX | 500 kbps | VESCs + Orin CANable2 | ISO 11898 |
|
||||
| USB Serial (CH343) | USB-C | 460800 | Orin primary | `/dev/balance-esp` |
|
||||
|
||||
### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header)
|
||||
|
||||
@ -263,14 +203,7 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
|
||||
|
||||
| Device | Interface | Power Draw |
|
||||
|--------|-----------|------------|
|
||||
<<<<<<< HEAD
|
||||
| CANable2 USB-CAN | USB-A | ~0.5W |
|
||||
| ESP32-S3 BALANCE | USB-C | ~0.8W (WiFi off) |
|
||||
| ESP32-S3 IO | USB-C | ~0.5W |
|
||||
=======
|
||||
| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| RealSense D435i | USB-A | ~1.5W (3.5W peak) |
|
||||
| ESP32-S3 BALANCE (CH343) | USB-C | ~0.5W (data only, BALANCE on 5V bus) || RealSense D435i | USB-A | ~1.5W (3.5W peak) |
|
||||
| RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
|
||||
| SIM7600A | USB | ~1W idle, 3W TX peak |
|
||||
| Leap Motion | USB-A | ~0.5W |
|
||||
@ -294,25 +227,14 @@ Orin Nano Super delivers up to 25W --- USB peripherals are well within budget.
|
||||
└──────┬───────┘
|
||||
│ UART
|
||||
┌────────────▼────────────┐
|
||||
<<<<<<< HEAD
|
||||
│ ESP32-S3 BALANCE │
|
||||
│ (Waveshare LCD 1.28) │
|
||||
=======
|
||||
│ ESP32-S3 BALANCE │
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
│ │
|
||||
│ ESP32-S3 BALANCE │ │ │
|
||||
│ QMI8658 -> Balance PID │
|
||||
│ RC -> Mode Manager │
|
||||
│ Safety Monitor │
|
||||
│ │
|
||||
└──┬──────────┬───────────┘
|
||||
<<<<<<< HEAD
|
||||
CAN 500kbps─┘ └───── CAN bus / UART fallback
|
||||
=======
|
||||
USART2 ─────┘ └───── USB Serial (CH343) / USART6
|
||||
26400 baud 921600 baud
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
│ │
|
||||
26400 baud 921600 baud │ │
|
||||
┌────┴────────────┐ ▼
|
||||
│ CAN bus (500k) │ ┌───────────────────┐
|
||||
├─ VESC Left 56 │ │ Orin Nano Super │
|
||||
|
||||
@ -1,3 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(esp32s3_balance)
|
||||
@ -1,23 +0,0 @@
|
||||
idf_component_register(
|
||||
SRCS
|
||||
"main.c"
|
||||
"orin_serial.c"
|
||||
"vesc_can.c"
|
||||
"gc9a01.c"
|
||||
"gitea_ota.c"
|
||||
"ota_self.c"
|
||||
"uart_ota.c"
|
||||
"ota_display.c"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES
|
||||
esp_wifi
|
||||
esp_http_client
|
||||
esp_https_ota
|
||||
nvs_flash
|
||||
app_update
|
||||
mbedtls
|
||||
espressif__cjson
|
||||
driver
|
||||
freertos
|
||||
esp_timer
|
||||
)
|
||||
@ -1,50 +0,0 @@
|
||||
#pragma once
|
||||
|
||||
/* ── ESP32-S3 BALANCE board — Waveshare ESP32-S3-Touch-LCD-1.28 pinout ─────
|
||||
*
|
||||
* Orin comms: CH343 USB-to-serial on UART0 (GPIO43/44) → /dev/ttyACM0 on Orin
|
||||
* VESC CAN: SN65HVD230 transceiver on GPIO15 (TX) / GPIO16 (RX)
|
||||
* Display: GC9A01 on SPI2 — BL=GPIO40, RST=GPIO12
|
||||
*
|
||||
* GPIO2 is NOT used for CAN — it is free. Earlier versions had an erroneous
|
||||
* conflict between DISP_BL (GPIO2) and VESC_CAN_TX (GPIO2); corrected here
|
||||
* to match motor-test-firmware verified hardware layout (commit 8e66430).
|
||||
*/
|
||||
|
||||
/* ── Orin serial (CH343 USB-to-UART, 1a86:55d3 on Orin side) ── */
|
||||
#define ORIN_UART_PORT UART_NUM_0
|
||||
#define ORIN_UART_BAUD 460800
|
||||
#define ORIN_UART_TX_GPIO 43 /* ESP32 UART0 TX → CH343 RXD */
|
||||
#define ORIN_UART_RX_GPIO 44 /* CH343 TXD → ESP32 UART0 RX */
|
||||
#define ORIN_UART_RX_BUF 1024
|
||||
#define ORIN_TX_QUEUE_DEPTH 16
|
||||
|
||||
/* ── Inter-board UART (ESP32 BALANCE ↔ ESP32 IO) ── */
|
||||
#define IO_UART_TX_GPIO 17
|
||||
#define IO_UART_RX_GPIO 18
|
||||
|
||||
/* ── VESC CAN TWAI (SN65HVD230 on Waveshare header GPIO15/16) ── */
|
||||
#define VESC_CAN_TX_GPIO 15 /* ESP32 TWAI TX → SN65HVD230 TXD */
|
||||
#define VESC_CAN_RX_GPIO 16 /* SN65HVD230 RXD → ESP32 TWAI RX */
|
||||
#define VESC_CAN_RX_QUEUE 32
|
||||
|
||||
/* VESC node IDs */
|
||||
#define VESC_ID_A 61u /* FRONT VESC — drive + telemetry (0x81) */
|
||||
#define VESC_ID_B 79u /* REAR VESC — telemetry only (0x82) */
|
||||
|
||||
/* ── GC9A01 240×240 round display (Waveshare ESP32-S3-Touch-LCD-1.28, SPI2) ── */
|
||||
#define DISP_DC_GPIO 8
|
||||
#define DISP_CS_GPIO 9
|
||||
#define DISP_SCK_GPIO 10
|
||||
#define DISP_MOSI_GPIO 11
|
||||
#define DISP_RST_GPIO 12
|
||||
#define DISP_BL_GPIO 40
|
||||
|
||||
/* ── Safety / timing ── */
|
||||
#define HB_TIMEOUT_MS 500u /* heartbeat watchdog: disarm if exceeded */
|
||||
#define DRIVE_TIMEOUT_MS 500u /* drive command staleness timeout */
|
||||
#define TELEM_STATUS_PERIOD_MS 100u /* 10 Hz status telemetry to Orin */
|
||||
#define TELEM_VESC_PERIOD_MS 100u /* 10 Hz VESC telemetry to Orin */
|
||||
|
||||
/* ── Drive → VESC RPM scaling ── */
|
||||
#define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */
|
||||
@ -1,269 +0,0 @@
|
||||
/* gc9a01.c — GC9A01 240×240 round LCD SPI driver (bd-1yr8 display bead) */
|
||||
|
||||
#include "gc9a01.h"
|
||||
#include "config.h"
|
||||
#include "driver/spi_master.h"
|
||||
#include "driver/gpio.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "esp_log.h"
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
static const char *TAG = "gc9a01";
|
||||
static spi_device_handle_t s_spi;
|
||||
|
||||
/* ── 5×7 bitmap font, one byte per column (bit0 = top row), ASCII 32..126 ── */
|
||||
static const uint8_t s_font[95][5] = {
|
||||
{0x00,0x00,0x00,0x00,0x00}, /* ' ' */ {0x00,0x00,0x5F,0x00,0x00}, /* '!' */
|
||||
{0x00,0x07,0x00,0x07,0x00}, /* '"' */ {0x14,0x7F,0x14,0x7F,0x14}, /* '#' */
|
||||
{0x24,0x2A,0x7F,0x2A,0x12}, /* '$' */ {0x23,0x13,0x08,0x64,0x62}, /* '%' */
|
||||
{0x36,0x49,0x55,0x22,0x50}, /* '&' */ {0x00,0x05,0x03,0x00,0x00}, /* '\'' */
|
||||
{0x00,0x1C,0x22,0x41,0x00}, /* '(' */ {0x00,0x41,0x22,0x1C,0x00}, /* ')' */
|
||||
{0x14,0x08,0x3E,0x08,0x14}, /* '*' */ {0x08,0x08,0x3E,0x08,0x08}, /* '+' */
|
||||
{0x00,0x50,0x30,0x00,0x00}, /* ',' */ {0x08,0x08,0x08,0x08,0x08}, /* '-' */
|
||||
{0x00,0x60,0x60,0x00,0x00}, /* '.' */ {0x20,0x10,0x08,0x04,0x02}, /* '/' */
|
||||
{0x3E,0x51,0x49,0x45,0x3E}, /* '0' */ {0x00,0x42,0x7F,0x40,0x00}, /* '1' */
|
||||
{0x42,0x61,0x51,0x49,0x46}, /* '2' */ {0x21,0x41,0x45,0x4B,0x31}, /* '3' */
|
||||
{0x18,0x14,0x12,0x7F,0x10}, /* '4' */ {0x27,0x45,0x45,0x45,0x39}, /* '5' */
|
||||
{0x3C,0x4A,0x49,0x49,0x30}, /* '6' */ {0x01,0x71,0x09,0x05,0x03}, /* '7' */
|
||||
{0x36,0x49,0x49,0x49,0x36}, /* '8' */ {0x06,0x49,0x49,0x29,0x1E}, /* '9' */
|
||||
{0x00,0x36,0x36,0x00,0x00}, /* ':' */ {0x00,0x56,0x36,0x00,0x00}, /* ';' */
|
||||
{0x08,0x14,0x22,0x41,0x00}, /* '<' */ {0x14,0x14,0x14,0x14,0x14}, /* '=' */
|
||||
{0x00,0x41,0x22,0x14,0x08}, /* '>' */ {0x02,0x01,0x51,0x09,0x06}, /* '?' */
|
||||
{0x32,0x49,0x79,0x41,0x3E}, /* '@' */ {0x7E,0x11,0x11,0x11,0x7E}, /* 'A' */
|
||||
{0x7F,0x49,0x49,0x49,0x36}, /* 'B' */ {0x3E,0x41,0x41,0x41,0x22}, /* 'C' */
|
||||
{0x7F,0x41,0x41,0x22,0x1C}, /* 'D' */ {0x7F,0x49,0x49,0x49,0x41}, /* 'E' */
|
||||
{0x7F,0x09,0x09,0x09,0x01}, /* 'F' */ {0x3E,0x41,0x49,0x49,0x3A}, /* 'G' */
|
||||
{0x7F,0x08,0x08,0x08,0x7F}, /* 'H' */ {0x00,0x41,0x7F,0x41,0x00}, /* 'I' */
|
||||
{0x20,0x40,0x41,0x3F,0x01}, /* 'J' */ {0x7F,0x08,0x14,0x22,0x41}, /* 'K' */
|
||||
{0x7F,0x40,0x40,0x40,0x40}, /* 'L' */ {0x7F,0x02,0x0C,0x02,0x7F}, /* 'M' */
|
||||
{0x7F,0x04,0x08,0x10,0x7F}, /* 'N' */ {0x3E,0x41,0x41,0x41,0x3E}, /* 'O' */
|
||||
{0x7F,0x09,0x09,0x09,0x06}, /* 'P' */ {0x3E,0x41,0x51,0x21,0x5E}, /* 'Q' */
|
||||
{0x7F,0x09,0x19,0x29,0x46}, /* 'R' */ {0x46,0x49,0x49,0x49,0x31}, /* 'S' */
|
||||
{0x01,0x01,0x7F,0x01,0x01}, /* 'T' */ {0x3F,0x40,0x40,0x40,0x3F}, /* 'U' */
|
||||
{0x1F,0x20,0x40,0x20,0x1F}, /* 'V' */ {0x3F,0x40,0x38,0x40,0x3F}, /* 'W' */
|
||||
{0x63,0x14,0x08,0x14,0x63}, /* 'X' */ {0x07,0x08,0x70,0x08,0x07}, /* 'Y' */
|
||||
{0x61,0x51,0x49,0x45,0x43}, /* 'Z' */ {0x00,0x7F,0x41,0x41,0x00}, /* '[' */
|
||||
{0x02,0x04,0x08,0x10,0x20}, /* '\\' */ {0x00,0x41,0x41,0x7F,0x00}, /* ']' */
|
||||
{0x04,0x02,0x01,0x02,0x04}, /* '^' */ {0x40,0x40,0x40,0x40,0x40}, /* '_' */
|
||||
{0x00,0x01,0x02,0x04,0x00}, /* '`' */ {0x20,0x54,0x54,0x54,0x78}, /* 'a' */
|
||||
{0x7F,0x48,0x44,0x44,0x38}, /* 'b' */ {0x38,0x44,0x44,0x44,0x20}, /* 'c' */
|
||||
{0x38,0x44,0x44,0x48,0x7F}, /* 'd' */ {0x38,0x54,0x54,0x54,0x18}, /* 'e' */
|
||||
{0x08,0x7E,0x09,0x01,0x02}, /* 'f' */ {0x0C,0x52,0x52,0x52,0x3E}, /* 'g' */
|
||||
{0x7F,0x08,0x04,0x04,0x78}, /* 'h' */ {0x00,0x44,0x7D,0x40,0x00}, /* 'i' */
|
||||
{0x20,0x40,0x44,0x3D,0x00}, /* 'j' */ {0x7F,0x10,0x28,0x44,0x00}, /* 'k' */
|
||||
{0x00,0x41,0x7F,0x40,0x00}, /* 'l' */ {0x7C,0x04,0x18,0x04,0x78}, /* 'm' */
|
||||
{0x7C,0x08,0x04,0x04,0x78}, /* 'n' */ {0x38,0x44,0x44,0x44,0x38}, /* 'o' */
|
||||
{0x7C,0x14,0x14,0x14,0x08}, /* 'p' */ {0x08,0x14,0x14,0x18,0x7C}, /* 'q' */
|
||||
{0x7C,0x08,0x04,0x04,0x08}, /* 'r' */ {0x48,0x54,0x54,0x54,0x20}, /* 's' */
|
||||
{0x04,0x3F,0x44,0x40,0x20}, /* 't' */ {0x3C,0x40,0x40,0x20,0x7C}, /* 'u' */
|
||||
{0x1C,0x20,0x40,0x20,0x1C}, /* 'v' */ {0x3C,0x40,0x30,0x40,0x3C}, /* 'w' */
|
||||
{0x44,0x28,0x10,0x28,0x44}, /* 'x' */ {0x0C,0x50,0x50,0x50,0x3C}, /* 'y' */
|
||||
{0x44,0x64,0x54,0x4C,0x44}, /* 'z' */ {0x00,0x08,0x36,0x41,0x00}, /* '{' */
|
||||
{0x00,0x00,0x7F,0x00,0x00}, /* '|' */ {0x00,0x41,0x36,0x08,0x00}, /* '}' */
|
||||
{0x10,0x08,0x08,0x10,0x08}, /* '~' */
|
||||
};
|
||||
|
||||
/* ── Static buffers (internal SRAM → DMA-safe) ── */
|
||||
static uint8_t s_line_buf[240 * 2];
|
||||
static uint8_t s_char_buf[5 * 5 * 7 * 5 * 2]; /* max scale=5: 25×35×2 */
|
||||
|
||||
/* ── Low-level SPI helpers ── */
|
||||
static void write_cmd(uint8_t cmd)
|
||||
{
|
||||
gpio_set_level(DISP_DC_GPIO, 0);
|
||||
spi_transaction_t t = { .length = 8, .flags = SPI_TRANS_USE_TXDATA };
|
||||
t.tx_data[0] = cmd;
|
||||
spi_device_polling_transmit(s_spi, &t);
|
||||
}
|
||||
|
||||
static void write_bytes(const uint8_t *data, size_t len)
|
||||
{
|
||||
if (!len) return;
|
||||
gpio_set_level(DISP_DC_GPIO, 1);
|
||||
spi_transaction_t t = { .length = len * 8, .tx_buffer = data };
|
||||
spi_device_polling_transmit(s_spi, &t);
|
||||
}
|
||||
|
||||
static inline void write_byte(uint8_t b) { write_bytes(&b, 1); }
|
||||
|
||||
/* ── Address window ── */
|
||||
static void set_window(int x1, int y1, int x2, int y2)
|
||||
{
|
||||
uint8_t d[4];
|
||||
d[0] = x1 >> 8; d[1] = x1 & 0xFF; d[2] = x2 >> 8; d[3] = x2 & 0xFF;
|
||||
write_cmd(0x2A); write_bytes(d, 4);
|
||||
d[0] = y1 >> 8; d[1] = y1 & 0xFF; d[2] = y2 >> 8; d[3] = y2 & 0xFF;
|
||||
write_cmd(0x2B); write_bytes(d, 4);
|
||||
}
|
||||
|
||||
/* ── GC9A01 register init ── */
|
||||
static void init_regs(void)
|
||||
{
|
||||
write_cmd(0xEF);
|
||||
write_cmd(0xEB); write_byte(0x14);
|
||||
write_cmd(0xFE);
|
||||
write_cmd(0xEF);
|
||||
write_cmd(0xEB); write_byte(0x14);
|
||||
write_cmd(0x84); write_byte(0x40);
|
||||
write_cmd(0x85); write_byte(0xFF);
|
||||
write_cmd(0x86); write_byte(0xFF);
|
||||
write_cmd(0x87); write_byte(0xFF);
|
||||
write_cmd(0x88); write_byte(0x0A);
|
||||
write_cmd(0x89); write_byte(0x21);
|
||||
write_cmd(0x8A); write_byte(0x00);
|
||||
write_cmd(0x8B); write_byte(0x80);
|
||||
write_cmd(0x8C); write_byte(0x01);
|
||||
write_cmd(0x8D); write_byte(0x01);
|
||||
write_cmd(0x8E); write_byte(0xFF);
|
||||
write_cmd(0x8F); write_byte(0xFF);
|
||||
{ uint8_t d[] = {0x00,0x20}; write_cmd(0xB6); write_bytes(d,2); }
|
||||
write_cmd(0x36); write_byte(0x08); /* MADCTL: normal, BGR */
|
||||
write_cmd(0x3A); write_byte(0x05); /* COLMOD: 16-bit RGB565 */
|
||||
{ uint8_t d[] = {0x08,0x08,0x08,0x08}; write_cmd(0x90); write_bytes(d,4); }
|
||||
write_cmd(0xBD); write_byte(0x06);
|
||||
write_cmd(0xBC); write_byte(0x00);
|
||||
{ uint8_t d[] = {0x60,0x01,0x04}; write_cmd(0xFF); write_bytes(d,3); }
|
||||
write_cmd(0xC3); write_byte(0x13);
|
||||
write_cmd(0xC4); write_byte(0x13);
|
||||
write_cmd(0xC9); write_byte(0x22);
|
||||
write_cmd(0xBE); write_byte(0x11);
|
||||
{ uint8_t d[] = {0x10,0x0E}; write_cmd(0xE1); write_bytes(d,2); }
|
||||
{ uint8_t d[] = {0x21,0x0C,0x02}; write_cmd(0xDF); write_bytes(d,3); }
|
||||
{ uint8_t d[] = {0x45,0x09,0x08,0x08,0x26,0x2A}; write_cmd(0xF0); write_bytes(d,6); }
|
||||
{ uint8_t d[] = {0x43,0x70,0x72,0x36,0x37,0x6F}; write_cmd(0xF1); write_bytes(d,6); }
|
||||
{ uint8_t d[] = {0x45,0x09,0x08,0x08,0x26,0x2A}; write_cmd(0xF2); write_bytes(d,6); }
|
||||
{ uint8_t d[] = {0x43,0x70,0x72,0x36,0x37,0x6F}; write_cmd(0xF3); write_bytes(d,6); }
|
||||
{ uint8_t d[] = {0x1B,0x0B}; write_cmd(0xED); write_bytes(d,2); }
|
||||
write_cmd(0xAE); write_byte(0x77);
|
||||
write_cmd(0xCD); write_byte(0x63);
|
||||
{ uint8_t d[] = {0x07,0x07,0x04,0x0E,0x0F,0x09,0x07,0x08,0x03};
|
||||
write_cmd(0x70); write_bytes(d,9); }
|
||||
write_cmd(0xE8); write_byte(0x34);
|
||||
{ uint8_t d[] = {0x18,0x0D,0xB7,0x18,0x0D,0x8B,0x88,0x08};
|
||||
write_cmd(0x62); write_bytes(d,8); }
|
||||
{ uint8_t d[] = {0x18,0x0D,0xB7,0x58,0x1E,0x0B,0x00,0xA7,0x88,0x08};
|
||||
write_cmd(0x63); write_bytes(d,10); }
|
||||
{ uint8_t d[] = {0x20,0x07,0x04}; write_cmd(0x64); write_bytes(d,3); }
|
||||
{ uint8_t d[] = {0x10,0x85,0x80,0x00,0x00,0x4E,0x00};
|
||||
write_cmd(0x74); write_bytes(d,7); }
|
||||
{ uint8_t d[] = {0x3E,0x07}; write_cmd(0x98); write_bytes(d,2); }
|
||||
write_cmd(0x35); /* TEON */
|
||||
write_cmd(0x21); /* INVON */
|
||||
write_cmd(0x11); /* SLPOUT */
|
||||
vTaskDelay(pdMS_TO_TICKS(120));
|
||||
write_cmd(0x29); /* DISPON */
|
||||
vTaskDelay(pdMS_TO_TICKS(20));
|
||||
}
|
||||
|
||||
/* ── Public init ── */
|
||||
void gc9a01_init(void)
|
||||
{
|
||||
/* SPI bus */
|
||||
spi_bus_config_t bus = {
|
||||
.mosi_io_num = DISP_MOSI_GPIO,
|
||||
.miso_io_num = -1,
|
||||
.sclk_io_num = DISP_SCK_GPIO,
|
||||
.quadwp_io_num = -1,
|
||||
.quadhd_io_num = -1,
|
||||
.max_transfer_sz = 4096,
|
||||
};
|
||||
ESP_ERROR_CHECK(spi_bus_initialize(SPI2_HOST, &bus, SPI_DMA_CH_AUTO));
|
||||
|
||||
spi_device_interface_config_t dev = {
|
||||
.clock_speed_hz = 40 * 1000 * 1000,
|
||||
.mode = 0,
|
||||
.spics_io_num = DISP_CS_GPIO,
|
||||
.queue_size = 1,
|
||||
};
|
||||
ESP_ERROR_CHECK(spi_bus_add_device(SPI2_HOST, &dev, &s_spi));
|
||||
|
||||
/* DC, RST, BL GPIOs */
|
||||
gpio_set_direction(DISP_DC_GPIO, GPIO_MODE_OUTPUT);
|
||||
gpio_set_direction(DISP_RST_GPIO, GPIO_MODE_OUTPUT);
|
||||
gpio_set_direction(DISP_BL_GPIO, GPIO_MODE_OUTPUT);
|
||||
|
||||
/* Hardware reset */
|
||||
gpio_set_level(DISP_RST_GPIO, 0); vTaskDelay(pdMS_TO_TICKS(10));
|
||||
gpio_set_level(DISP_RST_GPIO, 1); vTaskDelay(pdMS_TO_TICKS(120));
|
||||
|
||||
init_regs();
|
||||
|
||||
/* Backlight on */
|
||||
gpio_set_level(DISP_BL_GPIO, 1);
|
||||
ESP_LOGI(TAG, "GC9A01 init OK: DC=%d CS=%d SCK=%d MOSI=%d RST=%d BL=%d",
|
||||
DISP_DC_GPIO, DISP_CS_GPIO, DISP_SCK_GPIO, DISP_MOSI_GPIO,
|
||||
DISP_RST_GPIO, DISP_BL_GPIO);
|
||||
}
|
||||
|
||||
/* ── display_fill_rect ── */
|
||||
void display_fill_rect(int x, int y, int w, int h, uint16_t rgb565)
|
||||
{
|
||||
if (w <= 0 || h <= 0) return;
|
||||
if (x < 0) { w += x; x = 0; }
|
||||
if (y < 0) { h += y; y = 0; }
|
||||
if (x + w > 240) w = 240 - x;
|
||||
if (y + h > 240) h = 240 - y;
|
||||
if (w <= 0 || h <= 0) return;
|
||||
|
||||
set_window(x, y, x + w - 1, y + h - 1);
|
||||
write_cmd(0x2C);
|
||||
|
||||
uint8_t hi = rgb565 >> 8, lo = rgb565 & 0xFF;
|
||||
for (int i = 0; i < w * 2; i += 2) { s_line_buf[i] = hi; s_line_buf[i+1] = lo; }
|
||||
for (int row = 0; row < h; row++) { write_bytes(s_line_buf, (size_t)(w * 2)); }
|
||||
}
|
||||
|
||||
/* ── Glyph rasteriser (handles scale 1..5) ── */
|
||||
static void draw_char_s(int x, int y, char c, uint16_t fg, uint16_t bg, int scale)
|
||||
{
|
||||
if ((uint8_t)c < 32 || (uint8_t)c > 126) return;
|
||||
if (scale < 1) scale = 1;
|
||||
if (scale > 5) scale = 5;
|
||||
const uint8_t *g = s_font[(uint8_t)c - 32];
|
||||
int cw = 5 * scale, ch = 7 * scale;
|
||||
|
||||
uint8_t *p = s_char_buf;
|
||||
for (int row = 0; row < 7; row++) {
|
||||
for (int sr = 0; sr < scale; sr++) {
|
||||
for (int col = 0; col < 5; col++) {
|
||||
uint16_t color = ((g[col] >> row) & 1) ? fg : bg;
|
||||
uint8_t hi = color >> 8, lo = color & 0xFF;
|
||||
for (int sc = 0; sc < scale; sc++) { *p++ = hi; *p++ = lo; }
|
||||
}
|
||||
}
|
||||
}
|
||||
set_window(x, y, x + cw - 1, y + ch - 1);
|
||||
write_cmd(0x2C);
|
||||
write_bytes(s_char_buf, (size_t)(cw * ch * 2));
|
||||
}
|
||||
|
||||
/* ── display_draw_string / display_draw_string_s ── */
|
||||
void display_draw_string(int x, int y, const char *str, uint16_t fg, uint16_t bg)
|
||||
{
|
||||
display_draw_string_s(x, y, str, fg, bg, 1);
|
||||
}
|
||||
|
||||
void display_draw_string_s(int x, int y, const char *str,
|
||||
uint16_t fg, uint16_t bg, int scale)
|
||||
{
|
||||
int cx = x;
|
||||
while (*str) {
|
||||
draw_char_s(cx, y, *str++, fg, bg, scale);
|
||||
cx += 6 * scale;
|
||||
}
|
||||
}
|
||||
|
||||
/* ── display_draw_arc ── */
|
||||
void display_draw_arc(int cx, int cy, int r, int start_deg, int end_deg,
|
||||
int thickness, uint16_t color)
|
||||
{
|
||||
for (int deg = start_deg; deg <= end_deg; deg++) {
|
||||
float rad = (float)deg * (3.14159265f / 180.0f);
|
||||
int px = cx + (int)((float)r * cosf(rad));
|
||||
int py = cy + (int)((float)r * sinf(rad));
|
||||
int half = thickness / 2;
|
||||
display_fill_rect(px - half, py - half, thickness, thickness, color);
|
||||
}
|
||||
}
|
||||
@ -1,24 +0,0 @@
|
||||
#pragma once
|
||||
/* gc9a01.h — GC9A01 240×240 round LCD SPI driver (bd-1yr8 display bead) */
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/* ── Initialise SPI bus + GC9A01. Call once from app_main. ── */
|
||||
void gc9a01_init(void);
|
||||
|
||||
/* ── Display primitives (also satisfy ota_display.h contract) ── */
|
||||
void display_fill_rect(int x, int y, int w, int h, uint16_t rgb565);
|
||||
void display_draw_string(int x, int y, const char *str, uint16_t fg, uint16_t bg);
|
||||
void display_draw_string_s(int x, int y, const char *str,
|
||||
uint16_t fg, uint16_t bg, int scale);
|
||||
void display_draw_arc(int cx, int cy, int r,
|
||||
int start_deg, int end_deg, int thickness, uint16_t color);
|
||||
|
||||
/* ── Colour palette (RGB565) ── */
|
||||
#define COL_BG 0x0000u
|
||||
#define COL_WHITE 0xFFFFu
|
||||
#define COL_GREEN 0x07E0u
|
||||
#define COL_YELLOW 0xFFE0u
|
||||
#define COL_RED 0xF800u
|
||||
#define COL_BLUE 0x001Fu
|
||||
#define COL_ORANGE 0xFD20u
|
||||
@ -1,285 +0,0 @@
|
||||
/* gitea_ota.c — Gitea version checker (bd-3hte)
|
||||
*
|
||||
* Uses esp_http_client + cJSON to query:
|
||||
* GET /api/v1/repos/{repo}/releases?limit=10
|
||||
* Filters releases by tag prefix, extracts version and download URLs.
|
||||
*/
|
||||
|
||||
#include "gitea_ota.h"
|
||||
#include "version.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_wifi.h"
|
||||
#include "esp_event.h"
|
||||
#include "esp_netif.h"
|
||||
#include "esp_http_client.h"
|
||||
#include "nvs_flash.h"
|
||||
#include "nvs.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/event_groups.h"
|
||||
#include "cJSON.h"
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
static const char *TAG = "gitea_ota";
|
||||
|
||||
ota_update_info_t g_balance_update = {0};
|
||||
ota_update_info_t g_io_update = {0};
|
||||
|
||||
/* ── WiFi connection ── */
|
||||
#define WIFI_CONNECTED_BIT BIT0
|
||||
#define WIFI_FAIL_BIT BIT1
|
||||
#define WIFI_MAX_RETRIES 5
|
||||
|
||||
/* Compile-time WiFi fallback (override in NVS "wifi"/"ssid","pass") */
|
||||
#define DEFAULT_WIFI_SSID "saltylab"
|
||||
#define DEFAULT_WIFI_PASS ""
|
||||
|
||||
static EventGroupHandle_t s_wifi_eg;
|
||||
static int s_wifi_retries = 0;
|
||||
|
||||
static void wifi_event_handler(void *arg, esp_event_base_t base,
|
||||
int32_t id, void *data)
|
||||
{
|
||||
if (base == WIFI_EVENT && id == WIFI_EVENT_STA_START) {
|
||||
esp_wifi_connect();
|
||||
} else if (base == WIFI_EVENT && id == WIFI_EVENT_STA_DISCONNECTED) {
|
||||
if (s_wifi_retries < WIFI_MAX_RETRIES) {
|
||||
esp_wifi_connect();
|
||||
s_wifi_retries++;
|
||||
} else {
|
||||
xEventGroupSetBits(s_wifi_eg, WIFI_FAIL_BIT);
|
||||
}
|
||||
} else if (base == IP_EVENT && id == IP_EVENT_STA_GOT_IP) {
|
||||
s_wifi_retries = 0;
|
||||
xEventGroupSetBits(s_wifi_eg, WIFI_CONNECTED_BIT);
|
||||
}
|
||||
}
|
||||
|
||||
static bool wifi_connect(void)
|
||||
{
|
||||
char ssid[64] = DEFAULT_WIFI_SSID;
|
||||
char pass[64] = DEFAULT_WIFI_PASS;
|
||||
|
||||
/* Try to read credentials from NVS */
|
||||
nvs_handle_t nvs;
|
||||
if (nvs_open("wifi", NVS_READONLY, &nvs) == ESP_OK) {
|
||||
size_t sz = sizeof(ssid);
|
||||
nvs_get_str(nvs, "ssid", ssid, &sz);
|
||||
sz = sizeof(pass);
|
||||
nvs_get_str(nvs, "pass", pass, &sz);
|
||||
nvs_close(nvs);
|
||||
}
|
||||
|
||||
s_wifi_eg = xEventGroupCreate();
|
||||
s_wifi_retries = 0;
|
||||
|
||||
ESP_ERROR_CHECK(esp_netif_init());
|
||||
ESP_ERROR_CHECK(esp_event_loop_create_default());
|
||||
esp_netif_create_default_wifi_sta();
|
||||
|
||||
wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
|
||||
ESP_ERROR_CHECK(esp_wifi_init(&cfg));
|
||||
|
||||
esp_event_handler_instance_t h1, h2;
|
||||
ESP_ERROR_CHECK(esp_event_handler_instance_register(
|
||||
WIFI_EVENT, ESP_EVENT_ANY_ID, wifi_event_handler, NULL, &h1));
|
||||
ESP_ERROR_CHECK(esp_event_handler_instance_register(
|
||||
IP_EVENT, IP_EVENT_STA_GOT_IP, wifi_event_handler, NULL, &h2));
|
||||
|
||||
wifi_config_t wcfg = {0};
|
||||
strlcpy((char *)wcfg.sta.ssid, ssid, sizeof(wcfg.sta.ssid));
|
||||
strlcpy((char *)wcfg.sta.password, pass, sizeof(wcfg.sta.password));
|
||||
|
||||
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
|
||||
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wcfg));
|
||||
ESP_ERROR_CHECK(esp_wifi_start());
|
||||
|
||||
EventBits_t bits = xEventGroupWaitBits(s_wifi_eg,
|
||||
WIFI_CONNECTED_BIT | WIFI_FAIL_BIT, pdFALSE, pdFALSE,
|
||||
pdMS_TO_TICKS(15000));
|
||||
|
||||
esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, h2);
|
||||
esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, h1);
|
||||
vEventGroupDelete(s_wifi_eg);
|
||||
|
||||
if (bits & WIFI_CONNECTED_BIT) {
|
||||
ESP_LOGI(TAG, "WiFi connected SSID=%s", ssid);
|
||||
return true;
|
||||
}
|
||||
ESP_LOGW(TAG, "WiFi connect failed SSID=%s", ssid);
|
||||
return false;
|
||||
}
|
||||
|
||||
/* ── HTTP fetch into a heap buffer ── */
|
||||
#define HTTP_RESP_MAX (8 * 1024)
|
||||
|
||||
typedef struct { char *buf; int len; int cap; } http_buf_t;
|
||||
|
||||
static esp_err_t http_event_cb(esp_http_client_event_t *evt)
|
||||
{
|
||||
http_buf_t *b = (http_buf_t *)evt->user_data;
|
||||
if (evt->event_id == HTTP_EVENT_ON_DATA && b) {
|
||||
if (b->len + evt->data_len < b->cap) {
|
||||
memcpy(b->buf + b->len, evt->data, evt->data_len);
|
||||
b->len += evt->data_len;
|
||||
}
|
||||
}
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
static char *http_get(const char *url)
|
||||
{
|
||||
char *buf = malloc(HTTP_RESP_MAX);
|
||||
if (!buf) return NULL;
|
||||
http_buf_t b = {.buf = buf, .len = 0, .cap = HTTP_RESP_MAX};
|
||||
buf[0] = '\0';
|
||||
|
||||
esp_http_client_config_t cfg = {
|
||||
.url = url,
|
||||
.event_handler = http_event_cb,
|
||||
.user_data = &b,
|
||||
.timeout_ms = GITEA_API_TIMEOUT_MS,
|
||||
.skip_cert_common_name_check = true,
|
||||
};
|
||||
esp_http_client_handle_t client = esp_http_client_init(&cfg);
|
||||
esp_err_t err = esp_http_client_perform(client);
|
||||
int status = esp_http_client_get_status_code(client);
|
||||
esp_http_client_cleanup(client);
|
||||
|
||||
if (err != ESP_OK || status != 200) {
|
||||
ESP_LOGW(TAG, "HTTP GET %s → err=%d status=%d", url, err, status);
|
||||
free(buf);
|
||||
return NULL;
|
||||
}
|
||||
buf[b.len] = '\0';
|
||||
return buf;
|
||||
}
|
||||
|
||||
/* ── Version comparison: returns true if remote > local ── */
|
||||
static bool version_newer(const char *local, const char *remote)
|
||||
{
|
||||
int la=0,lb=0,lc=0, ra=0,rb=0,rc=0;
|
||||
sscanf(local, "%d.%d.%d", &la, &lb, &lc);
|
||||
sscanf(remote, "%d.%d.%d", &ra, &rb, &rc);
|
||||
if (ra != la) return ra > la;
|
||||
if (rb != lb) return rb > lb;
|
||||
return rc > lc;
|
||||
}
|
||||
|
||||
/* ── Parse releases JSON array, fill ota_update_info_t ── */
|
||||
static void parse_releases(const char *json, const char *tag_prefix,
|
||||
const char *bin_asset, const char *sha_asset,
|
||||
const char *local_version,
|
||||
ota_update_info_t *out)
|
||||
{
|
||||
cJSON *arr = cJSON_Parse(json);
|
||||
if (!arr || !cJSON_IsArray(arr)) {
|
||||
ESP_LOGW(TAG, "JSON parse failed");
|
||||
cJSON_Delete(arr);
|
||||
return;
|
||||
}
|
||||
|
||||
cJSON *rel;
|
||||
cJSON_ArrayForEach(rel, arr) {
|
||||
cJSON *tag_j = cJSON_GetObjectItem(rel, "tag_name");
|
||||
if (!cJSON_IsString(tag_j)) continue;
|
||||
|
||||
const char *tag = tag_j->valuestring;
|
||||
if (strncmp(tag, tag_prefix, strlen(tag_prefix)) != 0) continue;
|
||||
|
||||
/* Extract version after prefix */
|
||||
const char *ver = tag + strlen(tag_prefix);
|
||||
if (*ver == 'v') ver++; /* strip leading 'v' */
|
||||
|
||||
if (!version_newer(local_version, ver)) continue;
|
||||
|
||||
/* Found a newer release — extract asset URLs */
|
||||
cJSON *assets = cJSON_GetObjectItem(rel, "assets");
|
||||
if (!cJSON_IsArray(assets)) continue;
|
||||
|
||||
out->available = false;
|
||||
out->download_url[0] = '\0';
|
||||
out->sha256[0] = '\0';
|
||||
strlcpy(out->version, ver, sizeof(out->version));
|
||||
|
||||
cJSON *asset;
|
||||
cJSON_ArrayForEach(asset, assets) {
|
||||
cJSON *name_j = cJSON_GetObjectItem(asset, "name");
|
||||
cJSON *url_j = cJSON_GetObjectItem(asset, "browser_download_url");
|
||||
if (!cJSON_IsString(name_j) || !cJSON_IsString(url_j)) continue;
|
||||
|
||||
if (strcmp(name_j->valuestring, bin_asset) == 0) {
|
||||
strlcpy(out->download_url, url_j->valuestring,
|
||||
sizeof(out->download_url));
|
||||
out->available = true;
|
||||
} else if (strcmp(name_j->valuestring, sha_asset) == 0) {
|
||||
/* Download the SHA256 asset inline */
|
||||
char *sha = http_get(url_j->valuestring);
|
||||
if (sha) {
|
||||
/* sha file is just hex+newline */
|
||||
size_t n = strspn(sha, "0123456789abcdefABCDEF");
|
||||
if (n == 64) {
|
||||
memcpy(out->sha256, sha, 64);
|
||||
out->sha256[64] = '\0';
|
||||
}
|
||||
free(sha);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (out->available) {
|
||||
ESP_LOGI(TAG, "update: tag=%s ver=%s", tag, out->version);
|
||||
}
|
||||
break; /* use first matching release */
|
||||
}
|
||||
|
||||
cJSON_Delete(arr);
|
||||
}
|
||||
|
||||
/* ── Main check ── */
|
||||
void gitea_ota_check_now(void)
|
||||
{
|
||||
char url[512];
|
||||
snprintf(url, sizeof(url),
|
||||
"%s/api/v1/repos/%s/releases?limit=10",
|
||||
GITEA_BASE_URL, GITEA_REPO);
|
||||
|
||||
char *json = http_get(url);
|
||||
if (!json) {
|
||||
ESP_LOGW(TAG, "releases fetch failed");
|
||||
return;
|
||||
}
|
||||
|
||||
parse_releases(json, BALANCE_TAG_PREFIX, BALANCE_BIN_ASSET,
|
||||
BALANCE_SHA256_ASSET, BALANCE_FW_VERSION, &g_balance_update);
|
||||
parse_releases(json, IO_TAG_PREFIX, IO_BIN_ASSET,
|
||||
IO_SHA256_ASSET, IO_FW_VERSION, &g_io_update);
|
||||
free(json);
|
||||
}
|
||||
|
||||
/* ── Background task ── */
|
||||
static void version_check_task(void *arg)
|
||||
{
|
||||
/* Initial check immediately after WiFi up */
|
||||
vTaskDelay(pdMS_TO_TICKS(2000));
|
||||
gitea_ota_check_now();
|
||||
|
||||
for (;;) {
|
||||
vTaskDelay(pdMS_TO_TICKS(VERSION_CHECK_PERIOD_MS));
|
||||
gitea_ota_check_now();
|
||||
}
|
||||
}
|
||||
|
||||
void gitea_ota_init(void)
|
||||
{
|
||||
ESP_ERROR_CHECK(nvs_flash_init());
|
||||
|
||||
if (!wifi_connect()) {
|
||||
ESP_LOGW(TAG, "WiFi unavailable — version checks disabled");
|
||||
return;
|
||||
}
|
||||
|
||||
xTaskCreate(version_check_task, "ver_check", 6144, NULL, 3, NULL);
|
||||
ESP_LOGI(TAG, "version check task started");
|
||||
}
|
||||
@ -1,42 +0,0 @@
|
||||
#pragma once
|
||||
/* gitea_ota.h — Gitea release version checker (bd-3hte)
|
||||
*
|
||||
* WiFi task: on boot and every 30 min, queries Gitea releases API,
|
||||
* compares tag version against embedded FW_VERSION, stores update info.
|
||||
*
|
||||
* WiFi credentials read from NVS namespace "wifi" keys "ssid"/"pass".
|
||||
* Fall back to compile-time defaults if NVS is empty.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/* Gitea instance */
|
||||
#define GITEA_BASE_URL "http://gitea.vayrette.com"
|
||||
#define GITEA_REPO "seb/saltylab-firmware"
|
||||
#define GITEA_API_TIMEOUT_MS 10000
|
||||
|
||||
/* Version check interval */
|
||||
#define VERSION_CHECK_PERIOD_MS (30u * 60u * 1000u) /* 30 minutes */
|
||||
|
||||
/* Max URL/version string lengths */
|
||||
#define OTA_URL_MAX 384
|
||||
#define OTA_VER_MAX 32
|
||||
#define OTA_SHA256_MAX 65
|
||||
|
||||
typedef struct {
|
||||
bool available;
|
||||
char version[OTA_VER_MAX]; /* remote version string, e.g. "1.2.3" */
|
||||
char download_url[OTA_URL_MAX]; /* direct download URL for .bin */
|
||||
char sha256[OTA_SHA256_MAX]; /* hex SHA256 (from .sha256 asset), or "" */
|
||||
} ota_update_info_t;
|
||||
|
||||
/* Shared state — written by gitea_ota_check_task, read by display/OTA tasks */
|
||||
extern ota_update_info_t g_balance_update;
|
||||
extern ota_update_info_t g_io_update;
|
||||
|
||||
/* Initialize WiFi and start version check task */
|
||||
void gitea_ota_init(void);
|
||||
|
||||
/* One-shot sync check (can be called from any task) */
|
||||
void gitea_ota_check_now(void);
|
||||
@ -1,5 +0,0 @@
|
||||
dependencies:
|
||||
idf:
|
||||
version: '>=5.0'
|
||||
espressif/cjson:
|
||||
version: "^1.7.19~2"
|
||||
@ -1,110 +0,0 @@
|
||||
/* main.c — ESP32-S3 BALANCE app_main (bd-66hx + OTA beads) */
|
||||
|
||||
#include "orin_serial.h"
|
||||
#include "vesc_can.h"
|
||||
#include "gc9a01.h"
|
||||
#include "gitea_ota.h"
|
||||
#include "ota_self.h"
|
||||
#include "uart_ota.h"
|
||||
#include "ota_display.h"
|
||||
#include "config.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/queue.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_timer.h"
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "main";
|
||||
|
||||
static QueueHandle_t s_orin_tx_q;
|
||||
|
||||
/* ── Telemetry task: sends TELEM_STATUS to Orin at 10 Hz ── */
|
||||
static void telem_task(void *arg)
|
||||
{
|
||||
for (;;) {
|
||||
vTaskDelay(pdMS_TO_TICKS(TELEM_STATUS_PERIOD_MS));
|
||||
|
||||
uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
|
||||
bool hb_timeout = (now_ms - g_orin_ctrl.hb_last_ms) > HB_TIMEOUT_MS;
|
||||
|
||||
/* Determine balance state for telemetry */
|
||||
bal_state_t state;
|
||||
if (g_orin_ctrl.estop) {
|
||||
state = BAL_ESTOP;
|
||||
} else if (!g_orin_ctrl.armed) {
|
||||
state = BAL_DISARMED;
|
||||
} else {
|
||||
state = BAL_ARMED;
|
||||
}
|
||||
|
||||
/* flags: bit0=estop_active, bit1=heartbeat_timeout */
|
||||
uint8_t flags = (g_orin_ctrl.estop ? 0x01u : 0x00u) |
|
||||
(hb_timeout ? 0x02u : 0x00u);
|
||||
|
||||
/* Battery voltage from VESC_ID_A STATUS_5 (V×10 → mV) */
|
||||
uint16_t vbat_mv = (uint16_t)((int32_t)g_vesc[0].voltage_x10 * 100);
|
||||
|
||||
orin_send_status(s_orin_tx_q,
|
||||
0, /* pitch_x10: stub — full IMU in future bead */
|
||||
0, /* motor_cmd: stub */
|
||||
vbat_mv,
|
||||
state,
|
||||
flags);
|
||||
}
|
||||
}
|
||||
|
||||
/* ── Drive task: applies Orin drive commands to VESCs @ 50 Hz ── */
|
||||
static void drive_task(void *arg)
|
||||
{
|
||||
for (;;) {
|
||||
vTaskDelay(pdMS_TO_TICKS(20)); /* 50 Hz */
|
||||
|
||||
uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
|
||||
bool hb_timeout = (now_ms - g_orin_ctrl.hb_last_ms) > HB_TIMEOUT_MS;
|
||||
bool drive_stale = (now_ms - g_orin_drive.updated_ms) > DRIVE_TIMEOUT_MS;
|
||||
|
||||
int32_t front_erpm = 0;
|
||||
|
||||
if (g_orin_ctrl.armed && !g_orin_ctrl.estop &&
|
||||
!hb_timeout && !drive_stale) {
|
||||
front_erpm = (int32_t)g_orin_drive.speed * RPM_PER_SPEED_UNIT;
|
||||
}
|
||||
|
||||
vesc_can_send_rpm(VESC_ID_A, front_erpm);
|
||||
}
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
ESP_LOGI(TAG, "ESP32-S3 BALANCE starting");
|
||||
|
||||
/* OTA rollback health check — must be called within OTA_ROLLBACK_WINDOW_S */
|
||||
ota_self_health_check();
|
||||
|
||||
/* Init peripherals — gc9a01 before vesc_can so BL/GPIO2 is high before TWAI takes it */
|
||||
gc9a01_init();
|
||||
orin_serial_init();
|
||||
vesc_can_init();
|
||||
|
||||
/* TX queue for outbound serial frames */
|
||||
s_orin_tx_q = xQueueCreate(ORIN_TX_QUEUE_DEPTH, sizeof(orin_tx_frame_t));
|
||||
configASSERT(s_orin_tx_q);
|
||||
|
||||
/* Seed heartbeat timer so we don't immediately timeout */
|
||||
g_orin_ctrl.hb_last_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
|
||||
|
||||
/* Create tasks */
|
||||
xTaskCreate(orin_serial_rx_task, "orin_rx", 4096, s_orin_tx_q, 10, NULL);
|
||||
xTaskCreate(orin_serial_tx_task, "orin_tx", 2048, s_orin_tx_q, 9, NULL);
|
||||
xTaskCreate(vesc_can_rx_task, "vesc_rx", 4096, s_orin_tx_q, 10, NULL);
|
||||
xTaskCreate(telem_task, "telem", 2048, NULL, 5, NULL);
|
||||
xTaskCreate(drive_task, "drive", 2048, NULL, 8, NULL);
|
||||
|
||||
/* OTA subsystem — WiFi version checker + display overlay */
|
||||
gitea_ota_init();
|
||||
ota_display_init();
|
||||
|
||||
ESP_LOGI(TAG, "all tasks started");
|
||||
/* app_main returns — FreeRTOS scheduler continues */
|
||||
}
|
||||
@ -1,334 +0,0 @@
|
||||
/* orin_serial.c — Orin↔ESP32-S3 serial protocol (bd-66hx + bd-1s1s OTA cmds) */
|
||||
|
||||
#include "orin_serial.h"
|
||||
#include "config.h"
|
||||
#include "gitea_ota.h"
|
||||
#include "ota_self.h"
|
||||
#include "uart_ota.h"
|
||||
#include "version.h"
|
||||
#include "driver/uart.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_timer.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/queue.h"
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
static const char *TAG = "orin";
|
||||
|
||||
/* ── Shared state ── */
|
||||
orin_drive_t g_orin_drive = {0};
|
||||
orin_control_t g_orin_ctrl = {.armed = false, .estop = false, .hb_last_ms = 0};
|
||||
|
||||
/* ── CRC8-SMBUS (poly=0x07, init=0x00) ── */
|
||||
static uint8_t crc8(const uint8_t *data, uint8_t len)
|
||||
{
|
||||
uint8_t crc = 0x00u;
|
||||
for (uint8_t i = 0; i < len; i++) {
|
||||
crc ^= data[i];
|
||||
for (uint8_t b = 0; b < 8u; b++) {
|
||||
crc = (crc & 0x80u) ? (uint8_t)((crc << 1u) ^ 0x07u) : (uint8_t)(crc << 1u);
|
||||
}
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
/* ── Frame builder ── */
|
||||
static void build_frame(orin_tx_frame_t *f, uint8_t out[/* ORIN_MAX_PAYLOAD + 4 */], uint8_t *out_len)
|
||||
{
|
||||
/* [SYNC][LEN][TYPE][PAYLOAD...][CRC] */
|
||||
uint8_t crc_buf[2u + ORIN_MAX_PAYLOAD];
|
||||
crc_buf[0] = f->len;
|
||||
crc_buf[1] = f->type;
|
||||
memcpy(&crc_buf[2], f->payload, f->len);
|
||||
uint8_t crc = crc8(crc_buf, (uint8_t)(2u + f->len));
|
||||
|
||||
out[0] = ORIN_SYNC;
|
||||
out[1] = f->len;
|
||||
out[2] = f->type;
|
||||
memcpy(&out[3], f->payload, f->len);
|
||||
out[3u + f->len] = crc;
|
||||
*out_len = (uint8_t)(4u + f->len);
|
||||
}
|
||||
|
||||
/* ── Enqueue helpers ── */
|
||||
static void enqueue(QueueHandle_t q, uint8_t type, const uint8_t *payload, uint8_t len)
|
||||
{
|
||||
orin_tx_frame_t f = {.type = type, .len = len};
|
||||
if (len > 0u && payload) {
|
||||
memcpy(f.payload, payload, len);
|
||||
}
|
||||
if (xQueueSend(q, &f, 0) != pdTRUE) {
|
||||
ESP_LOGW(TAG, "tx queue full, dropped type=0x%02x", type);
|
||||
}
|
||||
}
|
||||
|
||||
void orin_send_ack(QueueHandle_t q, uint8_t cmd_type)
|
||||
{
|
||||
enqueue(q, RESP_ACK, &cmd_type, 1u);
|
||||
}
|
||||
|
||||
void orin_send_nack(QueueHandle_t q, uint8_t cmd_type, uint8_t err)
|
||||
{
|
||||
uint8_t p[2] = {cmd_type, err};
|
||||
enqueue(q, RESP_NACK, p, 2u);
|
||||
}
|
||||
|
||||
void orin_send_status(QueueHandle_t q,
|
||||
int16_t pitch_x10, int16_t motor_cmd,
|
||||
uint16_t vbat_mv, bal_state_t state, uint8_t flags)
|
||||
{
|
||||
/* int16 pitch_x10, int16 motor_cmd, uint16 vbat_mv, uint8 state, uint8 flags — BE */
|
||||
uint8_t p[8];
|
||||
p[0] = (uint8_t)((uint16_t)pitch_x10 >> 8u);
|
||||
p[1] = (uint8_t)((uint16_t)pitch_x10);
|
||||
p[2] = (uint8_t)((uint16_t)motor_cmd >> 8u);
|
||||
p[3] = (uint8_t)((uint16_t)motor_cmd);
|
||||
p[4] = (uint8_t)(vbat_mv >> 8u);
|
||||
p[5] = (uint8_t)(vbat_mv);
|
||||
p[6] = (uint8_t)state;
|
||||
p[7] = flags;
|
||||
enqueue(q, TELEM_STATUS, p, 8u);
|
||||
}
|
||||
|
||||
void orin_send_vesc(QueueHandle_t q, uint8_t telem_type,
|
||||
int32_t erpm, uint16_t voltage_mv,
|
||||
int16_t current_ma, uint16_t temp_c_x10)
|
||||
{
|
||||
/* int32 erpm, uint16 voltage_mv, int16 current_ma, uint16 temp_c_x10 — BE */
|
||||
uint8_t p[10];
|
||||
uint32_t u = (uint32_t)erpm;
|
||||
p[0] = (uint8_t)(u >> 24u);
|
||||
p[1] = (uint8_t)(u >> 16u);
|
||||
p[2] = (uint8_t)(u >> 8u);
|
||||
p[3] = (uint8_t)(u);
|
||||
p[4] = (uint8_t)(voltage_mv >> 8u);
|
||||
p[5] = (uint8_t)(voltage_mv);
|
||||
p[6] = (uint8_t)((uint16_t)current_ma >> 8u);
|
||||
p[7] = (uint8_t)((uint16_t)current_ma);
|
||||
p[8] = (uint8_t)(temp_c_x10 >> 8u);
|
||||
p[9] = (uint8_t)(temp_c_x10);
|
||||
enqueue(q, telem_type, p, 10u);
|
||||
}
|
||||
|
||||
/* ── UART init ── */
|
||||
void orin_serial_init(void)
|
||||
{
|
||||
uart_config_t cfg = {
|
||||
.baud_rate = ORIN_UART_BAUD,
|
||||
.data_bits = UART_DATA_8_BITS,
|
||||
.parity = UART_PARITY_DISABLE,
|
||||
.stop_bits = UART_STOP_BITS_1,
|
||||
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
|
||||
};
|
||||
ESP_ERROR_CHECK(uart_param_config(ORIN_UART_PORT, &cfg));
|
||||
ESP_ERROR_CHECK(uart_set_pin(ORIN_UART_PORT,
|
||||
ORIN_UART_TX_GPIO, ORIN_UART_RX_GPIO,
|
||||
UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
|
||||
ESP_ERROR_CHECK(uart_driver_install(ORIN_UART_PORT, ORIN_UART_RX_BUF, 0,
|
||||
0, NULL, 0));
|
||||
ESP_LOGI(TAG, "UART%d init OK: tx=%d rx=%d baud=%d",
|
||||
ORIN_UART_PORT, ORIN_UART_TX_GPIO, ORIN_UART_RX_GPIO, ORIN_UART_BAUD);
|
||||
}
|
||||
|
||||
/* ── RX parser state machine ── */
|
||||
typedef enum {
|
||||
WAIT_SYNC,
|
||||
WAIT_LEN,
|
||||
WAIT_TYPE,
|
||||
WAIT_PAYLOAD,
|
||||
WAIT_CRC,
|
||||
} rx_state_t;
|
||||
|
||||
static void dispatch_cmd(uint8_t type, const uint8_t *payload, uint8_t len,
|
||||
QueueHandle_t tx_q)
|
||||
{
|
||||
uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
|
||||
|
||||
switch (type) {
|
||||
case CMD_HEARTBEAT:
|
||||
g_orin_ctrl.hb_last_ms = now_ms;
|
||||
orin_send_ack(tx_q, type);
|
||||
break;
|
||||
|
||||
case CMD_DRIVE:
|
||||
if (len < 4u) { orin_send_nack(tx_q, type, ERR_BAD_LEN); break; }
|
||||
if (g_orin_ctrl.estop) { orin_send_nack(tx_q, type, ERR_ESTOP_ACTIVE); break; }
|
||||
if (!g_orin_ctrl.armed) { orin_send_nack(tx_q, type, ERR_DISARMED); break; }
|
||||
g_orin_drive.speed = (int16_t)(((uint16_t)payload[0] << 8u) | payload[1]);
|
||||
g_orin_drive.steer = (int16_t)(((uint16_t)payload[2] << 8u) | payload[3]);
|
||||
g_orin_drive.updated_ms = now_ms;
|
||||
g_orin_ctrl.hb_last_ms = now_ms; /* drive counts as heartbeat */
|
||||
orin_send_ack(tx_q, type);
|
||||
break;
|
||||
|
||||
case CMD_ESTOP:
|
||||
if (len < 1u) { orin_send_nack(tx_q, type, ERR_BAD_LEN); break; }
|
||||
g_orin_ctrl.estop = (payload[0] != 0u);
|
||||
if (g_orin_ctrl.estop) {
|
||||
g_orin_drive.speed = 0;
|
||||
g_orin_drive.steer = 0;
|
||||
}
|
||||
orin_send_ack(tx_q, type);
|
||||
break;
|
||||
|
||||
case CMD_ARM:
|
||||
if (len < 1u) { orin_send_nack(tx_q, type, ERR_BAD_LEN); break; }
|
||||
if (g_orin_ctrl.estop && payload[0] != 0u) {
|
||||
/* cannot arm while estop is active */
|
||||
orin_send_nack(tx_q, type, ERR_ESTOP_ACTIVE);
|
||||
break;
|
||||
}
|
||||
g_orin_ctrl.armed = (payload[0] != 0u);
|
||||
if (!g_orin_ctrl.armed) {
|
||||
g_orin_drive.speed = 0;
|
||||
g_orin_drive.steer = 0;
|
||||
}
|
||||
orin_send_ack(tx_q, type);
|
||||
break;
|
||||
|
||||
case CMD_OTA_CHECK:
|
||||
/* Trigger an immediate Gitea version check */
|
||||
gitea_ota_check_now();
|
||||
orin_send_version_info(tx_q, OTA_TARGET_BALANCE,
|
||||
BALANCE_FW_VERSION,
|
||||
g_balance_update.available
|
||||
? g_balance_update.version : "");
|
||||
orin_send_version_info(tx_q, OTA_TARGET_IO,
|
||||
IO_FW_VERSION,
|
||||
g_io_update.available
|
||||
? g_io_update.version : "");
|
||||
orin_send_ack(tx_q, type);
|
||||
break;
|
||||
|
||||
case CMD_OTA_UPDATE:
|
||||
if (len < 1u) { orin_send_nack(tx_q, type, ERR_BAD_LEN); break; }
|
||||
{
|
||||
uint8_t target = payload[0];
|
||||
bool triggered = false;
|
||||
if (target == OTA_TARGET_IO || target == OTA_TARGET_BOTH) {
|
||||
if (!uart_ota_trigger()) {
|
||||
orin_send_nack(tx_q, type,
|
||||
g_io_update.available ? ERR_OTA_BUSY : ERR_OTA_NO_UPDATE);
|
||||
break;
|
||||
}
|
||||
triggered = true;
|
||||
}
|
||||
if (target == OTA_TARGET_BALANCE || target == OTA_TARGET_BOTH) {
|
||||
if (!ota_self_trigger()) {
|
||||
if (!triggered) {
|
||||
orin_send_nack(tx_q, type,
|
||||
g_balance_update.available ? ERR_OTA_BUSY : ERR_OTA_NO_UPDATE);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
orin_send_ack(tx_q, type);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
ESP_LOGW(TAG, "unknown cmd type=0x%02x", type);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void orin_serial_rx_task(void *arg)
|
||||
{
|
||||
QueueHandle_t tx_q = (QueueHandle_t)arg;
|
||||
rx_state_t state = WAIT_SYNC;
|
||||
uint8_t rx_len = 0;
|
||||
uint8_t rx_type = 0;
|
||||
uint8_t payload[ORIN_MAX_PAYLOAD];
|
||||
uint8_t pay_idx = 0;
|
||||
|
||||
uint8_t byte;
|
||||
for (;;) {
|
||||
int r = uart_read_bytes(ORIN_UART_PORT, &byte, 1, pdMS_TO_TICKS(10));
|
||||
if (r <= 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
switch (state) {
|
||||
case WAIT_SYNC:
|
||||
if (byte == ORIN_SYNC) { state = WAIT_LEN; }
|
||||
break;
|
||||
|
||||
case WAIT_LEN:
|
||||
if (byte > ORIN_MAX_PAYLOAD) {
|
||||
/* oversize — send NACK and reset */
|
||||
orin_send_nack(tx_q, 0x00u, ERR_BAD_LEN);
|
||||
state = WAIT_SYNC;
|
||||
} else {
|
||||
rx_len = byte;
|
||||
state = WAIT_TYPE;
|
||||
}
|
||||
break;
|
||||
|
||||
case WAIT_TYPE:
|
||||
rx_type = byte;
|
||||
pay_idx = 0u;
|
||||
state = (rx_len == 0u) ? WAIT_CRC : WAIT_PAYLOAD;
|
||||
break;
|
||||
|
||||
case WAIT_PAYLOAD:
|
||||
payload[pay_idx++] = byte;
|
||||
if (pay_idx == rx_len) { state = WAIT_CRC; }
|
||||
break;
|
||||
|
||||
case WAIT_CRC: {
|
||||
/* Verify CRC over [LEN, TYPE, PAYLOAD] */
|
||||
uint8_t crc_buf[2u + ORIN_MAX_PAYLOAD];
|
||||
crc_buf[0] = rx_len;
|
||||
crc_buf[1] = rx_type;
|
||||
memcpy(&crc_buf[2], payload, rx_len);
|
||||
uint8_t expected = crc8(crc_buf, (uint8_t)(2u + rx_len));
|
||||
if (byte != expected) {
|
||||
ESP_LOGW(TAG, "CRC fail type=0x%02x got=0x%02x exp=0x%02x",
|
||||
rx_type, byte, expected);
|
||||
orin_send_nack(tx_q, rx_type, ERR_BAD_CRC);
|
||||
} else {
|
||||
dispatch_cmd(rx_type, payload, rx_len, tx_q);
|
||||
}
|
||||
state = WAIT_SYNC;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void orin_serial_tx_task(void *arg)
|
||||
{
|
||||
QueueHandle_t tx_q = (QueueHandle_t)arg;
|
||||
orin_tx_frame_t f;
|
||||
uint8_t wire[4u + ORIN_MAX_PAYLOAD];
|
||||
uint8_t wire_len;
|
||||
|
||||
for (;;) {
|
||||
if (xQueueReceive(tx_q, &f, portMAX_DELAY) == pdTRUE) {
|
||||
build_frame(&f, wire, &wire_len);
|
||||
uart_write_bytes(ORIN_UART_PORT, (const char *)wire, wire_len);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* ── OTA telemetry helpers (bd-1s1s) ── */
|
||||
|
||||
void orin_send_ota_status(QueueHandle_t q, uint8_t target,
|
||||
uint8_t state, uint8_t progress, uint8_t err)
|
||||
{
|
||||
/* TELEM_OTA_STATUS: uint8 target, uint8 state, uint8 progress, uint8 err */
|
||||
uint8_t p[4] = {target, state, progress, err};
|
||||
enqueue(q, TELEM_OTA_STATUS, p, 4u);
|
||||
}
|
||||
|
||||
void orin_send_version_info(QueueHandle_t q, uint8_t target,
|
||||
const char *current, const char *available)
|
||||
{
|
||||
/* TELEM_VERSION_INFO: uint8 target, char current[16], char available[16] */
|
||||
uint8_t p[33];
|
||||
p[0] = target;
|
||||
strncpy((char *)&p[1], current, 16); p[16] = '\0';
|
||||
strncpy((char *)&p[17], available ? available : "", 16); p[32] = '\0';
|
||||
enqueue(q, TELEM_VERSION_INFO, p, 33u);
|
||||
}
|
||||
@ -1,105 +0,0 @@
|
||||
#pragma once
|
||||
/* orin_serial.h — Orin↔ESP32-S3 BALANCE USB/UART serial protocol (bd-66hx)
|
||||
*
|
||||
* Frame layout (matches bd-wim1 esp32_balance_protocol.py exactly):
|
||||
* [0xAA][LEN][TYPE][PAYLOAD × LEN bytes][CRC8-SMBUS]
|
||||
* CRC covers LEN + TYPE + PAYLOAD bytes.
|
||||
* All multi-byte payload fields are big-endian.
|
||||
*
|
||||
* Physical: UART0 → CH343 USB-serial → Orin /dev/esp32-balance @ 460800 baud
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/queue.h"
|
||||
|
||||
/* ── Frame constants ── */
|
||||
#define ORIN_SYNC 0xAAu
|
||||
#define ORIN_MAX_PAYLOAD 62u
|
||||
|
||||
/* ── Command types: Orin → ESP32 ── */
|
||||
#define CMD_HEARTBEAT 0x01u
|
||||
#define CMD_DRIVE 0x02u /* int16 speed + int16 steer, BE */
|
||||
#define CMD_ESTOP 0x03u /* uint8: 1=assert, 0=clear */
|
||||
#define CMD_ARM 0x04u /* uint8: 1=arm, 0=disarm */
|
||||
|
||||
/* ── Telemetry types: ESP32 → Orin ── */
|
||||
#define TELEM_STATUS 0x80u /* status @ 10 Hz */
|
||||
#define TELEM_VESC_LEFT 0x81u /* VESC ID 61 (front) telemetry @ 10 Hz */
|
||||
#define TELEM_VESC_RIGHT 0x82u /* VESC ID 79 (rear) telemetry @ 10 Hz */
|
||||
#define TELEM_OTA_STATUS 0x83u /* OTA state + progress (bd-1s1s) */
|
||||
#define TELEM_VERSION_INFO 0x84u /* firmware version report (bd-1s1s) */
|
||||
#define RESP_ACK 0xA0u
|
||||
#define RESP_NACK 0xA1u
|
||||
|
||||
/* ── OTA commands (Orin → ESP32, bd-1s1s) ── */
|
||||
#define CMD_OTA_CHECK 0x10u /* no payload: trigger Gitea version check */
|
||||
#define CMD_OTA_UPDATE 0x11u /* uint8 target: 0=balance, 1=io, 2=both */
|
||||
|
||||
/* ── OTA target constants ── */
|
||||
#define OTA_TARGET_BALANCE 0x00u
|
||||
#define OTA_TARGET_IO 0x01u
|
||||
#define OTA_TARGET_BOTH 0x02u
|
||||
|
||||
/* ── NACK error codes ── */
|
||||
#define ERR_BAD_CRC 0x01u
|
||||
#define ERR_BAD_LEN 0x02u
|
||||
#define ERR_ESTOP_ACTIVE 0x03u
|
||||
#define ERR_DISARMED 0x04u
|
||||
#define ERR_OTA_BUSY 0x05u
|
||||
#define ERR_OTA_NO_UPDATE 0x06u
|
||||
|
||||
/* ── Drive state (mirrored from TELEM_STATUS.balance_state) ── */
|
||||
typedef enum {
|
||||
BAL_DISARMED = 0,
|
||||
BAL_ARMED = 1,
|
||||
BAL_ESTOP = 3,
|
||||
} bal_state_t;
|
||||
|
||||
/* ── Shared state written by RX task, consumed by main/vesc tasks ── */
|
||||
typedef struct {
|
||||
volatile int16_t speed; /* -1000..+1000 */
|
||||
volatile int16_t steer; /* -1000..+1000 */
|
||||
volatile uint32_t updated_ms; /* esp_timer tick at last CMD_DRIVE */
|
||||
} orin_drive_t;
|
||||
|
||||
typedef struct {
|
||||
volatile bool armed;
|
||||
volatile bool estop;
|
||||
volatile uint32_t hb_last_ms; /* esp_timer tick at last CMD_HEARTBEAT/CMD_DRIVE */
|
||||
} orin_control_t;
|
||||
|
||||
/* ── TX frame queue item ── */
|
||||
typedef struct {
|
||||
uint8_t type;
|
||||
uint8_t len;
|
||||
uint8_t payload[ORIN_MAX_PAYLOAD];
|
||||
} orin_tx_frame_t;
|
||||
|
||||
/* ── Globals (defined in orin_serial.c, extern here) ── */
|
||||
extern orin_drive_t g_orin_drive;
|
||||
extern orin_control_t g_orin_ctrl;
|
||||
|
||||
/* ── API ── */
|
||||
void orin_serial_init(void);
|
||||
|
||||
/* Tasks — pass tx_queue as arg to both */
|
||||
void orin_serial_rx_task(void *arg); /* arg = QueueHandle_t tx_queue */
|
||||
void orin_serial_tx_task(void *arg); /* arg = QueueHandle_t tx_queue */
|
||||
|
||||
/* Enqueue outbound frames */
|
||||
void orin_send_status(QueueHandle_t q,
|
||||
int16_t pitch_x10, int16_t motor_cmd,
|
||||
uint16_t vbat_mv, bal_state_t state, uint8_t flags);
|
||||
void orin_send_vesc(QueueHandle_t q, uint8_t telem_type,
|
||||
int32_t erpm, uint16_t voltage_mv,
|
||||
int16_t current_ma, uint16_t temp_c_x10);
|
||||
void orin_send_ack(QueueHandle_t q, uint8_t cmd_type);
|
||||
void orin_send_nack(QueueHandle_t q, uint8_t cmd_type, uint8_t err);
|
||||
|
||||
/* OTA telemetry helpers (bd-1s1s) */
|
||||
void orin_send_ota_status(QueueHandle_t q, uint8_t target,
|
||||
uint8_t state, uint8_t progress, uint8_t err);
|
||||
void orin_send_version_info(QueueHandle_t q, uint8_t target,
|
||||
const char *current, const char *available);
|
||||
@ -1,150 +0,0 @@
|
||||
/* ota_display.c — OTA notification/progress UI on GC9A01 (bd-1yr8)
|
||||
*
|
||||
* Renders OTA state overlaid on the 240×240 round HUD display:
|
||||
* - BADGE: small dot on top-right when update available (idle state)
|
||||
* - UPDATE SCREEN: version compare, Update Balance / Update IO / Update All
|
||||
* - PROGRESS: arc around display perimeter + % + status text
|
||||
* - ERROR: red banner + "RETRY" prompt
|
||||
*
|
||||
* The display_draw_* primitives must be provided by the GC9A01 driver.
|
||||
* Actual SPI driver implementation is in a separate driver bead.
|
||||
*/
|
||||
|
||||
#include "ota_display.h"
|
||||
#include "gitea_ota.h"
|
||||
#include "version.h"
|
||||
#include "esp_log.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "ota_disp";
|
||||
|
||||
/* Display centre and radius for the 240×240 GC9A01 */
|
||||
#define CX 120
|
||||
#define CY 120
|
||||
#define RAD 110
|
||||
|
||||
/* ── Availability badge: 8×8 dot at top-right of display ── */
|
||||
static void draw_badge(bool balance_avail, bool io_avail)
|
||||
{
|
||||
uint16_t col = (balance_avail || io_avail) ? COL_ORANGE : COL_BG;
|
||||
display_fill_rect(200, 15, 12, 12, col);
|
||||
}
|
||||
|
||||
/* ── Progress arc: sweeps 0→360° proportional to progress% ── */
|
||||
static void draw_progress_arc(uint8_t pct, uint16_t color)
|
||||
{
|
||||
int end_deg = (int)(360 * pct / 100);
|
||||
display_draw_arc(CX, CY, RAD, 0, end_deg, 6, color);
|
||||
}
|
||||
|
||||
/* ── Status banner: 2 lines of text centred on display ── */
|
||||
static void draw_status(const char *line1, const char *line2,
|
||||
uint16_t fg, uint16_t bg)
|
||||
{
|
||||
display_fill_rect(20, 90, 200, 60, bg);
|
||||
if (line1 && line1[0])
|
||||
display_draw_string(CX - (int)(strlen(line1) * 6 / 2), 96,
|
||||
line1, fg, bg);
|
||||
if (line2 && line2[0])
|
||||
display_draw_string(CX - (int)(strlen(line2) * 6 / 2), 116,
|
||||
line2, fg, bg);
|
||||
}
|
||||
|
||||
/* ── Main render logic ── */
|
||||
void ota_display_update(void)
|
||||
{
|
||||
/* Determine dominant OTA state */
|
||||
ota_self_state_t self = g_ota_self_state;
|
||||
uart_ota_send_state_t io_s = g_uart_ota_state;
|
||||
|
||||
switch (self) {
|
||||
case OTA_SELF_DOWNLOADING:
|
||||
case OTA_SELF_VERIFYING:
|
||||
case OTA_SELF_APPLYING: {
|
||||
/* Balance self-update in progress */
|
||||
char pct_str[16];
|
||||
snprintf(pct_str, sizeof(pct_str), "%d%%", g_ota_self_progress);
|
||||
const char *phase = (self == OTA_SELF_VERIFYING) ? "Verifying..." :
|
||||
(self == OTA_SELF_APPLYING) ? "Applying..." :
|
||||
"Downloading...";
|
||||
draw_progress_arc(g_ota_self_progress, COL_BLUE);
|
||||
draw_status("Updating Balance", pct_str, COL_WHITE, COL_BG);
|
||||
ESP_LOGD(TAG, "balance OTA %s %d%%", phase, g_ota_self_progress);
|
||||
return;
|
||||
}
|
||||
case OTA_SELF_REBOOTING:
|
||||
draw_status("Update complete", "Rebooting...", COL_GREEN, COL_BG);
|
||||
return;
|
||||
case OTA_SELF_FAILED:
|
||||
draw_progress_arc(0, COL_RED);
|
||||
draw_status("Balance update", "FAILED RETRY?", COL_RED, COL_BG);
|
||||
return;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
switch (io_s) {
|
||||
case UART_OTA_S_DOWNLOADING:
|
||||
draw_progress_arc(g_uart_ota_progress, COL_YELLOW);
|
||||
draw_status("Downloading IO", "firmware...", COL_WHITE, COL_BG);
|
||||
return;
|
||||
case UART_OTA_S_SENDING: {
|
||||
char pct_str[16];
|
||||
snprintf(pct_str, sizeof(pct_str), "%d%%", g_uart_ota_progress);
|
||||
draw_progress_arc(g_uart_ota_progress, COL_YELLOW);
|
||||
draw_status("Updating IO", pct_str, COL_WHITE, COL_BG);
|
||||
return;
|
||||
}
|
||||
case UART_OTA_S_DONE:
|
||||
draw_status("IO update done", "", COL_GREEN, COL_BG);
|
||||
return;
|
||||
case UART_OTA_S_FAILED:
|
||||
draw_progress_arc(0, COL_RED);
|
||||
draw_status("IO update", "FAILED RETRY?", COL_RED, COL_BG);
|
||||
return;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
/* Idle — show badge if update available */
|
||||
bool bal_avail = g_balance_update.available;
|
||||
bool io_avail = g_io_update.available;
|
||||
draw_badge(bal_avail, io_avail);
|
||||
|
||||
if (bal_avail || io_avail) {
|
||||
/* Show available versions on display when idle */
|
||||
char verline[48];
|
||||
if (bal_avail) {
|
||||
snprintf(verline, sizeof(verline), "Bal v%s rdy",
|
||||
g_balance_update.version);
|
||||
draw_status(verline, io_avail ? "IO update rdy" : "",
|
||||
COL_ORANGE, COL_BG);
|
||||
} else if (io_avail) {
|
||||
snprintf(verline, sizeof(verline), "IO v%s rdy",
|
||||
g_io_update.version);
|
||||
draw_status(verline, "", COL_ORANGE, COL_BG);
|
||||
}
|
||||
} else {
|
||||
/* Clear OTA overlay area */
|
||||
display_fill_rect(20, 90, 200, 60, COL_BG);
|
||||
draw_badge(false, false);
|
||||
}
|
||||
}
|
||||
|
||||
/* ── Background display task (5 Hz) ── */
|
||||
static void ota_display_task(void *arg)
|
||||
{
|
||||
for (;;) {
|
||||
vTaskDelay(pdMS_TO_TICKS(200));
|
||||
ota_display_update();
|
||||
}
|
||||
}
|
||||
|
||||
void ota_display_init(void)
|
||||
{
|
||||
xTaskCreate(ota_display_task, "ota_disp", 2048, NULL, 3, NULL);
|
||||
ESP_LOGI(TAG, "OTA display task started");
|
||||
}
|
||||
@ -1,33 +0,0 @@
|
||||
#pragma once
|
||||
/* ota_display.h — OTA notification UI on GC9A01 round LCD (bd-1yr8)
|
||||
*
|
||||
* GC9A01 240×240 round display via SPI (IO12 CS, IO11 DC, IO10 RST, IO9 BL).
|
||||
* Calls into display_draw_* primitives (provided by display driver layer).
|
||||
* This module owns the "OTA notification overlay" rendered over the HUD.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "ota_self.h"
|
||||
#include "uart_ota.h"
|
||||
|
||||
/* ── Display primitives API (must be provided by display driver) ── */
|
||||
void display_fill_rect(int x, int y, int w, int h, uint16_t rgb565);
|
||||
void display_draw_string(int x, int y, const char *str, uint16_t fg, uint16_t bg);
|
||||
void display_draw_arc(int cx, int cy, int r, int start_deg, int end_deg,
|
||||
int thickness, uint16_t color);
|
||||
|
||||
/* ── Colour palette (RGB565) ── */
|
||||
#define COL_BG 0x0000u /* black */
|
||||
#define COL_WHITE 0xFFFFu
|
||||
#define COL_GREEN 0x07E0u
|
||||
#define COL_YELLOW 0xFFE0u
|
||||
#define COL_RED 0xF800u
|
||||
#define COL_BLUE 0x001Fu
|
||||
#define COL_ORANGE 0xFD20u
|
||||
|
||||
/* ── OTA display task: runs at 5 Hz, overlays OTA state on HUD ── */
|
||||
void ota_display_init(void);
|
||||
|
||||
/* Called from main loop or display task to render the OTA overlay */
|
||||
void ota_display_update(void);
|
||||
@ -1,183 +0,0 @@
|
||||
/* ota_self.c — Balance self-OTA (bd-18nb)
|
||||
*
|
||||
* Uses esp_https_ota / esp_ota_ops to download from Gitea release URL,
|
||||
* stream-verify SHA256 with mbedTLS, set new boot partition, and reboot.
|
||||
* CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE in sdkconfig allows auto-rollback
|
||||
* if the new image doesn't call esp_ota_mark_app_valid_cancel_rollback()
|
||||
* within OTA_ROLLBACK_WINDOW_S seconds.
|
||||
*/
|
||||
|
||||
#include "ota_self.h"
|
||||
#include "gitea_ota.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_ota_ops.h"
|
||||
#include "esp_http_client.h"
|
||||
#include "esp_timer.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "mbedtls/sha256.h"
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
static const char *TAG = "ota_self";
|
||||
|
||||
volatile ota_self_state_t g_ota_self_state = OTA_SELF_IDLE;
|
||||
volatile uint8_t g_ota_self_progress = 0;
|
||||
|
||||
#define OTA_CHUNK_SIZE 4096
|
||||
|
||||
/* ── SHA256 verify helper ── */
|
||||
static bool sha256_matches(const uint8_t *digest, const char *expected_hex)
|
||||
{
|
||||
if (!expected_hex || expected_hex[0] == '\0') {
|
||||
ESP_LOGW(TAG, "no SHA256 to verify — skipping");
|
||||
return true;
|
||||
}
|
||||
char got[65] = {0};
|
||||
for (int i = 0; i < 32; i++) {
|
||||
snprintf(&got[i*2], 3, "%02x", digest[i]);
|
||||
}
|
||||
bool ok = (strncasecmp(got, expected_hex, 64) == 0);
|
||||
if (!ok) {
|
||||
ESP_LOGE(TAG, "SHA256 mismatch: got=%s exp=%s", got, expected_hex);
|
||||
}
|
||||
return ok;
|
||||
}
|
||||
|
||||
/* ── OTA download + flash task ── */
|
||||
static void ota_self_task(void *arg)
|
||||
{
|
||||
const char *url = g_balance_update.download_url;
|
||||
const char *sha256 = g_balance_update.sha256;
|
||||
|
||||
g_ota_self_state = OTA_SELF_DOWNLOADING;
|
||||
g_ota_self_progress = 0;
|
||||
|
||||
ESP_LOGI(TAG, "OTA start: %s", url);
|
||||
|
||||
esp_ota_handle_t handle = 0;
|
||||
const esp_partition_t *ota_part = esp_ota_get_next_update_partition(NULL);
|
||||
if (!ota_part) {
|
||||
ESP_LOGE(TAG, "no OTA partition");
|
||||
g_ota_self_state = OTA_SELF_FAILED;
|
||||
vTaskDelete(NULL);
|
||||
return;
|
||||
}
|
||||
|
||||
esp_err_t err = esp_ota_begin(ota_part, OTA_WITH_SEQUENTIAL_WRITES, &handle);
|
||||
if (err != ESP_OK) {
|
||||
ESP_LOGE(TAG, "ota_begin: %s", esp_err_to_name(err));
|
||||
g_ota_self_state = OTA_SELF_FAILED;
|
||||
vTaskDelete(NULL);
|
||||
return;
|
||||
}
|
||||
|
||||
/* Setup HTTP client */
|
||||
esp_http_client_config_t hcfg = {
|
||||
.url = url,
|
||||
.timeout_ms = 30000,
|
||||
.buffer_size = OTA_CHUNK_SIZE,
|
||||
.skip_cert_common_name_check = true,
|
||||
};
|
||||
esp_http_client_handle_t client = esp_http_client_init(&hcfg);
|
||||
err = esp_http_client_open(client, 0);
|
||||
if (err != ESP_OK) {
|
||||
ESP_LOGE(TAG, "http_open: %s", esp_err_to_name(err));
|
||||
esp_ota_abort(handle);
|
||||
esp_http_client_cleanup(client);
|
||||
g_ota_self_state = OTA_SELF_FAILED;
|
||||
vTaskDelete(NULL);
|
||||
return;
|
||||
}
|
||||
|
||||
int content_len = esp_http_client_fetch_headers(client);
|
||||
ESP_LOGI(TAG, "content-length: %d", content_len);
|
||||
|
||||
mbedtls_sha256_context sha_ctx;
|
||||
mbedtls_sha256_init(&sha_ctx);
|
||||
mbedtls_sha256_starts(&sha_ctx, 0); /* 0 = SHA-256 */
|
||||
|
||||
static uint8_t buf[OTA_CHUNK_SIZE];
|
||||
int total = 0;
|
||||
int rd;
|
||||
while ((rd = esp_http_client_read(client, (char *)buf, sizeof(buf))) > 0) {
|
||||
mbedtls_sha256_update(&sha_ctx, buf, rd);
|
||||
err = esp_ota_write(handle, buf, rd);
|
||||
if (err != ESP_OK) {
|
||||
ESP_LOGE(TAG, "ota_write: %s", esp_err_to_name(err));
|
||||
esp_ota_abort(handle);
|
||||
goto cleanup;
|
||||
}
|
||||
total += rd;
|
||||
if (content_len > 0) {
|
||||
g_ota_self_progress = (uint8_t)((total * 100) / content_len);
|
||||
}
|
||||
}
|
||||
esp_http_client_close(client);
|
||||
|
||||
/* Verify SHA256 */
|
||||
g_ota_self_state = OTA_SELF_VERIFYING;
|
||||
uint8_t digest[32];
|
||||
mbedtls_sha256_finish(&sha_ctx, digest);
|
||||
if (!sha256_matches(digest, sha256)) {
|
||||
ESP_LOGE(TAG, "SHA256 verification failed");
|
||||
esp_ota_abort(handle);
|
||||
g_ota_self_state = OTA_SELF_FAILED;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
/* Finalize + set boot partition */
|
||||
g_ota_self_state = OTA_SELF_APPLYING;
|
||||
err = esp_ota_end(handle);
|
||||
if (err != ESP_OK) {
|
||||
ESP_LOGE(TAG, "ota_end: %s", esp_err_to_name(err));
|
||||
g_ota_self_state = OTA_SELF_FAILED;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
err = esp_ota_set_boot_partition(ota_part);
|
||||
if (err != ESP_OK) {
|
||||
ESP_LOGE(TAG, "set_boot_partition: %s", esp_err_to_name(err));
|
||||
g_ota_self_state = OTA_SELF_FAILED;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
g_ota_self_state = OTA_SELF_REBOOTING;
|
||||
g_ota_self_progress = 100;
|
||||
ESP_LOGI(TAG, "OTA success — rebooting");
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
esp_restart();
|
||||
|
||||
cleanup:
|
||||
mbedtls_sha256_free(&sha_ctx);
|
||||
esp_http_client_cleanup(client);
|
||||
handle = 0;
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
bool ota_self_trigger(void)
|
||||
{
|
||||
if (!g_balance_update.available) {
|
||||
ESP_LOGW(TAG, "no update available");
|
||||
return false;
|
||||
}
|
||||
if (g_ota_self_state != OTA_SELF_IDLE) {
|
||||
ESP_LOGW(TAG, "OTA already in progress (state=%d)", g_ota_self_state);
|
||||
return false;
|
||||
}
|
||||
xTaskCreate(ota_self_task, "ota_self", 8192, NULL, 5, NULL);
|
||||
return true;
|
||||
}
|
||||
|
||||
void ota_self_health_check(void)
|
||||
{
|
||||
/* Mark running image as valid — prevents rollback */
|
||||
esp_err_t err = esp_ota_mark_app_valid_cancel_rollback();
|
||||
if (err == ESP_OK) {
|
||||
ESP_LOGI(TAG, "image marked valid");
|
||||
} else if (err == ESP_ERR_NOT_SUPPORTED) {
|
||||
/* Not an OTA image (e.g., flashed via JTAG) — ignore */
|
||||
} else {
|
||||
ESP_LOGW(TAG, "mark_valid: %s", esp_err_to_name(err));
|
||||
}
|
||||
}
|
||||
@ -1,34 +0,0 @@
|
||||
#pragma once
|
||||
/* ota_self.h — Balance self-OTA (bd-18nb)
|
||||
*
|
||||
* Downloads balance-firmware.bin from Gitea release URL to the inactive
|
||||
* OTA partition, verifies SHA256, sets boot partition, reboots.
|
||||
* Auto-rollback if health check not called within ROLLBACK_WINDOW_S seconds.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#define OTA_ROLLBACK_WINDOW_S 30
|
||||
|
||||
typedef enum {
|
||||
OTA_SELF_IDLE = 0,
|
||||
OTA_SELF_CHECKING, /* (unused — gitea_ota handles this) */
|
||||
OTA_SELF_DOWNLOADING,
|
||||
OTA_SELF_VERIFYING,
|
||||
OTA_SELF_APPLYING,
|
||||
OTA_SELF_REBOOTING,
|
||||
OTA_SELF_FAILED,
|
||||
} ota_self_state_t;
|
||||
|
||||
extern volatile ota_self_state_t g_ota_self_state;
|
||||
extern volatile uint8_t g_ota_self_progress; /* 0-100 % */
|
||||
|
||||
/* Trigger a Balance self-update.
|
||||
* Uses g_balance_update (from gitea_ota). Non-blocking: starts in a task.
|
||||
* Returns false if no update available or OTA already in progress. */
|
||||
bool ota_self_trigger(void);
|
||||
|
||||
/* Called from app_main after boot to mark the running image as valid.
|
||||
* Must be called within OTA_ROLLBACK_WINDOW_S after boot or rollback fires. */
|
||||
void ota_self_health_check(void);
|
||||
@ -1,241 +0,0 @@
|
||||
/* uart_ota.c — UART OTA sender: Balance→IO board (bd-21hv)
|
||||
*
|
||||
* Downloads io-firmware.bin from Gitea, then sends to IO board via UART1.
|
||||
* IO board must update itself BEFORE Balance self-update (per spec).
|
||||
*/
|
||||
|
||||
#include "uart_ota.h"
|
||||
#include "gitea_ota.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_http_client.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "mbedtls/sha256.h"
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
static const char *TAG = "uart_ota";
|
||||
|
||||
volatile uart_ota_send_state_t g_uart_ota_state = UART_OTA_S_IDLE;
|
||||
volatile uint8_t g_uart_ota_progress = 0;
|
||||
|
||||
/* ── CRC8-SMBUS ── */
|
||||
static uint8_t crc8(const uint8_t *d, uint16_t len)
|
||||
{
|
||||
uint8_t crc = 0;
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
crc ^= d[i];
|
||||
for (uint8_t b = 0; b < 8; b++)
|
||||
crc = (crc & 0x80u) ? (uint8_t)((crc << 1u) ^ 0x07u) : (uint8_t)(crc << 1u);
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
/* ── Build and send one UART OTA frame ── */
|
||||
static void send_frame(uint8_t type, uint16_t seq,
|
||||
const uint8_t *payload, uint16_t plen)
|
||||
{
|
||||
/* [TYPE:1][SEQ:2 BE][LEN:2 BE][PAYLOAD][CRC8:1] */
|
||||
uint8_t hdr[5];
|
||||
hdr[0] = type;
|
||||
hdr[1] = (uint8_t)(seq >> 8u);
|
||||
hdr[2] = (uint8_t)(seq);
|
||||
hdr[3] = (uint8_t)(plen >> 8u);
|
||||
hdr[4] = (uint8_t)(plen);
|
||||
|
||||
/* CRC over hdr + payload */
|
||||
uint8_t crc_buf[5 + OTA_UART_CHUNK_SIZE];
|
||||
memcpy(crc_buf, hdr, 5);
|
||||
if (plen > 0 && payload) memcpy(crc_buf + 5, payload, plen);
|
||||
uint8_t crc = crc8(crc_buf, (uint16_t)(5 + plen));
|
||||
|
||||
uart_write_bytes(UART_OTA_PORT, (char *)hdr, 5);
|
||||
if (plen > 0 && payload)
|
||||
uart_write_bytes(UART_OTA_PORT, (char *)payload, plen);
|
||||
uart_write_bytes(UART_OTA_PORT, (char *)&crc, 1);
|
||||
}
|
||||
|
||||
/* ── Wait for ACK/NACK from IO board ── */
|
||||
static bool wait_ack(uint16_t expected_seq)
|
||||
{
|
||||
/* Response frame: [TYPE:1][SEQ:2][LEN:2][PAYLOAD][CRC:1] */
|
||||
uint8_t buf[16];
|
||||
int timeout = OTA_UART_ACK_TIMEOUT_MS;
|
||||
int got = 0;
|
||||
|
||||
while (timeout > 0 && got < 6) {
|
||||
int r = uart_read_bytes(UART_OTA_PORT, buf + got, 1, pdMS_TO_TICKS(50));
|
||||
if (r > 0) got++;
|
||||
else timeout -= 50;
|
||||
}
|
||||
|
||||
if (got < 3) return false;
|
||||
|
||||
uint8_t type = buf[0];
|
||||
uint16_t seq = (uint16_t)((buf[1] << 8u) | buf[2]);
|
||||
|
||||
if (type == UART_OTA_ACK && seq == expected_seq) return true;
|
||||
if (type == UART_OTA_NACK) {
|
||||
uint8_t err = (got >= 6) ? buf[5] : 0;
|
||||
ESP_LOGW(TAG, "NACK seq=%u err=%u", seq, err);
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/* ── Download firmware to RAM buffer (max 1.75 MB) ── */
|
||||
static uint8_t *download_io_firmware(uint32_t *out_size)
|
||||
{
|
||||
const char *url = g_io_update.download_url;
|
||||
ESP_LOGI(TAG, "downloading IO fw: %s", url);
|
||||
|
||||
esp_http_client_config_t cfg = {
|
||||
.url = url, .timeout_ms = 30000,
|
||||
.skip_cert_common_name_check = true,
|
||||
};
|
||||
esp_http_client_handle_t client = esp_http_client_init(&cfg);
|
||||
if (esp_http_client_open(client, 0) != ESP_OK) {
|
||||
esp_http_client_cleanup(client);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
int content_len = esp_http_client_fetch_headers(client);
|
||||
if (content_len <= 0 || content_len > (int)(0x1B0000)) {
|
||||
ESP_LOGE(TAG, "bad content-length: %d", content_len);
|
||||
esp_http_client_cleanup(client);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
uint8_t *buf = malloc(content_len);
|
||||
if (!buf) {
|
||||
ESP_LOGE(TAG, "malloc %d failed", content_len);
|
||||
esp_http_client_cleanup(client);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
int total = 0, rd;
|
||||
while ((rd = esp_http_client_read(client, (char *)buf + total,
|
||||
content_len - total)) > 0) {
|
||||
total += rd;
|
||||
g_uart_ota_progress = (uint8_t)((total * 50) / content_len); /* 0-50% for download */
|
||||
}
|
||||
esp_http_client_cleanup(client);
|
||||
|
||||
if (total != content_len) {
|
||||
free(buf);
|
||||
return NULL;
|
||||
}
|
||||
*out_size = (uint32_t)total;
|
||||
return buf;
|
||||
}
|
||||
|
||||
/* ── UART OTA send task ── */
|
||||
static void uart_ota_task(void *arg)
|
||||
{
|
||||
g_uart_ota_state = UART_OTA_S_DOWNLOADING;
|
||||
g_uart_ota_progress = 0;
|
||||
|
||||
uint32_t fw_size = 0;
|
||||
uint8_t *fw = download_io_firmware(&fw_size);
|
||||
if (!fw) {
|
||||
ESP_LOGE(TAG, "download failed");
|
||||
g_uart_ota_state = UART_OTA_S_FAILED;
|
||||
vTaskDelete(NULL);
|
||||
return;
|
||||
}
|
||||
|
||||
/* Compute SHA256 of downloaded firmware */
|
||||
uint8_t digest[32];
|
||||
mbedtls_sha256_context sha;
|
||||
mbedtls_sha256_init(&sha);
|
||||
mbedtls_sha256_starts(&sha, 0);
|
||||
mbedtls_sha256_update(&sha, fw, fw_size);
|
||||
mbedtls_sha256_finish(&sha, digest);
|
||||
mbedtls_sha256_free(&sha);
|
||||
|
||||
g_uart_ota_state = UART_OTA_S_SENDING;
|
||||
|
||||
/* Send OTA_BEGIN: uint32 size + uint8[32] sha256 */
|
||||
uint8_t begin_payload[36];
|
||||
begin_payload[0] = (uint8_t)(fw_size >> 24u);
|
||||
begin_payload[1] = (uint8_t)(fw_size >> 16u);
|
||||
begin_payload[2] = (uint8_t)(fw_size >> 8u);
|
||||
begin_payload[3] = (uint8_t)(fw_size);
|
||||
memcpy(&begin_payload[4], digest, 32);
|
||||
|
||||
for (int retry = 0; retry < OTA_UART_MAX_RETRIES; retry++) {
|
||||
send_frame(UART_OTA_BEGIN, 0, begin_payload, 36);
|
||||
if (wait_ack(0)) goto send_data;
|
||||
ESP_LOGW(TAG, "BEGIN retry %d", retry);
|
||||
}
|
||||
ESP_LOGE(TAG, "BEGIN failed");
|
||||
free(fw);
|
||||
g_uart_ota_state = UART_OTA_S_FAILED;
|
||||
vTaskDelete(NULL);
|
||||
return;
|
||||
|
||||
send_data: {
|
||||
uint32_t offset = 0;
|
||||
uint16_t seq = 1;
|
||||
while (offset < fw_size) {
|
||||
uint16_t chunk = (uint16_t)((fw_size - offset) < OTA_UART_CHUNK_SIZE
|
||||
? (fw_size - offset) : OTA_UART_CHUNK_SIZE);
|
||||
bool acked = false;
|
||||
for (int retry = 0; retry < OTA_UART_MAX_RETRIES; retry++) {
|
||||
send_frame(UART_OTA_DATA, seq, fw + offset, chunk);
|
||||
if (wait_ack(seq)) { acked = true; break; }
|
||||
ESP_LOGW(TAG, "DATA seq=%u retry=%d", seq, retry);
|
||||
}
|
||||
if (!acked) {
|
||||
ESP_LOGE(TAG, "DATA seq=%u failed", seq);
|
||||
send_frame(UART_OTA_ABORT, seq, NULL, 0);
|
||||
free(fw);
|
||||
g_uart_ota_state = UART_OTA_S_FAILED;
|
||||
vTaskDelete(NULL);
|
||||
return;
|
||||
}
|
||||
offset += chunk;
|
||||
seq++;
|
||||
/* 50-100% for sending phase */
|
||||
g_uart_ota_progress = (uint8_t)(50u + (offset * 50u) / fw_size);
|
||||
}
|
||||
|
||||
/* Send OTA_END */
|
||||
for (int retry = 0; retry < OTA_UART_MAX_RETRIES; retry++) {
|
||||
send_frame(UART_OTA_END, seq, NULL, 0);
|
||||
if (wait_ack(seq)) break;
|
||||
}
|
||||
}
|
||||
|
||||
free(fw);
|
||||
g_uart_ota_progress = 100;
|
||||
g_uart_ota_state = UART_OTA_S_DONE;
|
||||
ESP_LOGI(TAG, "IO OTA complete — %lu bytes sent", (unsigned long)fw_size);
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
bool uart_ota_trigger(void)
|
||||
{
|
||||
if (!g_io_update.available) {
|
||||
ESP_LOGW(TAG, "no IO update available");
|
||||
return false;
|
||||
}
|
||||
if (g_uart_ota_state != UART_OTA_S_IDLE) {
|
||||
ESP_LOGW(TAG, "UART OTA busy (state=%d)", g_uart_ota_state);
|
||||
return false;
|
||||
}
|
||||
/* Init UART1 for OTA */
|
||||
uart_config_t ucfg = {
|
||||
.baud_rate = UART_OTA_BAUD,
|
||||
.data_bits = UART_DATA_8_BITS,
|
||||
.parity = UART_PARITY_DISABLE,
|
||||
.stop_bits = UART_STOP_BITS_1,
|
||||
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
|
||||
};
|
||||
uart_param_config(UART_OTA_PORT, &ucfg);
|
||||
uart_set_pin(UART_OTA_PORT, UART_OTA_TX_GPIO, UART_OTA_RX_GPIO,
|
||||
UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
|
||||
uart_driver_install(UART_OTA_PORT, 2048, 0, 0, NULL, 0);
|
||||
|
||||
xTaskCreate(uart_ota_task, "uart_ota", 16384, NULL, 4, NULL);
|
||||
return true;
|
||||
}
|
||||
@ -1,64 +0,0 @@
|
||||
#pragma once
|
||||
/* uart_ota.h — UART OTA protocol for Balance→IO firmware update (bd-21hv)
|
||||
*
|
||||
* Balance downloads io-firmware.bin from Gitea, then streams it to the IO
|
||||
* board over UART1 (GPIO17/18, 460800 baud) in 1 KB chunks with ACK.
|
||||
*
|
||||
* Protocol frame format (both directions):
|
||||
* [TYPE:1][SEQ:2 BE][LEN:2 BE][PAYLOAD:LEN][CRC8:1]
|
||||
* CRC8-SMBUS over TYPE+SEQ+LEN+PAYLOAD.
|
||||
*
|
||||
* Balance→IO:
|
||||
* OTA_BEGIN (0xC0) payload: uint32 total_size BE + uint8[32] sha256
|
||||
* OTA_DATA (0xC1) payload: uint8[] chunk (up to 1024 bytes)
|
||||
* OTA_END (0xC2) no payload
|
||||
* OTA_ABORT (0xC3) no payload
|
||||
*
|
||||
* IO→Balance:
|
||||
* OTA_ACK (0xC4) payload: uint16 acked_seq BE
|
||||
* OTA_NACK (0xC5) payload: uint16 failed_seq BE + uint8 err_code
|
||||
* OTA_STATUS (0xC6) payload: uint8 state + uint8 progress%
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/* UART for Balance→IO OTA */
|
||||
#include "driver/uart.h"
|
||||
#define UART_OTA_PORT UART_NUM_1
|
||||
#define UART_OTA_BAUD 460800
|
||||
#define UART_OTA_TX_GPIO 17
|
||||
#define UART_OTA_RX_GPIO 18
|
||||
|
||||
#define OTA_UART_CHUNK_SIZE 1024
|
||||
#define OTA_UART_ACK_TIMEOUT_MS 3000
|
||||
#define OTA_UART_MAX_RETRIES 3
|
||||
|
||||
/* Frame type bytes */
|
||||
#define UART_OTA_BEGIN 0xC0u
|
||||
#define UART_OTA_DATA 0xC1u
|
||||
#define UART_OTA_END 0xC2u
|
||||
#define UART_OTA_ABORT 0xC3u
|
||||
#define UART_OTA_ACK 0xC4u
|
||||
#define UART_OTA_NACK 0xC5u
|
||||
#define UART_OTA_STATUS 0xC6u
|
||||
|
||||
/* NACK error codes */
|
||||
#define OTA_ERR_BAD_CRC 0x01u
|
||||
#define OTA_ERR_WRITE 0x02u
|
||||
#define OTA_ERR_SIZE 0x03u
|
||||
|
||||
typedef enum {
|
||||
UART_OTA_S_IDLE = 0,
|
||||
UART_OTA_S_DOWNLOADING, /* downloading from Gitea */
|
||||
UART_OTA_S_SENDING, /* sending to IO board */
|
||||
UART_OTA_S_DONE,
|
||||
UART_OTA_S_FAILED,
|
||||
} uart_ota_send_state_t;
|
||||
|
||||
extern volatile uart_ota_send_state_t g_uart_ota_state;
|
||||
extern volatile uint8_t g_uart_ota_progress;
|
||||
|
||||
/* Trigger IO firmware update. Uses g_io_update (from gitea_ota).
|
||||
* Downloads bin, then streams via UART. Returns false if busy or no update. */
|
||||
bool uart_ota_trigger(void);
|
||||
@ -1,14 +0,0 @@
|
||||
#pragma once
|
||||
/* Embedded firmware version — bump on each release */
|
||||
#define BALANCE_FW_VERSION "1.0.0"
|
||||
#define IO_FW_VERSION "1.0.0"
|
||||
|
||||
/* Gitea release tag prefixes */
|
||||
#define BALANCE_TAG_PREFIX "esp32-balance/"
|
||||
#define IO_TAG_PREFIX "esp32-io/"
|
||||
|
||||
/* Gitea release asset filenames */
|
||||
#define BALANCE_BIN_ASSET "balance-firmware.bin"
|
||||
#define IO_BIN_ASSET "io-firmware.bin"
|
||||
#define BALANCE_SHA256_ASSET "balance-firmware.sha256"
|
||||
#define IO_SHA256_ASSET "io-firmware.sha256"
|
||||
@ -1,119 +0,0 @@
|
||||
/* vesc_can.c — VESC CAN TWAI driver (bd-66hx)
|
||||
*
|
||||
* Receives VESC STATUS/4/5 frames via TWAI, proxies to Orin over serial.
|
||||
* Transmits SET_RPM commands from Orin drive requests.
|
||||
*/
|
||||
|
||||
#include "vesc_can.h"
|
||||
#include "orin_serial.h"
|
||||
#include "config.h"
|
||||
#include "driver/twai.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_timer.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "vesc_can";
|
||||
|
||||
vesc_state_t g_vesc[2] = {0};
|
||||
|
||||
/* Index for a given VESC node ID: 0=VESC_ID_A, 1=VESC_ID_B */
|
||||
static int vesc_idx(uint8_t id)
|
||||
{
|
||||
if (id == VESC_ID_A) return 0;
|
||||
if (id == VESC_ID_B) return 1;
|
||||
return -1;
|
||||
}
|
||||
|
||||
void vesc_can_init(void)
|
||||
{
|
||||
twai_general_config_t gcfg = TWAI_GENERAL_CONFIG_DEFAULT(
|
||||
(gpio_num_t)VESC_CAN_TX_GPIO,
|
||||
(gpio_num_t)VESC_CAN_RX_GPIO,
|
||||
TWAI_MODE_NORMAL);
|
||||
gcfg.rx_queue_len = VESC_CAN_RX_QUEUE;
|
||||
|
||||
twai_timing_config_t tcfg = TWAI_TIMING_CONFIG_500KBITS();
|
||||
twai_filter_config_t fcfg = TWAI_FILTER_CONFIG_ACCEPT_ALL();
|
||||
|
||||
ESP_ERROR_CHECK(twai_driver_install(&gcfg, &tcfg, &fcfg));
|
||||
ESP_ERROR_CHECK(twai_start());
|
||||
ESP_LOGI(TAG, "TWAI init OK: tx=%d rx=%d 500kbps", VESC_CAN_TX_GPIO, VESC_CAN_RX_GPIO);
|
||||
}
|
||||
|
||||
void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm)
|
||||
{
|
||||
uint32_t ext_id = ((uint32_t)VESC_PKT_SET_RPM << 8u) | vesc_id;
|
||||
twai_message_t msg = {
|
||||
.extd = 1,
|
||||
.identifier = ext_id,
|
||||
.data_length_code = 4,
|
||||
};
|
||||
uint32_t u = (uint32_t)erpm;
|
||||
msg.data[0] = (uint8_t)(u >> 24u);
|
||||
msg.data[1] = (uint8_t)(u >> 16u);
|
||||
msg.data[2] = (uint8_t)(u >> 8u);
|
||||
msg.data[3] = (uint8_t)(u);
|
||||
twai_transmit(&msg, pdMS_TO_TICKS(5));
|
||||
}
|
||||
|
||||
void vesc_can_rx_task(void *arg)
|
||||
{
|
||||
QueueHandle_t tx_q = (QueueHandle_t)arg;
|
||||
twai_message_t msg;
|
||||
|
||||
for (;;) {
|
||||
if (twai_receive(&msg, pdMS_TO_TICKS(50)) != ESP_OK) {
|
||||
continue;
|
||||
}
|
||||
if (!msg.extd) {
|
||||
continue; /* ignore standard frames */
|
||||
}
|
||||
|
||||
uint8_t pkt_type = (uint8_t)(msg.identifier >> 8u);
|
||||
uint8_t vesc_id = (uint8_t)(msg.identifier & 0xFFu);
|
||||
int idx = vesc_idx(vesc_id);
|
||||
if (idx < 0) {
|
||||
continue; /* not our VESC */
|
||||
}
|
||||
|
||||
uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
|
||||
vesc_state_t *s = &g_vesc[idx];
|
||||
|
||||
switch (pkt_type) {
|
||||
case VESC_PKT_STATUS:
|
||||
if (msg.data_length_code < 8u) { break; }
|
||||
s->erpm = (int32_t)(
|
||||
((uint32_t)msg.data[0] << 24u) | ((uint32_t)msg.data[1] << 16u) |
|
||||
((uint32_t)msg.data[2] << 8u) | (uint32_t)msg.data[3]);
|
||||
s->current_x10 = (int16_t)(((uint16_t)msg.data[4] << 8u) | msg.data[5]);
|
||||
s->last_rx_ms = now_ms;
|
||||
/* Proxy to Orin: voltage from STATUS_5 (may be zero until received) */
|
||||
{
|
||||
uint8_t ttype = (vesc_id == VESC_ID_A) ? TELEM_VESC_LEFT : TELEM_VESC_RIGHT;
|
||||
/* voltage_mv: V×10 → mV (/10 * 1000 = *100); current_ma: A×10 → mA (*100) */
|
||||
uint16_t vmv = (uint16_t)((int32_t)s->voltage_x10 * 100);
|
||||
int16_t ima = (int16_t)((int32_t)s->current_x10 * 100);
|
||||
orin_send_vesc(tx_q, ttype, s->erpm, vmv, ima,
|
||||
(uint16_t)s->temp_mot_x10);
|
||||
}
|
||||
break;
|
||||
|
||||
case VESC_PKT_STATUS_4:
|
||||
if (msg.data_length_code < 6u) { break; }
|
||||
/* T_fet×10, T_mot×10, I_in×10 */
|
||||
s->temp_mot_x10 = (int16_t)(((uint16_t)msg.data[2] << 8u) | msg.data[3]);
|
||||
break;
|
||||
|
||||
case VESC_PKT_STATUS_5:
|
||||
if (msg.data_length_code < 6u) { break; }
|
||||
/* int32 tacho (ignored), int16 V_in×10 */
|
||||
s->voltage_x10 = (int16_t)(((uint16_t)msg.data[4] << 8u) | msg.data[5]);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,36 +0,0 @@
|
||||
#pragma once
|
||||
/* vesc_can.h — VESC CAN TWAI driver for ESP32-S3 BALANCE (bd-66hx)
|
||||
*
|
||||
* VESC extended CAN ID: (packet_type << 8) | vesc_node_id
|
||||
* Physical layer: TWAI peripheral → SN65HVD230 → 500 kbps shared bus
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/queue.h"
|
||||
|
||||
/* ── VESC packet types ── */
|
||||
#define VESC_PKT_SET_RPM 3u
|
||||
#define VESC_PKT_STATUS 9u /* int32 erpm, int16 I×10, int16 duty×1000 */
|
||||
#define VESC_PKT_STATUS_4 16u /* int16 T_fet×10, T_mot×10, I_in×10 */
|
||||
#define VESC_PKT_STATUS_5 27u /* int32 tacho, int16 V_in×10 */
|
||||
|
||||
/* ── VESC telemetry snapshot ── */
|
||||
typedef struct {
|
||||
int32_t erpm; /* electrical RPM (STATUS) */
|
||||
int16_t current_x10; /* phase current A×10 (STATUS) */
|
||||
int16_t voltage_x10; /* bus voltage V×10 (STATUS_5) */
|
||||
int16_t temp_mot_x10; /* motor temp °C×10 (STATUS_4) */
|
||||
uint32_t last_rx_ms; /* esp_timer ms of last STATUS frame */
|
||||
} vesc_state_t;
|
||||
|
||||
/* ── Globals (two VESC nodes: index 0 = VESC_ID_A=56, 1 = VESC_ID_B=68) ── */
|
||||
extern vesc_state_t g_vesc[2];
|
||||
|
||||
/* ── API ── */
|
||||
void vesc_can_init(void);
|
||||
void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm);
|
||||
|
||||
/* RX task — pass tx_queue as arg; forwards STATUS frames to Orin over serial */
|
||||
void vesc_can_rx_task(void *arg); /* arg = QueueHandle_t orin_tx_queue */
|
||||
@ -1,7 +0,0 @@
|
||||
# ESP32-S3 BALANCE — 4 MB flash, dual OTA partitions
|
||||
# Name, Type, SubType, Offset, Size
|
||||
nvs, data, nvs, 0x9000, 0x5000,
|
||||
otadata, data, ota, 0xe000, 0x2000,
|
||||
app0, app, ota_0, 0x10000, 0x1B0000,
|
||||
app1, app, ota_1, 0x1C0000, 0x1B0000,
|
||||
nvs_user, data, nvs, 0x370000, 0x50000,
|
||||
|
@ -1,23 +0,0 @@
|
||||
CONFIG_IDF_TARGET="esp32s3"
|
||||
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
|
||||
CONFIG_FREERTOS_HZ=1000
|
||||
CONFIG_ESP_TASK_WDT_EN=y
|
||||
CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
|
||||
CONFIG_TWAI_ISR_IN_IRAM=y
|
||||
CONFIG_UART_ISR_IN_IRAM=y
|
||||
CONFIG_ESP_CONSOLE_UART_DEFAULT=y
|
||||
CONFIG_ESP_CONSOLE_UART_NUM=0
|
||||
CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
|
||||
CONFIG_LOG_DEFAULT_LEVEL_INFO=y
|
||||
|
||||
# OTA — bd-3gwo: dual OTA partitions + rollback
|
||||
CONFIG_PARTITION_TABLE_CUSTOM=y
|
||||
CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
|
||||
CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y
|
||||
CONFIG_OTA_ALLOW_HTTP=y
|
||||
CONFIG_ESP_HTTPS_OTA_ALLOW_HTTP=y
|
||||
CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y
|
||||
|
||||
# bd-66hx hardware: disable brownout detection — power supply dips during SPI/init
|
||||
# The gc9a01 display SPI init causes ~50mA transient that trips level-0 brownout
|
||||
CONFIG_ESP_BROWNOUT_DET=n
|
||||
@ -1,3 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.16)
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(esp32s3_io)
|
||||
@ -1,10 +0,0 @@
|
||||
idf_component_register(
|
||||
SRCS "main.c" "uart_ota_recv.c"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES
|
||||
app_update
|
||||
mbedtls
|
||||
driver
|
||||
freertos
|
||||
esp_timer
|
||||
)
|
||||
@ -1,35 +0,0 @@
|
||||
#pragma once
|
||||
/* ESP32-S3 IO board — pin assignments (SAUL-TEE-SYSTEM-REFERENCE.md) */
|
||||
|
||||
/* ── Inter-board UART (to/from BALANCE board) ── */
|
||||
#define IO_UART_PORT UART_NUM_0
|
||||
#define IO_UART_BAUD 460800
|
||||
#define IO_UART_TX_GPIO 43 /* IO board UART0_TXD → BALANCE RX */
|
||||
#define IO_UART_RX_GPIO 44 /* IO board UART0_RXD ← BALANCE TX */
|
||||
/* Note: SAUL-TEE spec says IO TX=IO18, RX=IO21; BALANCE TX=IO17, RX=IO18.
|
||||
* This is UART0 on the IO devkit (GPIO43/44). Adjust to match actual wiring. */
|
||||
|
||||
/* ── BTS7960 Left motor driver ── */
|
||||
#define MOTOR_L_RPWM 1
|
||||
#define MOTOR_L_LPWM 2
|
||||
#define MOTOR_L_EN_R 3
|
||||
#define MOTOR_L_EN_L 4
|
||||
|
||||
/* ── BTS7960 Right motor driver ── */
|
||||
#define MOTOR_R_RPWM 5
|
||||
#define MOTOR_R_LPWM 6
|
||||
#define MOTOR_R_EN_R 7
|
||||
#define MOTOR_R_EN_L 8
|
||||
|
||||
/* ── Arming button / kill switch ── */
|
||||
#define ARM_BTN_GPIO 9
|
||||
#define KILL_GPIO 10
|
||||
|
||||
/* ── WS2812B LED strip ── */
|
||||
#define LED_DATA_GPIO 13
|
||||
|
||||
/* ── OTA UART — receives firmware from BALANCE (bd-21hv) ── */
|
||||
/* Uses same IO_UART_PORT since Balance drives OTA over the inter-board link */
|
||||
|
||||
/* ── Firmware version ── */
|
||||
#define IO_FW_VERSION "1.0.0"
|
||||
@ -1,42 +0,0 @@
|
||||
/* main.c — ESP32-S3 IO board app_main */
|
||||
|
||||
#include "uart_ota_recv.h"
|
||||
#include "config.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_ota_ops.h"
|
||||
#include "driver/uart.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
|
||||
static const char *TAG = "io_main";
|
||||
|
||||
static void uart_init(void)
|
||||
{
|
||||
uart_config_t cfg = {
|
||||
.baud_rate = IO_UART_BAUD,
|
||||
.data_bits = UART_DATA_8_BITS,
|
||||
.parity = UART_PARITY_DISABLE,
|
||||
.stop_bits = UART_STOP_BITS_1,
|
||||
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
|
||||
};
|
||||
uart_param_config(IO_UART_PORT, &cfg);
|
||||
uart_set_pin(IO_UART_PORT, IO_UART_TX_GPIO, IO_UART_RX_GPIO,
|
||||
UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
|
||||
uart_driver_install(IO_UART_PORT, 4096, 0, 0, NULL, 0);
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
ESP_LOGI(TAG, "ESP32-S3 IO v%s starting", IO_FW_VERSION);
|
||||
|
||||
/* Mark running image valid (OTA rollback support) */
|
||||
esp_ota_mark_app_valid_cancel_rollback();
|
||||
|
||||
uart_init();
|
||||
uart_ota_recv_init();
|
||||
|
||||
/* IO board main loop placeholder — RC/motor/sensor tasks added in later beads */
|
||||
while (1) {
|
||||
vTaskDelay(pdMS_TO_TICKS(1000));
|
||||
}
|
||||
}
|
||||
@ -1,210 +0,0 @@
|
||||
/* uart_ota_recv.c — IO board OTA receiver (bd-21hv)
|
||||
*
|
||||
* Listens on UART0 for OTA frames from Balance board.
|
||||
* Writes incoming chunks to the inactive OTA partition, verifies SHA256,
|
||||
* then reboots into new firmware.
|
||||
*/
|
||||
|
||||
#include "uart_ota_recv.h"
|
||||
#include "config.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_ota_ops.h"
|
||||
#include "driver/uart.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "mbedtls/sha256.h"
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "io_ota";
|
||||
|
||||
volatile io_ota_state_t g_io_ota_state = IO_OTA_IDLE;
|
||||
volatile uint8_t g_io_ota_progress = 0;
|
||||
|
||||
/* Frame type bytes (same as uart_ota.h sender side) */
|
||||
#define OTA_BEGIN 0xC0u
|
||||
#define OTA_DATA 0xC1u
|
||||
#define OTA_END 0xC2u
|
||||
#define OTA_ABORT 0xC3u
|
||||
#define OTA_ACK 0xC4u
|
||||
#define OTA_NACK 0xC5u
|
||||
|
||||
#define CHUNK_MAX 1024
|
||||
|
||||
static uint8_t crc8(const uint8_t *d, uint16_t len)
|
||||
{
|
||||
uint8_t crc = 0;
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
crc ^= d[i];
|
||||
for (uint8_t b = 0; b < 8; b++)
|
||||
crc = (crc & 0x80u) ? (uint8_t)((crc << 1u) ^ 0x07u) : (uint8_t)(crc << 1u);
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
static void send_ack(uint16_t seq)
|
||||
{
|
||||
uint8_t frame[6];
|
||||
frame[0] = OTA_ACK;
|
||||
frame[1] = (uint8_t)(seq >> 8u);
|
||||
frame[2] = (uint8_t)(seq);
|
||||
frame[3] = 0; frame[4] = 0; /* LEN=0 */
|
||||
uint8_t crc = crc8(frame, 5);
|
||||
frame[5] = crc;
|
||||
uart_write_bytes(IO_UART_PORT, (char *)frame, 6);
|
||||
}
|
||||
|
||||
static void send_nack(uint16_t seq, uint8_t err)
|
||||
{
|
||||
uint8_t frame[8];
|
||||
frame[0] = OTA_NACK;
|
||||
frame[1] = (uint8_t)(seq >> 8u);
|
||||
frame[2] = (uint8_t)(seq);
|
||||
frame[3] = 0; frame[4] = 1; /* LEN=1 */
|
||||
frame[5] = err;
|
||||
uint8_t crc = crc8(frame, 6);
|
||||
frame[6] = crc;
|
||||
uart_write_bytes(IO_UART_PORT, (char *)frame, 7);
|
||||
}
|
||||
|
||||
/* Read exact n bytes with timeout */
|
||||
static bool uart_read_exact(uint8_t *buf, int n, int timeout_ms)
|
||||
{
|
||||
int got = 0;
|
||||
while (got < n && timeout_ms > 0) {
|
||||
int r = uart_read_bytes(IO_UART_PORT, buf + got, n - got,
|
||||
pdMS_TO_TICKS(50));
|
||||
if (r > 0) got += r;
|
||||
else timeout_ms -= 50;
|
||||
}
|
||||
return got == n;
|
||||
}
|
||||
|
||||
static void ota_recv_task(void *arg)
|
||||
{
|
||||
esp_ota_handle_t handle = 0;
|
||||
const esp_partition_t *ota_part = esp_ota_get_next_update_partition(NULL);
|
||||
mbedtls_sha256_context sha;
|
||||
mbedtls_sha256_init(&sha);
|
||||
uint32_t expected_size = 0;
|
||||
uint8_t expected_digest[32] = {0};
|
||||
uint32_t received = 0;
|
||||
bool ota_started = false;
|
||||
static uint8_t payload[CHUNK_MAX];
|
||||
|
||||
for (;;) {
|
||||
/* Read frame header: TYPE(1) + SEQ(2) + LEN(2) = 5 bytes */
|
||||
uint8_t hdr[5];
|
||||
if (!uart_read_exact(hdr, 5, 5000)) continue;
|
||||
|
||||
uint8_t type = hdr[0];
|
||||
uint16_t seq = (uint16_t)((hdr[1] << 8u) | hdr[2]);
|
||||
uint16_t plen = (uint16_t)((hdr[3] << 8u) | hdr[4]);
|
||||
|
||||
if (plen > CHUNK_MAX + 36) {
|
||||
ESP_LOGW(TAG, "oversized frame plen=%u", plen);
|
||||
continue;
|
||||
}
|
||||
|
||||
/* Read payload + CRC */
|
||||
if (plen > 0 && !uart_read_exact(payload, plen, 2000)) continue;
|
||||
uint8_t crc_rx;
|
||||
if (!uart_read_exact(&crc_rx, 1, 500)) continue;
|
||||
|
||||
/* Verify CRC over hdr+payload */
|
||||
uint8_t crc_buf[5 + CHUNK_MAX + 36];
|
||||
memcpy(crc_buf, hdr, 5);
|
||||
if (plen > 0) memcpy(crc_buf + 5, payload, plen);
|
||||
uint8_t expected_crc = crc8(crc_buf, (uint16_t)(5 + plen));
|
||||
if (crc_rx != expected_crc) {
|
||||
ESP_LOGW(TAG, "CRC fail seq=%u", seq);
|
||||
send_nack(seq, 0x01u); /* OTA_ERR_BAD_CRC */
|
||||
continue;
|
||||
}
|
||||
|
||||
switch (type) {
|
||||
case OTA_BEGIN:
|
||||
if (plen < 36) { send_nack(seq, 0x03u); break; }
|
||||
expected_size = ((uint32_t)payload[0] << 24u) |
|
||||
((uint32_t)payload[1] << 16u) |
|
||||
((uint32_t)payload[2] << 8u) |
|
||||
(uint32_t)payload[3];
|
||||
memcpy(expected_digest, &payload[4], 32);
|
||||
|
||||
if (!ota_part || esp_ota_begin(ota_part, OTA_WITH_SEQUENTIAL_WRITES,
|
||||
&handle) != ESP_OK) {
|
||||
send_nack(seq, 0x02u);
|
||||
break;
|
||||
}
|
||||
mbedtls_sha256_starts(&sha, 0);
|
||||
received = 0;
|
||||
ota_started = true;
|
||||
g_io_ota_state = IO_OTA_RECEIVING;
|
||||
g_io_ota_progress = 0;
|
||||
ESP_LOGI(TAG, "OTA begin: %lu bytes", (unsigned long)expected_size);
|
||||
send_ack(seq);
|
||||
break;
|
||||
|
||||
case OTA_DATA:
|
||||
if (!ota_started) { send_nack(seq, 0x02u); break; }
|
||||
if (esp_ota_write(handle, payload, plen) != ESP_OK) {
|
||||
send_nack(seq, 0x02u);
|
||||
esp_ota_abort(handle);
|
||||
ota_started = false;
|
||||
g_io_ota_state = IO_OTA_FAILED;
|
||||
break;
|
||||
}
|
||||
mbedtls_sha256_update(&sha, payload, plen);
|
||||
received += plen;
|
||||
if (expected_size > 0)
|
||||
g_io_ota_progress = (uint8_t)((received * 100u) / expected_size);
|
||||
send_ack(seq);
|
||||
break;
|
||||
|
||||
case OTA_END: {
|
||||
if (!ota_started) { send_nack(seq, 0x02u); break; }
|
||||
g_io_ota_state = IO_OTA_VERIFYING;
|
||||
|
||||
uint8_t digest[32];
|
||||
mbedtls_sha256_finish(&sha, digest);
|
||||
if (memcmp(digest, expected_digest, 32) != 0) {
|
||||
ESP_LOGE(TAG, "SHA256 mismatch");
|
||||
esp_ota_abort(handle);
|
||||
send_nack(seq, 0x01u);
|
||||
g_io_ota_state = IO_OTA_FAILED;
|
||||
break;
|
||||
}
|
||||
|
||||
if (esp_ota_end(handle) != ESP_OK ||
|
||||
esp_ota_set_boot_partition(ota_part) != ESP_OK) {
|
||||
send_nack(seq, 0x02u);
|
||||
g_io_ota_state = IO_OTA_FAILED;
|
||||
break;
|
||||
}
|
||||
|
||||
g_io_ota_state = IO_OTA_REBOOTING;
|
||||
g_io_ota_progress = 100;
|
||||
ESP_LOGI(TAG, "OTA done — rebooting");
|
||||
send_ack(seq);
|
||||
vTaskDelay(pdMS_TO_TICKS(500));
|
||||
esp_restart();
|
||||
break;
|
||||
}
|
||||
|
||||
case OTA_ABORT:
|
||||
if (ota_started) { esp_ota_abort(handle); ota_started = false; }
|
||||
g_io_ota_state = IO_OTA_IDLE;
|
||||
ESP_LOGW(TAG, "OTA aborted");
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void uart_ota_recv_init(void)
|
||||
{
|
||||
/* UART0 already initialized for inter-board comms; just create the task */
|
||||
xTaskCreate(ota_recv_task, "io_ota_recv", 8192, NULL, 6, NULL);
|
||||
ESP_LOGI(TAG, "OTA receiver task started");
|
||||
}
|
||||
@ -1,20 +0,0 @@
|
||||
#pragma once
|
||||
/* uart_ota_recv.h — IO board: receives OTA firmware from Balance (bd-21hv) */
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
typedef enum {
|
||||
IO_OTA_IDLE = 0,
|
||||
IO_OTA_RECEIVING,
|
||||
IO_OTA_VERIFYING,
|
||||
IO_OTA_APPLYING,
|
||||
IO_OTA_REBOOTING,
|
||||
IO_OTA_FAILED,
|
||||
} io_ota_state_t;
|
||||
|
||||
extern volatile io_ota_state_t g_io_ota_state;
|
||||
extern volatile uint8_t g_io_ota_progress;
|
||||
|
||||
/* Start listening for OTA frames on UART0 */
|
||||
void uart_ota_recv_init(void);
|
||||
@ -1,7 +0,0 @@
|
||||
# ESP32-S3 IO — 4 MB flash, dual OTA partitions
|
||||
# Name, Type, SubType, Offset, Size
|
||||
nvs, data, nvs, 0x9000, 0x5000,
|
||||
otadata, data, ota, 0xe000, 0x2000,
|
||||
app0, app, ota_0, 0x10000, 0x1B0000,
|
||||
app1, app, ota_1, 0x1C0000, 0x1B0000,
|
||||
nvs_user, data, nvs, 0x370000, 0x50000,
|
||||
|
@ -1,13 +0,0 @@
|
||||
CONFIG_IDF_TARGET="esp32s3"
|
||||
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
|
||||
CONFIG_FREERTOS_HZ=1000
|
||||
CONFIG_ESP_TASK_WDT_EN=y
|
||||
CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
|
||||
CONFIG_UART_ISR_IN_IRAM=y
|
||||
CONFIG_ESP_CONSOLE_UART_DEFAULT=y
|
||||
CONFIG_LOG_DEFAULT_LEVEL_INFO=y
|
||||
|
||||
# OTA — bd-3gwo: dual OTA partitions + rollback
|
||||
CONFIG_PARTITION_TABLE_CUSTOM=y
|
||||
CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
|
||||
CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y
|
||||
@ -14,12 +14,7 @@ Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + S
|
||||
| Nav | Nav2 |
|
||||
| Depth camera | Intel RealSense D435i |
|
||||
| LiDAR | RPLIDAR A1M8 |
|
||||
<<<<<<< HEAD
|
||||
| MCU bridge | ESP32 (USB CDC @ 921600) |
|
||||
=======
|
||||
| MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
## Quick Start
|
||||
|
||||
```bash
|
||||
@ -46,12 +41,7 @@ bash scripts/build-and-run.sh shell
|
||||
```
|
||||
jetson/
|
||||
├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
|
||||
<<<<<<< HEAD
|
||||
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
|
||||
=======
|
||||
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
├── README.md # This file
|
||||
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)├── README.md # This file
|
||||
├── docs/
|
||||
│ ├── pinout.md # GPIO/I2C/UART pinout reference
|
||||
│ └── power-budget.md # Power budget analysis (10W envelope)
|
||||
|
||||
@ -34,12 +34,7 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path
|
||||
|
||||
The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
|
||||
|
||||
<<<<<<< HEAD
|
||||
Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.
|
||||
=======
|
||||
Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
## Behavior Tree Sequence
|
||||
|
||||
Recovery runs in a round-robin fashion with up to 6 retry cycles.
|
||||
|
||||
@ -12,12 +12,7 @@
|
||||
# /scan — RPLIDAR A1M8 (obstacle layer)
|
||||
# /camera/depth/color/points — RealSense D435i (voxel layer)
|
||||
#
|
||||
<<<<<<< HEAD
|
||||
# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
|
||||
=======
|
||||
# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: false
|
||||
|
||||
@ -97,8 +97,7 @@ services:
|
||||
rgb_camera.profile:=640x480x30
|
||||
"
|
||||
|
||||
# ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ───────────────────────
|
||||
esp32-bridge:
|
||||
# ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ──────────────────────── esp32-bridge:
|
||||
image: saltybot/ros2-humble:jetson-orin
|
||||
build:
|
||||
context: .
|
||||
@ -208,9 +207,8 @@ services:
|
||||
"
|
||||
|
||||
|
||||
# -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ---------------------
|
||||
# Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3.
|
||||
# Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
|
||||
# -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ----------------------
|
||||
# Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3. # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
|
||||
remote-estop:
|
||||
image: saltybot/ros2-humble:jetson-orin
|
||||
build:
|
||||
@ -357,50 +355,6 @@ services:
|
||||
"
|
||||
|
||||
|
||||
# ── Here4 DroneCAN GPS + NTRIP RTK client ────────────────────────────────
|
||||
# Issue #725 — CubePilot Here4 RTK GPS via DroneCAN (1Mbps, SocketCAN)
|
||||
# Start: docker compose up -d here4-gps
|
||||
# Monitor fix: docker compose exec here4-gps ros2 topic echo /gps/rtk_status
|
||||
# Configure NTRIP: set NTRIP_MOUNT, NTRIP_USER, NTRIP_PASSWORD env vars
|
||||
here4-gps:
|
||||
image: saltybot/ros2-humble:jetson-orin
|
||||
build:
|
||||
context: .
|
||||
dockerfile: Dockerfile
|
||||
container_name: saltybot-here4-gps
|
||||
restart: unless-stopped
|
||||
runtime: nvidia
|
||||
network_mode: host
|
||||
depends_on:
|
||||
- saltybot-nav2
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=42
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
# NTRIP credentials — set these in your .env or override at runtime
|
||||
- NTRIP_MOUNT=${NTRIP_MOUNT:-}
|
||||
- NTRIP_USER=${NTRIP_USER:-}
|
||||
- NTRIP_PASSWORD=${NTRIP_PASSWORD:-}
|
||||
volumes:
|
||||
- ./ros2_ws/src:/ros2_ws/src:rw
|
||||
- ./config:/config:ro
|
||||
devices:
|
||||
- /dev/can0:/dev/can0
|
||||
cap_add:
|
||||
- NET_ADMIN # needed for SocketCAN ip link set can0 up inside container
|
||||
command: >
|
||||
bash -c "
|
||||
source /opt/ros/humble/setup.bash &&
|
||||
source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
|
||||
pip install python-dronecan --quiet 2>/dev/null || true &&
|
||||
ros2 launch saltybot_dronecan_gps here4_gps.launch.py
|
||||
can_interface:=can0
|
||||
can_bitrate:=1000000
|
||||
ntrip_caster:=rtk2go.com
|
||||
ntrip_mount:=${NTRIP_MOUNT:-}
|
||||
ntrip_user:=${NTRIP_USER:-}
|
||||
ntrip_password:=${NTRIP_PASSWORD:-}
|
||||
"
|
||||
|
||||
volumes:
|
||||
saltybot-maps:
|
||||
driver: local
|
||||
|
||||
@ -1,10 +1,5 @@
|
||||
# Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference
|
||||
<<<<<<< HEAD
|
||||
## Self-Balancing Robot: ESP32 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
|
||||
=======
|
||||
## Self-Balancing Robot: ESP32-S3 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Last updated: 2026-02-28
|
||||
JetPack version: 6.x (L4T R36.x / Ubuntu 22.04)
|
||||
|
||||
@ -47,50 +42,26 @@ i2cdetect -l
|
||||
|
||||
---
|
||||
|
||||
<<<<<<< HEAD
|
||||
## 1. ESP32 Bridge (USB CDC — Primary)
|
||||
|
||||
The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
|
||||
=======
|
||||
## 1. ESP32-S3 Bridge (USB Serial (CH343) — Primary)
|
||||
|
||||
The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **USB Serial (CH343) serial**.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
### USB Serial (CH343) Connection
|
||||
| Connection | Detail |
|
||||
|-----------|--------|
|
||||
<<<<<<< HEAD
|
||||
| Interface | USB on ESP32 BALANCE board → USB-A on Jetson |
|
||||
| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
|
||||
| Baud rate | 921600 (configured in ESP32 BALANCE firmware) |
|
||||
=======
|
||||
| Interface | USB Micro-B on ESP32-S3 dev board → USB-A on Jetson |
|
||||
| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
|
||||
| Baud rate | 921600 (configured in ESP32-S3 firmware) |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) |
|
||||
| Baud rate | 921600 (configured in ESP32-S3 firmware) || Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) |
|
||||
| Power | Powered via robot 5V bus (data-only via USB) |
|
||||
|
||||
### Hardware UART (Fallback — 40-pin header)
|
||||
<<<<<<< HEAD
|
||||
| Jetson Pin | Signal | ESP32 Pin | Notes |
|
||||
=======
|
||||
| Jetson Pin | Signal | ESP32-S3 Pin | Notes |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|-----------|--------|-----------|-------|
|
||||
| Jetson Pin | Signal | ESP32-S3 Pin | Notes ||-----------|--------|-----------|-------|
|
||||
| Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
|
||||
| Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
|
||||
| Pin 6 (GND) | GND | GND | Common ground **required** |
|
||||
|
||||
**Jetson device node:** `/dev/ttyTHS0`
|
||||
**Baud rate:** 921600, 8N1
|
||||
<<<<<<< HEAD
|
||||
**Voltage level:** 3.3V — both Jetson Orin and ESP32 are 3.3V GPIO
|
||||
=======
|
||||
**Voltage level:** 3.3V — both Jetson Orin and ESP32-S3 are 3.3V GPIO
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
```bash
|
||||
# Verify UART
|
||||
ls /dev/ttyTHS0
|
||||
@ -99,15 +70,6 @@ sudo usermod -aG dialout $USER
|
||||
picocom -b 921600 /dev/ttyTHS0
|
||||
```
|
||||
|
||||
<<<<<<< HEAD
|
||||
**ROS2 topics (ESP32 bridge node):**
|
||||
| ROS2 Topic | Direction | Content |
|
||||
|-----------|-----------|---------
|
||||
| `/saltybot/imu` | ESP32 BALANCE→Jetson | IMU data (accel, gyro) at 50Hz |
|
||||
| `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state |
|
||||
| `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C<spd>,<str>\n` |
|
||||
| `/saltybot/estop` | Jetson→ESP32 BALANCE | Emergency stop |
|
||||
=======
|
||||
**ROS2 topics (ESP32-S3 bridge node):**
|
||||
| ROS2 Topic | Direction | Content |
|
||||
|-----------|-----------|---------
|
||||
@ -115,8 +77,6 @@ picocom -b 921600 /dev/ttyTHS0
|
||||
| `/saltybot/balance_state` | ESP32-S3→Jetson | Motor cmd, pitch, state |
|
||||
| `/cmd_vel` | Jetson→ESP32-S3 | Velocity commands → `C<spd>,<str>\n` |
|
||||
| `/saltybot/estop` | Jetson→ESP32-S3 | Emergency stop |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
---
|
||||
|
||||
## 2. RealSense D435i (USB 3.1)
|
||||
@ -300,12 +260,7 @@ sudo mkdir -p /mnt/nvme
|
||||
|------|------|----------|
|
||||
| USB-A (top, blue) | USB 3.1 Gen 1 | RealSense D435i |
|
||||
| USB-A (bottom) | USB 2.0 | RPLIDAR (via USB-UART adapter) |
|
||||
<<<<<<< HEAD
|
||||
| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32 CDC or host flash |
|
||||
=======
|
||||
| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| Micro-USB | Debug/flash | JetPack flash only |
|
||||
| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash || Micro-USB | Debug/flash | JetPack flash only |
|
||||
|
||||
---
|
||||
|
||||
@ -315,18 +270,10 @@ sudo mkdir -p /mnt/nvme
|
||||
|-------------|----------|---------|----------|
|
||||
| 3 | SDA1 | 3.3V | I2C data (i2c-7) |
|
||||
| 5 | SCL1 | 3.3V | I2C clock (i2c-7) |
|
||||
<<<<<<< HEAD
|
||||
| 8 | TXD0 | 3.3V | UART TX → ESP32 BALANCE (fallback) |
|
||||
| 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) |
|
||||
| USB-A ×2 | — | 5V | D435i, RPLIDAR |
|
||||
| USB-C | — | 5V | ESP32 CDC |
|
||||
=======
|
||||
| 8 | TXD0 | 3.3V | UART TX → ESP32-S3 (fallback) |
|
||||
| 10 | RXD0 | 3.3V | UART RX ← ESP32-S3 (fallback) |
|
||||
| USB-A ×2 | — | 5V | D435i, RPLIDAR |
|
||||
| USB-C | — | 5V | ESP32-S3 CDC |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left |
|
||||
| USB-C | — | 5V | ESP32-S3 CDC || CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left |
|
||||
| CSI-B (J8) | MIPI CSI-2 | — | Cameras rear + right |
|
||||
| M.2 Key M | PCIe Gen3 ×4 | — | NVMe SSD |
|
||||
|
||||
@ -343,12 +290,7 @@ Apply stable device names:
|
||||
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
|
||||
SYMLINK+="rplidar", MODE="0666"
|
||||
|
||||
<<<<<<< HEAD
|
||||
# ESP32 USB CDC (STMicroelectronics)
|
||||
=======
|
||||
# ESP32-S3 USB Serial (CH343) (STMicroelectronics)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
|
||||
# ESP32-S3 USB Serial (CH343) (STMicroelectronics)KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
|
||||
SYMLINK+="esp32-bridge", MODE="0666"
|
||||
|
||||
# Intel RealSense D435i
|
||||
|
||||
@ -56,12 +56,7 @@ sudo jtop
|
||||
|-----------|----------|------------|----------|-----------|-------|
|
||||
| RealSense D435i | 0.3 | 1.5 | 3.5 | USB 3.1 | Peak during boot/init |
|
||||
| RPLIDAR A1M8 | 0.4 | 2.6 | 3.0 | USB (UART adapter) | Motor spinning |
|
||||
<<<<<<< HEAD
|
||||
| ESP32 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
|
||||
=======
|
||||
| ESP32-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | Self-powered from robot 5V |
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
| 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active |
|
||||
| ESP32-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | Self-powered from robot 5V || 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active |
|
||||
| **Peripheral Subtotal** | **0.9** | **6.1** | **8.9** | | |
|
||||
|
||||
### Total System (from Jetson 5V barrel jack)
|
||||
@ -155,12 +150,7 @@ LiPo 4S (16.8V max)
|
||||
├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W)
|
||||
│ (e.g., XL4016E1)
|
||||
│
|
||||
<<<<<<< HEAD
|
||||
├─► DC-DC Buck → 5V 3A ──► ESP32 + logic 5V rail
|
||||
=======
|
||||
├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
│
|
||||
├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail │
|
||||
└─► Hoverboard ESC ──► Hub motors (48V loop)
|
||||
```
|
||||
|
||||
|
||||
@ -1,64 +0,0 @@
|
||||
# saul-tee.conf — nginx site for saul-t-mote.evthings.app reverse proxy
|
||||
#
|
||||
# Replaces: python3 -m http.server 8080 --directory /home/seb
|
||||
# Router (ASUS Merlin / OpenResty) terminates TLS on :443 and proxies to Orin:8080
|
||||
#
|
||||
# Deploy:
|
||||
# sudo cp saul-tee.conf /etc/nginx/sites-available/saul-tee
|
||||
# sudo ln -sf /etc/nginx/sites-available/saul-tee /etc/nginx/sites-enabled/saul-tee
|
||||
# sudo systemctl reload nginx
|
||||
#
|
||||
# ROUTER REQUIREMENT for WSS to work:
|
||||
# The ASUS Merlin router's nginx/OpenResty must proxy /rosbridge with
|
||||
# WebSocket headers. Add to /jffs/configs/nginx.conf.add:
|
||||
#
|
||||
# map $http_upgrade $connection_upgrade {
|
||||
# default upgrade;
|
||||
# '' close;
|
||||
# }
|
||||
#
|
||||
# And in the server block that proxies to 192.168.86.158:8080, add:
|
||||
#
|
||||
# location /rosbridge {
|
||||
# proxy_pass http://192.168.86.158:8080/rosbridge;
|
||||
# proxy_http_version 1.1;
|
||||
# proxy_set_header Upgrade $http_upgrade;
|
||||
# proxy_set_header Connection $connection_upgrade;
|
||||
# proxy_read_timeout 86400;
|
||||
# }
|
||||
|
||||
# Infer WebSocket upgrade from Connection header.
|
||||
# Handles the case where an upstream proxy (e.g. ASUS Merlin OpenResty)
|
||||
# passes Connection: upgrade but strips the Upgrade: websocket header.
|
||||
map $http_connection $ws_upgrade {
|
||||
"upgrade" "websocket";
|
||||
default "";
|
||||
}
|
||||
|
||||
server {
|
||||
listen 8080 default_server;
|
||||
listen [::]:8080 default_server;
|
||||
|
||||
root /home/seb;
|
||||
index index.html;
|
||||
server_name _;
|
||||
|
||||
# Static files — replaces python3 -m http.server 8080 --directory /home/seb
|
||||
location / {
|
||||
try_files $uri $uri/ =404;
|
||||
autoindex on;
|
||||
}
|
||||
|
||||
# rosbridge WebSocket reverse proxy
|
||||
# wss://saul-t-mote.evthings.app/rosbridge --> ws://127.0.0.1:9090
|
||||
location /rosbridge {
|
||||
proxy_pass http://127.0.0.1:9090/;
|
||||
proxy_http_version 1.1;
|
||||
proxy_set_header Upgrade $ws_upgrade;
|
||||
proxy_set_header Connection "upgrade";
|
||||
proxy_set_header Host $host;
|
||||
proxy_set_header X-Real-IP $remote_addr;
|
||||
proxy_read_timeout 86400;
|
||||
proxy_send_timeout 86400;
|
||||
}
|
||||
}
|
||||
@ -11,12 +11,7 @@ reconnect_delay: 2.0 # seconds between reconnect attempts on serial disconne
|
||||
# ── saltybot_cmd_node (bidirectional) only ─────────────────────────────────────
|
||||
|
||||
# Heartbeat: H\n sent every heartbeat_period seconds.
|
||||
<<<<<<< HEAD
|
||||
# ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
|
||||
=======
|
||||
# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
heartbeat_period: 0.2 # seconds (= 200ms)
|
||||
# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.heartbeat_period: 0.2 # seconds (= 200ms)
|
||||
|
||||
# Twist → ESC command scaling
|
||||
# speed = clamp(linear.x * speed_scale, -1000, 1000) [m/s → ESC units]
|
||||
|
||||
@ -1,10 +1,5 @@
|
||||
# cmd_vel_bridge_params.yaml
|
||||
<<<<<<< HEAD
|
||||
# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE autonomous drive.
|
||||
=======
|
||||
# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
#
|
||||
# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.#
|
||||
# Run with:
|
||||
# ros2 launch saltybot_bridge cmd_vel_bridge.launch.py
|
||||
# Or override individual params:
|
||||
@ -18,12 +13,7 @@ timeout: 0.05 # serial readline timeout (s)
|
||||
reconnect_delay: 2.0 # seconds between reconnect attempts
|
||||
|
||||
# ── Heartbeat ──────────────────────────────────────────────────────────────────
|
||||
<<<<<<< HEAD
|
||||
# ESP32 BALANCE jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
|
||||
=======
|
||||
# ESP32-S3 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
# Keep heartbeat well below that threshold.
|
||||
# ESP32-S3 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).# Keep heartbeat well below that threshold.
|
||||
heartbeat_period: 0.2 # seconds (200ms)
|
||||
|
||||
# ── Velocity limits ────────────────────────────────────────────────────────────
|
||||
@ -58,9 +48,4 @@ ramp_rate: 500 # ESC units/second
|
||||
# ── Deadman switch ─────────────────────────────────────────────────────────────
|
||||
# If /cmd_vel is not received for this many seconds, target speed/steer are
|
||||
# zeroed immediately. The ramp then drives the robot to a stop.
|
||||
<<<<<<< HEAD
|
||||
# 500ms matches the ESP32 BALANCE jetson heartbeat timeout for consistency.
|
||||
=======
|
||||
# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
cmd_vel_timeout: 0.5 # seconds
|
||||
# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency.cmd_vel_timeout: 0.5 # seconds
|
||||
|
||||
@ -1,21 +1,3 @@
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml
|
||||
# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge)
|
||||
# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud.
|
||||
# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]
|
||||
# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
|
||||
|
||||
# ── Serial port ────────────────────────────────────────────────────────────────
|
||||
# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md).
|
||||
# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed.
|
||||
serial_port: /dev/esp32-io
|
||||
baud_rate: 460800
|
||||
reconnect_delay: 2.0 # seconds between reconnect attempts
|
||||
|
||||
# ── Heartbeat ─────────────────────────────────────────────────────────────────
|
||||
# HEARTBEAT (0x20) sent every heartbeat_period.
|
||||
# ESP32 IO watchdog fires if no heartbeat for ~500 ms.
|
||||
heartbeat_period: 0.2 # 200 ms → well within 500 ms watchdog
|
||||
=======
|
||||
# esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119)
|
||||
# Binary-framed Jetson↔ESP32-S3 bridge at 921600 baud.
|
||||
|
||||
@ -46,4 +28,3 @@ watchdog_timeout: 0.5 # 500ms
|
||||
# Tune speed_scale to set the physical top speed.
|
||||
speed_scale: 1000.0
|
||||
steer_scale: -500.0
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml
|
||||
|
||||
@ -6,12 +6,7 @@ Two deployment modes:
|
||||
1. Full bidirectional (recommended for Nav2):
|
||||
ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional
|
||||
Starts saltybot_cmd_node — owns serial port, handles both RX telemetry
|
||||
<<<<<<< HEAD
|
||||
and TX /cmd_vel → ESP32 BALANCE commands + heartbeat.
|
||||
=======
|
||||
and TX /cmd_vel → ESP32-S3 commands + heartbeat.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
2. RX-only (telemetry monitor, no drive commands):
|
||||
ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
|
||||
Starts serial_bridge_node — telemetry RX only. Use when you want to
|
||||
@ -69,12 +64,7 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument("mode", default_value="bidirectional",
|
||||
description="bidirectional | rx_only"),
|
||||
DeclareLaunchArgument("serial_port", default_value="/dev/ttyACM0",
|
||||
<<<<<<< HEAD
|
||||
description="ESP32 USB CDC device node"),
|
||||
=======
|
||||
description="ESP32-S3 USB CDC device node"),
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
DeclareLaunchArgument("baud_rate", default_value="921600"),
|
||||
description="ESP32-S3 USB CDC device node"), DeclareLaunchArgument("baud_rate", default_value="921600"),
|
||||
DeclareLaunchArgument("speed_scale", default_value="1000.0",
|
||||
description="m/s → ESC units (linear.x scale)"),
|
||||
DeclareLaunchArgument("steer_scale", default_value="-500.0",
|
||||
|
||||
@ -1,19 +1,9 @@
|
||||
"""
|
||||
<<<<<<< HEAD
|
||||
cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE autonomous drive bridge.
|
||||
=======
|
||||
cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32-S3 autonomous drive bridge.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Starts cmd_vel_bridge_node, which owns the serial port exclusively and provides:
|
||||
- /cmd_vel subscription with velocity limits + smooth ramp
|
||||
- Deadman switch (zero speed if /cmd_vel silent > cmd_vel_timeout)
|
||||
<<<<<<< HEAD
|
||||
- Mode gate (drives only when ESP32 BALANCE is in AUTONOMOUS mode, md=2)
|
||||
=======
|
||||
- Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
- Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
|
||||
- Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2) - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
|
||||
- /saltybot/cmd publisher (observability)
|
||||
|
||||
Do NOT run alongside serial_bridge_node or saltybot_cmd_node on the same port.
|
||||
@ -80,21 +70,11 @@ def generate_launch_description():
|
||||
description="Full path to cmd_vel_bridge_params.yaml (overrides inline args)"),
|
||||
DeclareLaunchArgument(
|
||||
"serial_port", default_value="/dev/ttyACM0",
|
||||
<<<<<<< HEAD
|
||||
description="ESP32 USB CDC device node"),
|
||||
=======
|
||||
description="ESP32-S3 USB CDC device node"),
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
DeclareLaunchArgument(
|
||||
description="ESP32-S3 USB CDC device node"), DeclareLaunchArgument(
|
||||
"baud_rate", default_value="921600"),
|
||||
DeclareLaunchArgument(
|
||||
"heartbeat_period",default_value="0.2",
|
||||
<<<<<<< HEAD
|
||||
description="Heartbeat interval (s); must be < ESP32 BALANCE HB timeout (0.5s)"),
|
||||
=======
|
||||
description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"),
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
DeclareLaunchArgument(
|
||||
description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"), DeclareLaunchArgument(
|
||||
"max_linear_vel", default_value="0.5",
|
||||
description="Hard speed cap before scaling (m/s)"),
|
||||
DeclareLaunchArgument(
|
||||
|
||||
@ -1,16 +1,3 @@
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py
|
||||
"""stm32_cmd.launch.py — Launch the ESP32-S3 IO auxiliary bridge node.
|
||||
|
||||
Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud (inter-board protocol).
|
||||
Handles RC monitoring, sensor data, LED/output commands.
|
||||
Primary drive path uses CAN (can_bridge_node / saltybot_can_node), not this node.
|
||||
|
||||
Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
|
||||
|
||||
Usage:
|
||||
ros2 launch saltybot_bridge stm32_cmd.launch.py
|
||||
ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM0
|
||||
=======
|
||||
"""esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119).
|
||||
|
||||
Usage:
|
||||
@ -21,9 +8,7 @@ Usage:
|
||||
ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1
|
||||
|
||||
# Custom velocity scales:
|
||||
ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
|
||||
"""
|
||||
ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0"""
|
||||
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
@ -2,12 +2,7 @@
|
||||
uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
|
||||
|
||||
Launches serial_bridge_node configured for Jetson Orin UART port.
|
||||
<<<<<<< HEAD
|
||||
Bridges Flight Controller (ESP32) telemetry from /dev/ttyTHS1 into ROS2.
|
||||
=======
|
||||
Bridges Flight Controller (ESP32-S3) telemetry from /dev/ttyTHS1 into ROS2.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Published topics (same as USB CDC bridge):
|
||||
/saltybot/imu sensor_msgs/Imu — pitch/roll/yaw as angular velocity
|
||||
/saltybot/balance_state std_msgs/String (JSON) — full PID diagnostics
|
||||
@ -24,12 +19,7 @@ Usage:
|
||||
|
||||
Prerequisites:
|
||||
- Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
|
||||
<<<<<<< HEAD
|
||||
- ESP32 BALANCE firmware transmitting JSON telemetry frames (50 Hz)
|
||||
=======
|
||||
- ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
- ROS2 environment sourced (source install/setup.bash)
|
||||
- ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz) - ROS2 environment sourced (source install/setup.bash)
|
||||
|
||||
Note:
|
||||
/dev/ttyTHS1 is the native UART1 on Jetson Orin. Verify connectivity:
|
||||
|
||||
@ -14,12 +14,7 @@ Alert levels (SoC thresholds):
|
||||
5% EMERGENCY — publish zero /cmd_vel, disarm, log + alert
|
||||
|
||||
SoC source priority:
|
||||
<<<<<<< HEAD
|
||||
1. soc_pct field from ESP32 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE)
|
||||
=======
|
||||
1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known
|
||||
1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3) 2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known
|
||||
|
||||
Parameters (config/battery_params.yaml):
|
||||
db_path /var/log/saltybot/battery.db
|
||||
@ -324,12 +319,7 @@ class BatteryNode(Node):
|
||||
self._speed_limit_pub.publish(msg)
|
||||
|
||||
def _execute_safe_stop(self) -> None:
|
||||
<<<<<<< HEAD
|
||||
"""Send zero /cmd_vel and disarm the ESP32 BALANCE."""
|
||||
=======
|
||||
"""Send zero /cmd_vel and disarm the ESP32-S3."""
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
|
||||
"""Send zero /cmd_vel and disarm the ESP32-S3.""" self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
|
||||
# Publish zero velocity
|
||||
zero_twist = Twist()
|
||||
self._cmd_vel_pub.publish(zero_twist)
|
||||
|
||||
@ -1,10 +1,5 @@
|
||||
"""
|
||||
<<<<<<< HEAD
|
||||
cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE drive command bridge.
|
||||
=======
|
||||
cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 drive command bridge.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Extends the basic saltybot_cmd_node with four additions required for safe
|
||||
autonomous operation on a self-balancing robot:
|
||||
|
||||
@ -16,28 +11,16 @@ autonomous operation on a self-balancing robot:
|
||||
3. Deadman switch — if /cmd_vel is silent for cmd_vel_timeout seconds,
|
||||
zero targets immediately (Nav2 node crash / planner
|
||||
stall → robot coasts to stop rather than running away).
|
||||
<<<<<<< HEAD
|
||||
4. Mode gate — only issue non-zero drive commands when ESP32 BALANCE reports
|
||||
=======
|
||||
4. Mode gate — only issue non-zero drive commands when ESP32-S3 reports
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
md=2 (AUTONOMOUS). In any other mode (RC_MANUAL,
|
||||
4. Mode gate — only issue non-zero drive commands when ESP32-S3 reports md=2 (AUTONOMOUS). In any other mode (RC_MANUAL,
|
||||
RC_ASSISTED) Jetson cannot override the RC pilot.
|
||||
On mode re-entry current ramp state resets to 0 so
|
||||
acceleration is always smooth from rest.
|
||||
|
||||
Serial protocol (C<speed>,<steer>\\n / H\\n — same as saltybot_cmd_node):
|
||||
C<spd>,<str>\\n — drive command. speed/steer: -1000..+1000 integers.
|
||||
<<<<<<< HEAD
|
||||
H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence.
|
||||
|
||||
Telemetry (50 Hz from ESP32 BALANCE):
|
||||
=======
|
||||
H\\n — heartbeat. ESP32-S3 reverts steer to 0 after 500ms silence.
|
||||
|
||||
Telemetry (50 Hz from ESP32-S3):
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
Same RX/publish pipeline as saltybot_cmd_node.
|
||||
Telemetry (50 Hz from ESP32-S3): Same RX/publish pipeline as saltybot_cmd_node.
|
||||
The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate.
|
||||
|
||||
Topics published:
|
||||
@ -164,12 +147,7 @@ class CmdVelBridgeNode(Node):
|
||||
self._open_serial()
|
||||
|
||||
# ── Timers ────────────────────────────────────────────────────────────
|
||||
<<<<<<< HEAD
|
||||
# Telemetry read at 100 Hz (ESP32 BALANCE sends at 50 Hz)
|
||||
=======
|
||||
# Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
self._read_timer = self.create_timer(0.01, self._read_cb)
|
||||
# Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz) self._read_timer = self.create_timer(0.01, self._read_cb)
|
||||
# Control loop at 50 Hz: ramp + deadman + mode gate + send
|
||||
self._control_timer = self.create_timer(1.0 / _CONTROL_HZ, self._control_cb)
|
||||
# Heartbeat TX
|
||||
@ -256,12 +234,7 @@ class CmdVelBridgeNode(Node):
|
||||
speed = self._current_speed
|
||||
steer = self._current_steer
|
||||
|
||||
<<<<<<< HEAD
|
||||
# Send to ESP32 BALANCE
|
||||
=======
|
||||
# Send to ESP32-S3
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
frame = f"C{speed},{steer}\n".encode("ascii")
|
||||
# Send to ESP32-S3 frame = f"C{speed},{steer}\n".encode("ascii")
|
||||
if not self._write(frame):
|
||||
self.get_logger().warn(
|
||||
"Cannot send cmd — serial not open",
|
||||
@ -278,12 +251,7 @@ class CmdVelBridgeNode(Node):
|
||||
# ── Heartbeat TX ──────────────────────────────────────────────────────────
|
||||
|
||||
def _heartbeat_cb(self):
|
||||
<<<<<<< HEAD
|
||||
"""H\\n keeps ESP32 BALANCE jetson_cmd heartbeat alive regardless of mode."""
|
||||
=======
|
||||
"""H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode."""
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
self._write(b"H\n")
|
||||
"""H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode.""" self._write(b"H\n")
|
||||
|
||||
# ── Telemetry RX ──────────────────────────────────────────────────────────
|
||||
|
||||
@ -404,12 +372,7 @@ class CmdVelBridgeNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
status = DiagnosticStatus()
|
||||
status.name = "saltybot/balance_controller"
|
||||
<<<<<<< HEAD
|
||||
status.hardware_id = "esp32"
|
||||
=======
|
||||
status.hardware_id = "esp32s322"
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
status.message = f"{state_label} [{mode_label}]"
|
||||
status.hardware_id = "esp32s322" status.message = f"{state_label} [{mode_label}]"
|
||||
status.level = (
|
||||
DiagnosticStatus.OK if state == 1 else
|
||||
DiagnosticStatus.WARN if state == 0 else
|
||||
@ -436,20 +399,11 @@ class CmdVelBridgeNode(Node):
|
||||
status = DiagnosticStatus()
|
||||
status.level = DiagnosticStatus.ERROR
|
||||
status.name = "saltybot/balance_controller"
|
||||
<<<<<<< HEAD
|
||||
status.hardware_id = "esp32"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
|
||||
=======
|
||||
status.hardware_id = "esp32s322"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
# ── Lifecycle ─────────────────────────────────────────────────────────────
|
||||
|
||||
def destroy_node(self):
|
||||
|
||||
@ -1,31 +1,15 @@
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
"""stm32_cmd_node.py — Orin ↔ ESP32-S3 IO auxiliary bridge node.
|
||||
=======
|
||||
"""esp32_cmd_node.py — Full bidirectional binary-framed ESP32-S3↔Jetson bridge.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
|
||||
Connects to the ESP32-S3 IO board via USB-CDC (/dev/esp32-io) using the
|
||||
inter-board binary protocol (docs/SAUL-TEE-SYSTEM-REFERENCE.md §5).
|
||||
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
This node is NOT the primary drive path (that is CAN via can_bridge_node).
|
||||
It handles auxiliary I/O: RC monitoring, sensor data, LED/output control.
|
||||
=======
|
||||
TX commands (Jetson → ESP32-S3):
|
||||
SPEED_STEER — 50 Hz from /cmd_vel subscription
|
||||
HEARTBEAT — 200 ms timer (ESP32-S3 watchdog fires at 500 ms)
|
||||
ARM — via /saltybot/arm service
|
||||
SET_MODE — via /saltybot/set_mode service
|
||||
PID_UPDATE — via /saltybot/pid_update topic
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
|
||||
Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8] @ 460800 baud
|
||||
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
RX from ESP32 IO:
|
||||
RC_CHANNELS (0x01) → /saltybot/rc_channels (std_msgs/String JSON)
|
||||
SENSORS (0x02) → /saltybot/sensors (std_msgs/String JSON)
|
||||
=======
|
||||
RX telemetry (ESP32-S3 → Jetson):
|
||||
IMU → /saltybot/imu (sensor_msgs/Imu)
|
||||
BATTERY → /saltybot/telemetry/battery (std_msgs/String JSON)
|
||||
@ -33,20 +17,11 @@ RX telemetry (ESP32-S3 → Jetson):
|
||||
ARM_STATE → /saltybot/arm_state (std_msgs/String JSON)
|
||||
ERROR → /saltybot/error (std_msgs/String JSON)
|
||||
All frames → /diagnostics (diagnostic_msgs/DiagnosticArray)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
|
||||
TX to ESP32 IO:
|
||||
LED_CMD (0x10) ← /saltybot/leds (std_msgs/String JSON)
|
||||
OUTPUT_CMD (0x11) ← /saltybot/outputs (std_msgs/String JSON)
|
||||
HEARTBEAT (0x20) — sent every heartbeat_period (keep IO watchdog alive)
|
||||
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
Parameters (config/stm32_cmd_params.yaml):
|
||||
serial_port /dev/esp32-io
|
||||
baud_rate 460800
|
||||
reconnect_delay 2.0
|
||||
heartbeat_period 0.2 (ESP32 IO watchdog fires at ~500 ms)
|
||||
=======
|
||||
Parameters (config/esp32_cmd_params.yaml):
|
||||
serial_port /dev/ttyACM0
|
||||
baud_rate 921600
|
||||
@ -54,9 +29,7 @@ Parameters (config/esp32_cmd_params.yaml):
|
||||
heartbeat_period 0.2 (seconds)
|
||||
watchdog_timeout 0.5 (seconds — no /cmd_vel → send zero-speed)
|
||||
speed_scale 1000.0 (linear.x m/s → ESC units)
|
||||
steer_scale -500.0 (angular.z rad/s → ESC units, neg to flip convention)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
"""
|
||||
steer_scale -500.0 (angular.z rad/s → ESC units, neg to flip convention)"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
@ -73,13 +46,7 @@ import serial
|
||||
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
|
||||
from std_msgs.msg import String
|
||||
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
from .stm32_protocol import (
|
||||
BAUD_RATE,
|
||||
=======
|
||||
from .esp32_protocol import (
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
FrameParser,
|
||||
from .esp32_protocol import ( FrameParser,
|
||||
RcChannels,
|
||||
SensorData,
|
||||
encode_heartbeat,
|
||||
@ -88,13 +55,8 @@ from .esp32_protocol import (
|
||||
)
|
||||
|
||||
|
||||
class Stm32CmdNode(Node):
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
"""Orin ↔ ESP32-S3 IO auxiliary bridge node."""
|
||||
=======
|
||||
class Esp32CmdNode(Node):
|
||||
"""Binary-framed Jetson↔ESP32-S3 bridge node."""
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
|
||||
def __init__(self) -> None:
|
||||
super().__init__("esp32_cmd_node")
|
||||
|
||||
@ -138,13 +100,8 @@ class Stm32CmdNode(Node):
|
||||
self._diag_timer = self.create_timer(1.0, self._publish_diagnostics)
|
||||
|
||||
self.get_logger().info(
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
f"stm32_cmd_node started — {self._port_name} @ {self._baud} baud"
|
||||
=======
|
||||
f"esp32_cmd_node started — {port} @ {baud} baud | "
|
||||
f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms"
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
)
|
||||
f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms" )
|
||||
|
||||
# ── Serial management ─────────────────────────────────────────────────
|
||||
|
||||
@ -245,9 +202,6 @@ class Stm32CmdNode(Node):
|
||||
type_code, _ = msg
|
||||
self.get_logger().debug(f"Unknown inter-board type 0x{type_code:02X}")
|
||||
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
# ── TX ────────────────────────────────────────────────────────────────
|
||||
=======
|
||||
elif isinstance(frame, ArmStateFrame):
|
||||
self._publish_arm_state(frame, now)
|
||||
|
||||
@ -358,8 +312,6 @@ class Stm32CmdNode(Node):
|
||||
"SPEED_STEER dropped — serial not open",
|
||||
throttle_duration_sec=2.0,
|
||||
)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
|
||||
def _heartbeat_cb(self) -> None:
|
||||
self._write(encode_heartbeat())
|
||||
|
||||
@ -399,14 +351,8 @@ class Stm32CmdNode(Node):
|
||||
diag = DiagnosticArray()
|
||||
diag.header.stamp = self.get_clock().now().to_msg()
|
||||
status = DiagnosticStatus()
|
||||
<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
|
||||
status.name = "saltybot/esp32_io_bridge"
|
||||
status.hardware_id = "esp32-s3-io"
|
||||
=======
|
||||
status.name = "saltybot/esp32_cmd_node"
|
||||
status.hardware_id = "esp32s322"
|
||||
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
|
||||
port_ok = self._ser is not None and self._ser.is_open
|
||||
status.level = DiagnosticStatus.OK if port_ok else DiagnosticStatus.ERROR
|
||||
status.message = "Serial OK" if port_ok else f"Disconnected: {self._port_name}"
|
||||
@ -436,7 +382,7 @@ class Stm32CmdNode(Node):
|
||||
|
||||
def main(args=None) -> None:
|
||||
rclpy.init(args=args)
|
||||
node = Stm32CmdNode()
|
||||
node = Esp32CmdNode()
|
||||
try:
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
|
||||
@ -1,16 +1,8 @@
|
||||
"""
|
||||
<<<<<<< HEAD
|
||||
remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 USB CDC
|
||||
|
||||
{"kill": true} -> writes 'E\n' to ESP32 BALANCE (ESTOP_REMOTE, immediate motor cutoff)
|
||||
{"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm)
|
||||
=======
|
||||
remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32-S3 USB CDC
|
||||
|
||||
{"kill": true} -> writes 'E\n' to ESP32-S3 (ESTOP_REMOTE, immediate motor cutoff)
|
||||
{"kill": false} -> writes 'Z\n' to ESP32-S3 (clear latch, robot can re-arm)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in
|
||||
AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT).
|
||||
|
||||
|
||||
@ -9,13 +9,13 @@ back to FC over CAN.
|
||||
CAN interface: SocketCAN (CANable USB adapter on vcan0 / can0)
|
||||
|
||||
FC → Orin (telemetry):
|
||||
0x400 FC_STATUS int16 pitch_x10, int16 motor_cmd, uint16 vbat_mv,
|
||||
0x400 BALANCE_STATUS int16 pitch_x10, int16 motor_cmd, uint16 vbat_mv,
|
||||
uint8 balance_state, uint8 flags (10 Hz)
|
||||
0x401 FC_VESC int16 left_rpm_x10, int16 right_rpm_x10,
|
||||
0x401 BALANCE_VESC int16 left_rpm_x10, int16 right_rpm_x10,
|
||||
int16 left_cur_x10, int16 right_cur_x10 (10 Hz)
|
||||
0x402 FC_IMU int16 pitch_x10, int16 roll_x10, int16 yaw_x10,
|
||||
0x402 BALANCE_IMU int16 pitch_x10, int16 roll_x10, int16 yaw_x10,
|
||||
uint8 cal_status, uint8 balance_state (50 Hz)
|
||||
0x403 FC_BARO int32 pressure_pa, int16 temp_x10, int16 alt_cm (1 Hz)
|
||||
0x403 BALANCE_BARO int32 pressure_pa, int16 temp_x10, int16 alt_cm (1 Hz)
|
||||
|
||||
Orin → FC (commands):
|
||||
0x300 HEARTBEAT uint32 sequence counter (5 Hz)
|
||||
@ -57,10 +57,10 @@ from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
|
||||
|
||||
# ---- CAN frame IDs ------------------------------------------------
|
||||
|
||||
CAN_FC_STATUS = 0x400
|
||||
CAN_FC_VESC = 0x401
|
||||
CAN_FC_IMU = 0x402
|
||||
CAN_FC_BARO = 0x403
|
||||
CAN_BALANCE_STATUS = 0x400
|
||||
CAN_BALANCE_VESC = 0x401
|
||||
CAN_BALANCE_IMU = 0x402
|
||||
CAN_BALANCE_BARO = 0x403
|
||||
|
||||
CAN_HEARTBEAT = 0x300
|
||||
CAN_DRIVE = 0x301
|
||||
@ -216,11 +216,11 @@ class SaltybotCanNode(Node):
|
||||
|
||||
def _dispatch(self, can_id: int, data: bytes):
|
||||
now = self.get_clock().now().to_msg()
|
||||
if can_id == CAN_FC_IMU and len(data) >= 8:
|
||||
if can_id == CAN_BALANCE_IMU and len(data) >= 8:
|
||||
self._handle_fc_imu(data, now)
|
||||
elif can_id == CAN_FC_STATUS and len(data) >= 8:
|
||||
elif can_id == CAN_BALANCE_STATUS and len(data) >= 8:
|
||||
self._handle_fc_status(data)
|
||||
elif can_id == CAN_FC_BARO and len(data) >= 8:
|
||||
elif can_id == CAN_BALANCE_BARO and len(data) >= 8:
|
||||
self._handle_fc_baro(data, now)
|
||||
|
||||
# ── Frame handlers ───────────────────────────────────────────────
|
||||
@ -322,12 +322,7 @@ class SaltybotCanNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
st = DiagnosticStatus()
|
||||
st.name = "saltybot/balance_controller"
|
||||
<<<<<<< HEAD
|
||||
st.hardware_id = "esp32"
|
||||
=======
|
||||
st.hardware_id = "esp32s322"
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
st.message = state_label
|
||||
st.hardware_id = "esp32s322" st.message = state_label
|
||||
st.level = (DiagnosticStatus.OK if state == 1 else
|
||||
DiagnosticStatus.WARN if state == 0 else
|
||||
DiagnosticStatus.ERROR)
|
||||
|
||||
@ -1,26 +1,8 @@
|
||||
"""
|
||||
<<<<<<< HEAD
|
||||
saltybot_cmd_node — full bidirectional ESP32 BALANCE↔Jetson bridge
|
||||
=======
|
||||
saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridge
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
Combines telemetry RX (from serial_bridge_node) with drive command TX.
|
||||
saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridgeCombines telemetry RX (from serial_bridge_node) with drive command TX.
|
||||
|
||||
Owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node.
|
||||
|
||||
<<<<<<< HEAD
|
||||
RX path (50Hz from ESP32 BALANCE):
|
||||
JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
|
||||
|
||||
TX path:
|
||||
/cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n → ESP32 BALANCE
|
||||
Heartbeat timer (200ms) → H\\n → ESP32 BALANCE
|
||||
|
||||
Protocol:
|
||||
H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms.
|
||||
C<spd>,<str>\\n — drive command. speed/steer: -1000..+1000 integers.
|
||||
C command also refreshes ESP32 BALANCE heartbeat timer.
|
||||
=======
|
||||
RX path (50Hz from ESP32-S3):
|
||||
JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
|
||||
|
||||
@ -32,8 +14,6 @@ Protocol:
|
||||
H\\n — heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms.
|
||||
C<spd>,<str>\\n — drive command. speed/steer: -1000..+1000 integers.
|
||||
C command also refreshes ESP32-S3 heartbeat timer.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Twist mapping (configurable via ROS2 params):
|
||||
speed = clamp(linear.x * speed_scale, -1000, 1000)
|
||||
steer = clamp(angular.z * steer_scale, -1000, 1000)
|
||||
@ -118,12 +98,7 @@ class SaltybotCmdNode(Node):
|
||||
self._open_serial()
|
||||
|
||||
# ── Timers ────────────────────────────────────────────────────────────
|
||||
<<<<<<< HEAD
|
||||
# Telemetry read at 100Hz (ESP32 BALANCE sends at 50Hz)
|
||||
=======
|
||||
# Telemetry read at 100Hz (ESP32-S3 sends at 50Hz)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
self._read_timer = self.create_timer(0.01, self._read_cb)
|
||||
# Telemetry read at 100Hz (ESP32-S3 sends at 50Hz) self._read_timer = self.create_timer(0.01, self._read_cb)
|
||||
# Heartbeat TX at configured period (default 200ms)
|
||||
self._hb_timer = self.create_timer(self._hb_period, self._heartbeat_cb)
|
||||
|
||||
@ -288,12 +263,7 @@ class SaltybotCmdNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
status = DiagnosticStatus()
|
||||
status.name = "saltybot/balance_controller"
|
||||
<<<<<<< HEAD
|
||||
status.hardware_id = "esp32"
|
||||
=======
|
||||
status.hardware_id = "esp32s322"
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
status.message = state_label
|
||||
status.hardware_id = "esp32s322" status.message = state_label
|
||||
if state == 1:
|
||||
status.level = DiagnosticStatus.OK
|
||||
elif state == 0:
|
||||
@ -320,20 +290,11 @@ class SaltybotCmdNode(Node):
|
||||
status = DiagnosticStatus()
|
||||
status.level = DiagnosticStatus.ERROR
|
||||
status.name = "saltybot/balance_controller"
|
||||
<<<<<<< HEAD
|
||||
status.hardware_id = "esp32"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
|
||||
=======
|
||||
status.hardware_id = "esp32s322"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
# ── TX — command send ─────────────────────────────────────────────────────
|
||||
|
||||
def _cmd_vel_cb(self, msg: Twist):
|
||||
@ -350,12 +311,7 @@ class SaltybotCmdNode(Node):
|
||||
)
|
||||
|
||||
def _heartbeat_cb(self):
|
||||
<<<<<<< HEAD
|
||||
"""Send H\\n heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms."""
|
||||
=======
|
||||
"""Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms."""
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
self._write(b"H\n")
|
||||
"""Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms.""" self._write(b"H\n")
|
||||
|
||||
# ── Lifecycle ─────────────────────────────────────────────────────────────
|
||||
|
||||
|
||||
@ -1,11 +1,6 @@
|
||||
"""
|
||||
saltybot_bridge — serial_bridge_node
|
||||
<<<<<<< HEAD
|
||||
ESP32 USB CDC → ROS2 topic publisher
|
||||
=======
|
||||
ESP32-S3 USB CDC → ROS2 topic publisher
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Telemetry frame (50 Hz, newline-delimited JSON):
|
||||
{"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
|
||||
"m":<motor_cmd -1000..1000>,"s":<state 0-2>,"y":<yaw×10>}
|
||||
@ -33,12 +28,7 @@ from sensor_msgs.msg import Imu
|
||||
from std_msgs.msg import String
|
||||
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
|
||||
|
||||
<<<<<<< HEAD
|
||||
# Balance state labels matching ESP32 BALANCE balance_state_t enum
|
||||
=======
|
||||
# Balance state labels matching ESP32-S3 balance_state_t enum
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
_STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
|
||||
# Balance state labels matching ESP32-S3 balance_state_t enum_STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
|
||||
|
||||
# Sensor frame_id published in Imu header
|
||||
IMU_FRAME_ID = "imu_link"
|
||||
@ -91,15 +81,10 @@ class SerialBridgeNode(Node):
|
||||
|
||||
# ── Open serial and start read timer ──────────────────────────────────
|
||||
self._open_serial()
|
||||
<<<<<<< HEAD
|
||||
# Poll at 100 Hz — ESP32 BALANCE sends at 50 Hz, so we never miss a frame
|
||||
=======
|
||||
# Poll at 100 Hz — ESP32-S3 sends at 50 Hz, so we never miss a frame
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
self._timer = self.create_timer(0.01, self._read_cb)
|
||||
# Poll at 100 Hz — ESP32-S3 sends at 50 Hz, so we never miss a frame self._timer = self.create_timer(0.01, self._read_cb)
|
||||
|
||||
self.get_logger().info(
|
||||
f"stm32_serial_bridge started — {port} @ {baud} baud"
|
||||
f"esp32_serial_bridge started — {port} @ {baud} baud"
|
||||
)
|
||||
|
||||
# ── Serial management ─────────────────────────────────────────────────────
|
||||
@ -129,12 +114,7 @@ class SerialBridgeNode(Node):
|
||||
|
||||
def write_serial(self, data: bytes) -> bool:
|
||||
"""
|
||||
<<<<<<< HEAD
|
||||
Send raw bytes to ESP32 BALANCE over the open serial port.
|
||||
=======
|
||||
Send raw bytes to ESP32-S3 over the open serial port.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
Returns False if port is not open (caller should handle gracefully).
|
||||
Send raw bytes to ESP32-S3 over the open serial port. Returns False if port is not open (caller should handle gracefully).
|
||||
Note: for bidirectional use prefer saltybot_cmd_node which owns TX natively.
|
||||
"""
|
||||
if self._ser is None or not self._ser.is_open:
|
||||
@ -222,12 +202,7 @@ class SerialBridgeNode(Node):
|
||||
"""
|
||||
Publish sensor_msgs/Imu.
|
||||
|
||||
<<<<<<< HEAD
|
||||
The ESP32 BALANCE IMU gives Euler angles (pitch/roll from accelerometer+gyro
|
||||
=======
|
||||
The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
fusion, yaw from gyro integration). We publish them as angular_velocity
|
||||
The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro fusion, yaw from gyro integration). We publish them as angular_velocity
|
||||
for immediate use by slam_toolbox / robot_localization.
|
||||
|
||||
Note: orientation quaternion is left zeroed (covariance [-1,...]) until
|
||||
@ -284,12 +259,7 @@ class SerialBridgeNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
status = DiagnosticStatus()
|
||||
status.name = "saltybot/balance_controller"
|
||||
<<<<<<< HEAD
|
||||
status.hardware_id = "esp32"
|
||||
=======
|
||||
status.hardware_id = "esp32s322"
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
status.message = state_label
|
||||
status.hardware_id = "esp32s322" status.message = state_label
|
||||
|
||||
if state == 1: # ARMED
|
||||
status.level = DiagnosticStatus.OK
|
||||
@ -317,20 +287,11 @@ class SerialBridgeNode(Node):
|
||||
status = DiagnosticStatus()
|
||||
status.level = DiagnosticStatus.ERROR
|
||||
status.name = "saltybot/balance_controller"
|
||||
<<<<<<< HEAD
|
||||
status.hardware_id = "esp32"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"ESP32 BALANCE reported IMU fault: errno={errno}")
|
||||
=======
|
||||
status.hardware_id = "esp32s322"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"ESP32-S3 reported IMU fault: errno={errno}")
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
def destroy_node(self):
|
||||
self._close_serial()
|
||||
super().destroy_node()
|
||||
|
||||
@ -29,12 +29,7 @@ setup(
|
||||
zip_safe=True,
|
||||
maintainer="sl-jetson",
|
||||
maintainer_email="sl-jetson@saltylab.local",
|
||||
<<<<<<< HEAD
|
||||
description="ESP32 USB CDC → ROS2 serial bridge for saltybot",
|
||||
=======
|
||||
description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot",
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
license="MIT",
|
||||
description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot", license="MIT",
|
||||
tests_require=["pytest"],
|
||||
entry_points={
|
||||
"console_scripts": [
|
||||
@ -45,14 +40,8 @@ setup(
|
||||
# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
|
||||
"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
|
||||
"remote_estop_node = saltybot_bridge.remote_estop_node:main",
|
||||
<<<<<<< HEAD
|
||||
# Binary-framed ESP32 BALANCE command node (Issue #119)
|
||||
"stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main",
|
||||
=======
|
||||
# Binary-framed ESP32-S3 command node (Issue #119)
|
||||
"esp32_cmd_node = saltybot_bridge.esp32_cmd_node:main",
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
# Battery management node (Issue #125)
|
||||
"esp32_cmd_node = saltybot_bridge.esp32_cmd_node:main", # Battery management node (Issue #125)
|
||||
"battery_node = saltybot_bridge.battery_node:main",
|
||||
# Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)
|
||||
"saltybot_can_node = saltybot_bridge.saltybot_can_node:main",
|
||||
|
||||
@ -1,10 +1,5 @@
|
||||
"""
|
||||
<<<<<<< HEAD
|
||||
Unit tests for Jetson→ESP32 BALANCE command serialization logic.
|
||||
=======
|
||||
Unit tests for Jetson→ESP32-S3 command serialization logic.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
Tests Twist→speed/steer conversion and frame formatting.
|
||||
Unit tests for Jetson→ESP32-S3 command serialization logic.Tests Twist→speed/steer conversion and frame formatting.
|
||||
Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
|
||||
"""
|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
"""test_esp32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port.
|
||||
"""test_esp32_cmd_node.py — Unit tests for Esp32CmdNode with mock serial port.
|
||||
|
||||
Tests:
|
||||
- Serial open/close lifecycle
|
||||
|
||||
@ -1,10 +1,5 @@
|
||||
"""
|
||||
<<<<<<< HEAD
|
||||
Unit tests for ESP32 BALANCE telemetry parsing logic.
|
||||
=======
|
||||
Unit tests for ESP32-S3 telemetry parsing logic.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
|
||||
Unit tests for ESP32-S3 telemetry parsing logic.Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
|
||||
"""
|
||||
|
||||
import json
|
||||
|
||||
@ -19,12 +19,7 @@
|
||||
# inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
|
||||
# DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer)
|
||||
#
|
||||
<<<<<<< HEAD
|
||||
# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
|
||||
=======
|
||||
# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: false
|
||||
|
||||
@ -53,14 +53,7 @@ rosbridge_websocket:
|
||||
"/vesc/left/state",
|
||||
"/vesc/right/state",
|
||||
"/tf",
|
||||
"/tf_static",
|
||||
"/saltybot/phone/gps",
|
||||
"/saltybot/phone/imu",
|
||||
"/saltybot/phone/battery",
|
||||
"/saltybot/phone/bridge/status",
|
||||
"/gps/fix",
|
||||
"/gps/vel",
|
||||
"/saltybot/ios/gps"]
|
||||
"/tf_static"]
|
||||
|
||||
services_glob: "[]" # no service calls via WebSocket
|
||||
params_glob: "[]" # no parameter access via WebSocket
|
||||
@ -74,7 +67,7 @@ rosbridge_websocket:
|
||||
|
||||
# Delay between consecutive outgoing messages (ms). 0 = unlimited.
|
||||
# Set > 0 (e.g. 10) if browser JS event loop is overwhelmed.
|
||||
delay_between_messages: 0.0
|
||||
delay_between_messages: 0
|
||||
|
||||
# ── Logging ───────────────────────────────────────────────────────────────
|
||||
# Set to true to log every publish/subscribe call (verbose, dev only).
|
||||
|
||||
@ -2,12 +2,7 @@
|
||||
# Master configuration for full stack bringup
|
||||
|
||||
# ────────────────────────────────────────────────────────────────────────────
|
||||
<<<<<<< HEAD
|
||||
# HARDWARE — ESP32 BALANCE Bridge & Motor Control
|
||||
=======
|
||||
# HARDWARE — ESP32-S3 Bridge & Motor Control
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
# ────────────────────────────────────────────────────────────────────────────
|
||||
# HARDWARE — ESP32-S3 Bridge & Motor Control# ────────────────────────────────────────────────────────────────────────────
|
||||
|
||||
saltybot_bridge_node:
|
||||
ros__parameters:
|
||||
|
||||
@ -39,8 +39,7 @@ Modes
|
||||
─ UWB driver (2-anchor DW3000, publishes /uwb/target)
|
||||
─ YOLOv8n person detection (TensorRT)
|
||||
─ Person follower with UWB+camera fusion
|
||||
─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
|
||||
─ rosbridge WebSocket (port 9090)
|
||||
─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate) ─ rosbridge WebSocket (port 9090)
|
||||
|
||||
outdoor
|
||||
─ RPLIDAR + RealSense D435i sensors (no SLAM)
|
||||
@ -58,8 +57,7 @@ Launch sequence (wall-clock delays — conservative for cold start)
|
||||
─────────────────────────────────────────────────────────────────
|
||||
t= 0s robot_description (URDF + TF tree)
|
||||
t= 0s ESP32-S3 bridge (serial port owner — must be first)
|
||||
t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32-S3 bridge up)
|
||||
t= 2s sensors (RPLIDAR + RealSense)
|
||||
t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32-S3 bridge up) t= 2s sensors (RPLIDAR + RealSense)
|
||||
t= 4s UWB driver (independent serial device)
|
||||
t= 4s CSI cameras (optional, independent)
|
||||
t= 5s audio_pipeline (Jabra SPEAK 810: wake word + STT + TTS; Issue #503)
|
||||
@ -74,8 +72,7 @@ Safety wiring
|
||||
• ESP32-S3 bridge must be up before cmd_vel bridge sends any command.
|
||||
• cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
|
||||
• ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
|
||||
until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
|
||||
• follow_enabled:=false disables person follower without stopping the node.
|
||||
until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel. • follow_enabled:=false disables person follower without stopping the node.
|
||||
• To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
|
||||
|
||||
Topics published by this stack
|
||||
@ -91,8 +88,7 @@ Topics published by this stack
|
||||
/person/target PoseStamped (camera position, base_link)
|
||||
/person/detections Detection2DArray
|
||||
/cmd_vel Twist (from follower or Nav2)
|
||||
/saltybot/cmd String (to ESP32-S3)
|
||||
/saltybot/imu Imu
|
||||
/saltybot/cmd String (to ESP32-S3) /saltybot/imu Imu
|
||||
/saltybot/balance_state String
|
||||
"""
|
||||
|
||||
@ -209,8 +205,7 @@ def generate_launch_description():
|
||||
enable_bridge_arg = DeclareLaunchArgument(
|
||||
"enable_bridge",
|
||||
default_value="true",
|
||||
description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
|
||||
)
|
||||
description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)", )
|
||||
|
||||
enable_rosbridge_arg = DeclareLaunchArgument(
|
||||
"enable_rosbridge",
|
||||
@ -218,7 +213,7 @@ def generate_launch_description():
|
||||
description="Launch rosbridge WebSocket server (port 9090)",
|
||||
)
|
||||
|
||||
enable_mission_logging_arg = DeclareLaunchArgument(
|
||||
enable_mission_logging_arg = DeclareLaunchArgument(
|
||||
"enable_mission_logging",
|
||||
default_value="true",
|
||||
description="Launch ROS2 bag recorder for mission logging (Issue #488)",
|
||||
@ -270,8 +265,7 @@ def generate_launch_description():
|
||||
esp32_port_arg = DeclareLaunchArgument(
|
||||
"esp32_port",
|
||||
default_value="/dev/esp32-bridge",
|
||||
description="ESP32-S3 USB CDC serial port",
|
||||
)
|
||||
description="ESP32-S3 USB CDC serial port", )
|
||||
|
||||
# ── Shared substitution handles ───────────────────────────────────────────
|
||||
# Profile argument for parameter override (Issue #506)
|
||||
@ -290,8 +284,7 @@ def generate_launch_description():
|
||||
launch_arguments={"use_sim_time": use_sim_time}.items(),
|
||||
)
|
||||
|
||||
# ── t=0s ESP32-S3 bidirectional serial bridge ───────────────────────────────
|
||||
esp32_bridge = GroupAction(
|
||||
# ── t=0s ESP32-S3 bidirectional serial bridge ──────────────────────────────── esp32_bridge = GroupAction(
|
||||
condition=IfCondition(LaunchConfiguration("enable_bridge")),
|
||||
actions=[
|
||||
IncludeLaunchDescription(
|
||||
@ -320,8 +313,7 @@ def generate_launch_description():
|
||||
],
|
||||
)
|
||||
|
||||
# ── t=2s cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
|
||||
cmd_vel_bridge = TimerAction(
|
||||
# ── t=2s cmd_vel safety bridge (depends on ESP32-S3 bridge) ──────────────── cmd_vel_bridge = TimerAction(
|
||||
period=2.0,
|
||||
actions=[
|
||||
GroupAction(
|
||||
|
||||
@ -19,12 +19,7 @@ Usage
|
||||
|
||||
Startup sequence
|
||||
────────────────
|
||||
<<<<<<< HEAD
|
||||
GROUP A — Drivers t= 0 s ESP32 bridge, RealSense+RPLIDAR, motor daemon, IMU
|
||||
=======
|
||||
GROUP A — Drivers t= 0 s ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
|
||||
GROUP A — Drivers t= 0 s ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
|
||||
GROUP B — Perception t= 8 s UWB, person detection, object detection, depth costmap, gimbal
|
||||
health gate ───────────────────────────────────────────────── t=16 s (full/debug)
|
||||
GROUP C — Navigation t=16 s SLAM, Nav2, lidar avoidance, follower, docking
|
||||
@ -127,12 +122,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
esp32_port_arg = DeclareLaunchArgument(
|
||||
"esp32_port",
|
||||
default_value="/dev/esp32-bridge",
|
||||
<<<<<<< HEAD
|
||||
description="ESP32 UART bridge serial device",
|
||||
=======
|
||||
description="ESP32-S3 USART bridge serial device",
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
)
|
||||
description="ESP32-S3 USART bridge serial device", )
|
||||
|
||||
uwb_port_a_arg = DeclareLaunchArgument(
|
||||
"uwb_port_a",
|
||||
@ -206,12 +196,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
|
||||
# ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
|
||||
# GROUP A — DRIVERS (t = 0 s, all profiles)
|
||||
<<<<<<< HEAD
|
||||
# Dependency order: ESP32 bridge first, then sensors, then motor daemon.
|
||||
=======
|
||||
# Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
# Health gate: subsequent groups delayed until t_perception (8 s full/debug).
|
||||
# Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon. # Health gate: subsequent groups delayed until t_perception (8 s full/debug).
|
||||
# ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
|
||||
|
||||
group_a_banner = LogInfo(
|
||||
@ -224,12 +209,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
launch_arguments={"use_sim_time": use_sim_time}.items(),
|
||||
)
|
||||
|
||||
<<<<<<< HEAD
|
||||
# ESP32 BALANCE bridge
|
||||
=======
|
||||
# ESP32-S3 bidirectional bridge (JLINK USART1)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
esp32_bridge = IncludeLaunchDescription(
|
||||
# ESP32-S3 bidirectional bridge (JLINK USART1) esp32_bridge = IncludeLaunchDescription(
|
||||
_launch("saltybot_bridge", "launch", "bridge.launch.py"),
|
||||
launch_arguments={
|
||||
"mode": "bidirectional",
|
||||
@ -248,12 +228,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
],
|
||||
)
|
||||
|
||||
<<<<<<< HEAD
|
||||
# Motor daemon: /cmd_vel → ESP32 BALANCE DRIVE frames (depends on bridge at t=0)
|
||||
=======
|
||||
# Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
motor_daemon = TimerAction(
|
||||
# Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0) motor_daemon = TimerAction(
|
||||
period=2.5,
|
||||
actions=[
|
||||
LogInfo(msg="[saltybot_bringup] t=2.5s Starting motor daemon"),
|
||||
|
||||
@ -20,12 +20,7 @@ theta is kept in (−π, π] after every step.
|
||||
|
||||
Int32 rollover
|
||||
--------------
|
||||
<<<<<<< HEAD
|
||||
ESP32 BALANCE encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles
|
||||
=======
|
||||
ESP32-S3 encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
this by detecting jumps larger than half the int32 range and adjusting by the
|
||||
ESP32-S3 encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handlesthis by detecting jumps larger than half the int32 range and adjusting by the
|
||||
full range:
|
||||
|
||||
if delta > 2^30 : delta -= 2^31
|
||||
|
||||
@ -69,12 +69,7 @@ class Profile:
|
||||
t_ui: float = 22.0 # Group D (nav2 needs ~4 s to load costmaps)
|
||||
|
||||
# ── Safety ────────────────────────────────────────────────────────────
|
||||
<<<<<<< HEAD
|
||||
watchdog_timeout_s: float = 5.0 # max silence from ESP32 bridge (s)
|
||||
=======
|
||||
watchdog_timeout_s: float = 5.0 # max silence from ESP32-S3 bridge (s)
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
cmd_vel_deadman_s: float = 0.5 # cmd_vel watchdog in bridge
|
||||
watchdog_timeout_s: float = 5.0 # max silence from ESP32-S3 bridge (s) cmd_vel_deadman_s: float = 0.5 # cmd_vel watchdog in bridge
|
||||
max_linear_vel: float = 0.5 # m/s cap passed to bridge + follower
|
||||
follow_distance_m: float = 1.5 # target follow distance (m)
|
||||
|
||||
@ -94,12 +89,7 @@ class Profile:
|
||||
# ── Profile factory ────────────────────────────────────────────────────────────
|
||||
|
||||
def _minimal() -> Profile:
|
||||
<<<<<<< HEAD
|
||||
"""Minimal: ESP32 bridge + sensors + motor daemon.
|
||||
=======
|
||||
"""Minimal: ESP32-S3 bridge + sensors + motor daemon.
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
Safe drive control only. No AI, no nav, no social.
|
||||
Boot time ~4 s. RAM ~400 MB.
|
||||
"""
|
||||
|
||||
@ -1,12 +1,7 @@
|
||||
"""
|
||||
wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184).
|
||||
|
||||
<<<<<<< HEAD
|
||||
Subscribes to raw encoder tick counts from the ESP32 bridge, integrates
|
||||
=======
|
||||
Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integrates
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
|
||||
Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integratesdifferential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
|
||||
Optionally broadcasts the odom → base_link TF transform.
|
||||
|
||||
Subscribes:
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
[Unit]
|
||||
Description=CANable 2.0 CAN bus bringup (can0, 1 Mbps DroneCAN — Here4 GPS)
|
||||
Description=CANable 2.0 CAN bus bringup (can0, 500 kbps)
|
||||
Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
|
||||
# Wait until the gs_usb net device appears; udev fires After=sys-subsystem-net-devices-can0.device
|
||||
After=network.target sys-subsystem-net-devices-can0.device
|
||||
@ -10,7 +10,7 @@ BindsTo=sys-subsystem-net-devices-can0.device
|
||||
Type=oneshot
|
||||
RemainAfterExit=yes
|
||||
|
||||
ExecStart=/usr/sbin/ip link set can0 up type can bitrate 1000000
|
||||
ExecStart=/usr/sbin/ip link set can0 up type can bitrate 500000
|
||||
ExecStop=/usr/sbin/ip link set can0 down
|
||||
|
||||
StandardOutput=journal
|
||||
|
||||
@ -61,12 +61,7 @@ kill %1
|
||||
|
||||
### Core System Components
|
||||
- Robot Description (URDF/TF tree)
|
||||
<<<<<<< HEAD
|
||||
- ESP32 Serial Bridge
|
||||
=======
|
||||
- ESP32-S3 Serial Bridge
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
- cmd_vel Bridge
|
||||
- ESP32-S3 Serial Bridge- cmd_vel Bridge
|
||||
- Rosbridge WebSocket
|
||||
|
||||
### Sensors
|
||||
@ -129,12 +124,7 @@ free -h
|
||||
|
||||
### cmd_vel bridge not responding
|
||||
```bash
|
||||
<<<<<<< HEAD
|
||||
# Verify ESP32 bridge is running first
|
||||
=======
|
||||
# Verify ESP32-S3 bridge is running first
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
ros2 node list | grep bridge
|
||||
# Verify ESP32-S3 bridge is running firstros2 node list | grep bridge
|
||||
|
||||
# Check serial port
|
||||
ls -l /dev/esp32-bridge
|
||||
|
||||
@ -2,10 +2,6 @@
|
||||
# Exposes the adapter as can0 via the SocketCAN subsystem.
|
||||
# Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
|
||||
#
|
||||
# Bitrate is set by can-bringup.service (1 Mbps DroneCAN for Here4 GPS, bd-p47c).
|
||||
# This rule only assigns the interface name and tags it for systemd; it does NOT
|
||||
# bring up the interface — that is handled by can-bringup.service.
|
||||
#
|
||||
# Install:
|
||||
# sudo cp 70-canable.rules /etc/udev/rules.d/
|
||||
# sudo udevadm control --reload && sudo udevadm trigger
|
||||
@ -20,4 +16,4 @@
|
||||
SUBSYSTEM=="net", ACTION=="add", \
|
||||
ATTRS{idVendor}=="1d50", ATTRS{idProduct}=="606f", \
|
||||
NAME="can0", \
|
||||
TAG+="systemd"
|
||||
RUN+="/sbin/ip link set can0 up type can bitrate 500000"
|
||||
|
||||
@ -1,31 +0,0 @@
|
||||
# ESP32-S3 USB serial devices (bd-wim1)
|
||||
#
|
||||
# ESP32-S3 BALANCE (Waveshare LCD 1.28) — USB CDC via CH343 USB-UART chip
|
||||
# Appears as /dev/ttyACM0, symlinked to /dev/esp32-balance
|
||||
# idVendor = 1a86 (QinHeng Electronics / WCH)
|
||||
# idProduct = 55d4 (CH343 USB-UART)
|
||||
#
|
||||
# ESP32-S3 IO (bare board JTAG USB) — native USB CDC
|
||||
# Appears as /dev/ttyACM1, symlinked to /dev/esp32-io
|
||||
# idVendor = 303a (Espressif)
|
||||
# idProduct = 1001 (ESP32-S3 USB CDC)
|
||||
#
|
||||
# Install:
|
||||
# sudo cp 80-esp32.rules /etc/udev/rules.d/
|
||||
# sudo udevadm control --reload && sudo udevadm trigger
|
||||
#
|
||||
# Verify:
|
||||
# ls -la /dev/esp32-*
|
||||
# python3 -c "import serial; s=serial.Serial('/dev/esp32-balance', 460800); s.close(); print('OK')"
|
||||
|
||||
# ESP32-S3 BALANCE — CH343 USB-UART (bd-wim1 UART serial bridge)
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4", \
|
||||
SYMLINK+="esp32-balance", \
|
||||
TAG+="systemd", \
|
||||
MODE="0660", GROUP="dialout"
|
||||
|
||||
# ESP32-S3 IO — Espressif native USB CDC
|
||||
SUBSYSTEM=="tty", ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001", \
|
||||
SYMLINK+="esp32-io", \
|
||||
TAG+="systemd", \
|
||||
MODE="0660", GROUP="dialout"
|
||||
@ -3,5 +3,5 @@ can_bridge_node:
|
||||
can_interface: slcan0
|
||||
left_vesc_can_id: 56
|
||||
right_vesc_can_id: 68
|
||||
mamba_can_id: 1
|
||||
balance_can_id: 1
|
||||
command_timeout_s: 0.5
|
||||
|
||||
@ -6,13 +6,13 @@ and VESC telemetry.
|
||||
CAN message layout
|
||||
------------------
|
||||
Command frames (Orin → ESP32-S3 BALANCE / VESC):
|
||||
MAMBA_CMD_VELOCITY 0x100 8 bytes left_speed (f32, m/s) | right_speed (f32, m/s)
|
||||
MAMBA_CMD_MODE 0x101 1 byte mode (0=idle, 1=drive, 2=estop)
|
||||
MAMBA_CMD_ESTOP 0x102 1 byte 0x01 = stop
|
||||
BALANCE_CMD_VELOCITY 0x100 8 bytes left_speed (f32, m/s) | right_speed (f32, m/s)
|
||||
BALANCE_CMD_MODE 0x101 1 byte mode (0=idle, 1=drive, 2=estop)
|
||||
BALANCE_CMD_ESTOP 0x102 1 byte 0x01 = stop
|
||||
|
||||
Telemetry frames (ESP32-S3 BALANCE → Orin):
|
||||
MAMBA_TELEM_IMU 0x200 24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
|
||||
MAMBA_TELEM_BATTERY 0x201 8 bytes voltage (f32, V) | current (f32, A)
|
||||
BALANCE_TELEM_IMU 0x200 24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
|
||||
BALANCE_TELEM_BATTERY 0x201 8 bytes voltage (f32, V) | current (f32, A)
|
||||
|
||||
VESC telemetry frame (VESC → Orin):
|
||||
VESC_TELEM_STATE 0x300 16 bytes erpm (f32) | duty (f32) | voltage (f32) | current (f32)
|
||||
@ -30,12 +30,12 @@ from typing import Tuple
|
||||
# CAN message IDs
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
MAMBA_CMD_VELOCITY: int = 0x100
|
||||
MAMBA_CMD_MODE: int = 0x101
|
||||
MAMBA_CMD_ESTOP: int = 0x102
|
||||
BALANCE_CMD_VELOCITY: int = 0x100
|
||||
BALANCE_CMD_MODE: int = 0x101
|
||||
BALANCE_CMD_ESTOP: int = 0x102
|
||||
|
||||
MAMBA_TELEM_IMU: int = 0x200
|
||||
MAMBA_TELEM_BATTERY: int = 0x201
|
||||
BALANCE_TELEM_IMU: int = 0x200
|
||||
BALANCE_TELEM_BATTERY: int = 0x201
|
||||
|
||||
VESC_TELEM_STATE: int = 0x300
|
||||
ORIN_CAN_ID_PID_SET: int = 0x305
|
||||
@ -56,7 +56,7 @@ MODE_ESTOP: int = 2
|
||||
|
||||
@dataclass
|
||||
class ImuTelemetry:
|
||||
"""Decoded IMU telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_IMU)."""
|
||||
"""Decoded IMU telemetry from ESP32-S3 BALANCE (BALANCE_TELEM_IMU)."""
|
||||
|
||||
accel_x: float = 0.0 # m/s²
|
||||
accel_y: float = 0.0
|
||||
@ -68,7 +68,7 @@ class ImuTelemetry:
|
||||
|
||||
@dataclass
|
||||
class BatteryTelemetry:
|
||||
"""Decoded battery telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_BATTERY)."""
|
||||
"""Decoded battery telemetry from ESP32-S3 BALANCE (BALANCE_TELEM_BATTERY)."""
|
||||
|
||||
voltage: float = 0.0 # V
|
||||
current: float = 0.0 # A
|
||||
@ -106,7 +106,7 @@ _FMT_VESC = ">ffff" # 4 × float32
|
||||
|
||||
def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
|
||||
"""
|
||||
Encode a MAMBA_CMD_VELOCITY payload.
|
||||
Encode a BALANCE_CMD_VELOCITY payload.
|
||||
|
||||
Parameters
|
||||
----------
|
||||
@ -122,7 +122,7 @@ def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
|
||||
|
||||
def encode_mode_cmd(mode: int) -> bytes:
|
||||
"""
|
||||
Encode a MAMBA_CMD_MODE payload.
|
||||
Encode a BALANCE_CMD_MODE payload.
|
||||
|
||||
Parameters
|
||||
----------
|
||||
@ -139,7 +139,7 @@ def encode_mode_cmd(mode: int) -> bytes:
|
||||
|
||||
def encode_estop_cmd(stop: bool = True) -> bytes:
|
||||
"""
|
||||
Encode a MAMBA_CMD_ESTOP payload.
|
||||
Encode a BALANCE_CMD_ESTOP payload.
|
||||
|
||||
Parameters
|
||||
----------
|
||||
@ -165,7 +165,7 @@ def encode_pid_set_cmd(kp: float, ki: float, kd: float) -> bytes:
|
||||
|
||||
def decode_imu_telem(data: bytes) -> ImuTelemetry:
|
||||
"""
|
||||
Decode a MAMBA_TELEM_IMU payload.
|
||||
Decode a BALANCE_TELEM_IMU payload.
|
||||
|
||||
Parameters
|
||||
----------
|
||||
@ -188,7 +188,7 @@ def decode_imu_telem(data: bytes) -> ImuTelemetry:
|
||||
|
||||
def decode_battery_telem(data: bytes) -> BatteryTelemetry:
|
||||
"""
|
||||
Decode a MAMBA_TELEM_BATTERY payload.
|
||||
Decode a BALANCE_TELEM_BATTERY payload.
|
||||
|
||||
Parameters
|
||||
----------
|
||||
|
||||
@ -39,22 +39,22 @@ from sensor_msgs.msg import BatteryState
|
||||
from std_msgs.msg import Bool, Float32MultiArray, String
|
||||
|
||||
from saltybot_can_bridge.balance_protocol import (
|
||||
MAMBA_CMD_ESTOP,
|
||||
MAMBA_CMD_MODE,
|
||||
MAMBA_CMD_VELOCITY,
|
||||
MAMBA_TELEM_BATTERY,
|
||||
MAMBA_TELEM_IMU,
|
||||
BALANCE_CMD_ESTOP,
|
||||
BALANCE_CMD_MODE,
|
||||
BALANCE_CMD_VELOCITY,
|
||||
BALANCE_TELEM_BATTERY,
|
||||
BALANCE_TELEM_IMU,
|
||||
VESC_TELEM_STATE,
|
||||
ORIN_CAN_ID_FC_PID_ACK,
|
||||
ORIN_CAN_ID_PID_SET,
|
||||
MODE_DRIVE,
|
||||
MODE_IDLE,
|
||||
encode_drive_cmd,
|
||||
encode_arm_cmd,
|
||||
encode_velocity_cmd,
|
||||
encode_mode_cmd,
|
||||
encode_estop_cmd,
|
||||
decode_attitude,
|
||||
decode_battery,
|
||||
decode_vesc_status1,
|
||||
decode_imu_telem,
|
||||
decode_battery_telem,
|
||||
decode_vesc_state,
|
||||
)
|
||||
|
||||
# Reconnect attempt interval when CAN bus is lost
|
||||
@ -179,10 +179,10 @@ class CanBridgeNode(Node):
|
||||
right_mps = linear + angular
|
||||
|
||||
payload = encode_velocity_cmd(left_mps, right_mps)
|
||||
self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
|
||||
self._send_can(BALANCE_CMD_VELOCITY, payload, "cmd_vel")
|
||||
|
||||
# Keep ESP32-S3 BALANCE in DRIVE mode while receiving commands
|
||||
self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
|
||||
self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
|
||||
|
||||
def _estop_cb(self, msg: Bool) -> None:
|
||||
"""Forward /estop to ESP32-S3 BALANCE over CAN."""
|
||||
@ -190,7 +190,7 @@ class CanBridgeNode(Node):
|
||||
return
|
||||
if msg.data:
|
||||
self._send_can(
|
||||
MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
|
||||
BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
|
||||
)
|
||||
self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32-S3 BALANCE")
|
||||
|
||||
@ -201,7 +201,8 @@ class CanBridgeNode(Node):
|
||||
if not self._connected:
|
||||
return
|
||||
if time.monotonic() - self._last_cmd_time > self._cmd_timeout:
|
||||
self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "watchdog")
|
||||
self._send_can(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0), "watchdog")
|
||||
self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE), "watchdog mode")
|
||||
|
||||
# ── CAN send helper ───────────────────────────────────────────────────
|
||||
|
||||
@ -236,25 +237,28 @@ class CanBridgeNode(Node):
|
||||
continue
|
||||
self._dispatch_frame(frame)
|
||||
|
||||
# VESC STATUS packet type = 9 (upper byte of extended arb_id)
|
||||
_VESC_STATUS_PKT: int = 9
|
||||
|
||||
def _dispatch_frame(self, frame: can.Message) -> None:
|
||||
arb_id = frame.arbitration_id
|
||||
data = bytes(frame.data)
|
||||
vesc_l = (VESC_STATUS_1 << 8) | self._left_vesc_id
|
||||
vesc_r = (VESC_STATUS_1 << 8) | self._right_vesc_id
|
||||
vesc_l = (self._VESC_STATUS_PKT << 8) | self._left_vesc_id
|
||||
vesc_r = (self._VESC_STATUS_PKT << 8) | self._right_vesc_id
|
||||
try:
|
||||
if arb_id == ESP32_TELEM_ATTITUDE:
|
||||
self._handle_attitude(data)
|
||||
elif arb_id == ESP32_TELEM_BATTERY:
|
||||
if arb_id == BALANCE_TELEM_IMU:
|
||||
self._handle_imu(data)
|
||||
elif arb_id == BALANCE_TELEM_BATTERY:
|
||||
self._handle_battery(data)
|
||||
elif arb_id == vesc_l:
|
||||
t = decode_vesc_status1(self._left_vesc_id, data)
|
||||
t = decode_vesc_state(data)
|
||||
m = Float32MultiArray()
|
||||
m.data = [t.erpm, t.duty, 0.0, t.current]
|
||||
m.data = [t.erpm, t.duty, t.voltage, t.current]
|
||||
self._pub_vesc_left.publish(m)
|
||||
elif arb_id == vesc_r:
|
||||
t = decode_vesc_status1(self._right_vesc_id, data)
|
||||
t = decode_vesc_state(data)
|
||||
m = Float32MultiArray()
|
||||
m.data = [t.erpm, t.duty, 0.0, t.current]
|
||||
m.data = [t.erpm, t.duty, t.voltage, t.current]
|
||||
self._pub_vesc_right.publish(m)
|
||||
except Exception as exc:
|
||||
self.get_logger().warning(
|
||||
@ -263,19 +267,17 @@ class CanBridgeNode(Node):
|
||||
|
||||
# ── Frame handlers ────────────────────────────────────────────────────
|
||||
|
||||
_STATE_LABEL = {0: "IDLE", 1: "RUNNING", 2: "FAULT"}
|
||||
|
||||
def _handle_attitude(self, data: bytes) -> None:
|
||||
"""ATTITUDE (0x400): pitch, speed, yaw_rate, state, flags → /saltybot/attitude."""
|
||||
t = decode_attitude(data)
|
||||
def _handle_imu(self, data: bytes) -> None:
|
||||
"""BALANCE_TELEM_IMU (0x200): accel + gyro → /saltybot/attitude."""
|
||||
t = decode_imu_telem(data)
|
||||
now = self.get_clock().now().to_msg()
|
||||
payload = {
|
||||
"pitch_deg": round(t.pitch_deg, 2),
|
||||
"speed_mps": round(t.speed, 3),
|
||||
"yaw_rate": round(t.yaw_rate, 3),
|
||||
"state": t.state,
|
||||
"state_label": self._STATE_LABEL.get(t.state, f"UNKNOWN({t.state})"),
|
||||
"flags": t.flags,
|
||||
"accel_x": round(t.accel_x, 4),
|
||||
"accel_y": round(t.accel_y, 4),
|
||||
"accel_z": round(t.accel_z, 4),
|
||||
"gyro_x": round(t.gyro_x, 4),
|
||||
"gyro_y": round(t.gyro_y, 4),
|
||||
"gyro_z": round(t.gyro_z, 4),
|
||||
"ts": f"{now.sec}.{now.nanosec:09d}",
|
||||
}
|
||||
msg = String()
|
||||
@ -284,11 +286,12 @@ class CanBridgeNode(Node):
|
||||
self._pub_balance.publish(msg) # keep /saltybot/balance_state alive
|
||||
|
||||
def _handle_battery(self, data: bytes) -> None:
|
||||
"""BATTERY (0x401): vbat_mv, fault_code, rssi → /can/battery."""
|
||||
t = decode_battery(data)
|
||||
"""BALANCE_TELEM_BATTERY (0x201): voltage + current → /can/battery."""
|
||||
t = decode_battery_telem(data)
|
||||
msg = BatteryState()
|
||||
msg.header.stamp = self.get_clock().now().to_msg()
|
||||
msg.voltage = t.vbat_mv / 1000.0
|
||||
msg.voltage = t.voltage
|
||||
msg.current = t.current
|
||||
msg.present = True
|
||||
msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
|
||||
self._pub_battery.publish(msg)
|
||||
@ -305,8 +308,9 @@ class CanBridgeNode(Node):
|
||||
def destroy_node(self) -> None:
|
||||
if self._connected and self._bus is not None:
|
||||
try:
|
||||
self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "shutdown")
|
||||
self._send_can(ORIN_CMD_ARM, encode_arm_cmd(False), "shutdown")
|
||||
# Send zero velocity and idle mode on shutdown
|
||||
self._send_can(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0), "shutdown")
|
||||
self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE), "shutdown")
|
||||
except Exception:
|
||||
pass
|
||||
try:
|
||||
|
||||
@ -15,12 +15,7 @@ setup(
|
||||
zip_safe=True,
|
||||
maintainer="sl-controls",
|
||||
maintainer_email="sl-controls@saltylab.local",
|
||||
<<<<<<< HEAD
|
||||
description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry",
|
||||
=======
|
||||
description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
license="MIT",
|
||||
description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry", license="MIT",
|
||||
tests_require=["pytest"],
|
||||
entry_points={
|
||||
"console_scripts": [
|
||||
|
||||
@ -12,11 +12,11 @@ import struct
|
||||
import unittest
|
||||
|
||||
from saltybot_can_bridge.balance_protocol import (
|
||||
MAMBA_CMD_ESTOP,
|
||||
MAMBA_CMD_MODE,
|
||||
MAMBA_CMD_VELOCITY,
|
||||
MAMBA_TELEM_BATTERY,
|
||||
MAMBA_TELEM_IMU,
|
||||
BALANCE_CMD_ESTOP,
|
||||
BALANCE_CMD_MODE,
|
||||
BALANCE_CMD_VELOCITY,
|
||||
BALANCE_TELEM_BATTERY,
|
||||
BALANCE_TELEM_IMU,
|
||||
VESC_TELEM_STATE,
|
||||
MODE_DRIVE,
|
||||
MODE_ESTOP,
|
||||
@ -37,13 +37,13 @@ class TestMessageIDs(unittest.TestCase):
|
||||
"""Verify the CAN message ID constants are correct."""
|
||||
|
||||
def test_command_ids(self):
|
||||
self.assertEqual(MAMBA_CMD_VELOCITY, 0x100)
|
||||
self.assertEqual(MAMBA_CMD_MODE, 0x101)
|
||||
self.assertEqual(MAMBA_CMD_ESTOP, 0x102)
|
||||
self.assertEqual(BALANCE_CMD_VELOCITY, 0x100)
|
||||
self.assertEqual(BALANCE_CMD_MODE, 0x101)
|
||||
self.assertEqual(BALANCE_CMD_ESTOP, 0x102)
|
||||
|
||||
def test_telemetry_ids(self):
|
||||
self.assertEqual(MAMBA_TELEM_IMU, 0x200)
|
||||
self.assertEqual(MAMBA_TELEM_BATTERY, 0x201)
|
||||
self.assertEqual(BALANCE_TELEM_IMU, 0x200)
|
||||
self.assertEqual(BALANCE_TELEM_BATTERY, 0x201)
|
||||
self.assertEqual(VESC_TELEM_STATE, 0x300)
|
||||
|
||||
|
||||
|
||||
@ -4,42 +4,39 @@ protocol_defs.py — CAN message ID constants and frame builders/parsers for the
|
||||
Orin↔ESP32-S3 BALANCE↔VESC integration test suite.
|
||||
|
||||
All IDs and payload formats are derived from:
|
||||
include/orin_can.h — Orin↔FC (ESP32-S3 BALANCE) protocol
|
||||
include/orin_can.h — Orin↔BALANCE (ESP32-S3 BALANCE) protocol
|
||||
include/vesc_can.h — VESC CAN protocol
|
||||
saltybot_can_bridge/balance_protocol.py — existing bridge constants
|
||||
|
||||
CAN IDs used in tests
|
||||
---------------------
|
||||
Orin → FC (ESP32-S3 BALANCE) commands (standard 11-bit, matching orin_can.h):
|
||||
Orin → BALANCE (ESP32-S3 BALANCE) commands (standard 11-bit, matching orin_can.h):
|
||||
ORIN_CMD_HEARTBEAT 0x300
|
||||
ORIN_CMD_DRIVE 0x301 int16 speed (−1000..+1000), int16 steer (−1000..+1000)
|
||||
ORIN_CMD_DRIVE 0x301 int16 speed (-1000..+1000), int16 steer (-1000..+1000)
|
||||
ORIN_CMD_MODE 0x302 uint8 mode byte
|
||||
ORIN_CMD_ESTOP 0x303 uint8 action (1=ESTOP, 0=CLEAR)
|
||||
|
||||
FC (ESP32-S3 BALANCE) → Orin telemetry (standard 11-bit, matching orin_can.h):
|
||||
FC_STATUS 0x400 8 bytes (see orin_can_fc_status_t)
|
||||
FC_VESC 0x401 8 bytes (see orin_can_fc_vesc_t)
|
||||
FC_IMU 0x402 8 bytes
|
||||
FC_BARO 0x403 8 bytes
|
||||
BALANCE (ESP32-S3 BALANCE) -> Orin telemetry (standard 11-bit, matching orin_can.h):
|
||||
BALANCE_STATUS 0x400 8 bytes (see orin_can_balance_status_t)
|
||||
BALANCE_VESC 0x401 8 bytes (see orin_can_balance_vesc_t)
|
||||
BALANCE_IMU 0x402 8 bytes
|
||||
BALANCE_BARO 0x403 8 bytes
|
||||
|
||||
Mamba ↔ VESC internal commands (matching balance_protocol.py):
|
||||
=======
|
||||
ESP32-S3 BALANCE ↔ VESC internal commands (matching balance_protocol.py):
|
||||
>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
|
||||
MAMBA_CMD_VELOCITY 0x100 8 bytes left_mps (f32) | right_mps (f32) big-endian
|
||||
MAMBA_CMD_MODE 0x101 1 byte mode (0=idle,1=drive,2=estop)
|
||||
MAMBA_CMD_ESTOP 0x102 1 byte 0x01=stop
|
||||
ESP32-S3 BALANCE <-> VESC internal commands (matching balance_protocol.py):
|
||||
BALANCE_CMD_VELOCITY 0x100 8 bytes left_mps (f32) | right_mps (f32) big-endian
|
||||
BALANCE_CMD_MODE 0x101 1 byte mode (0=idle,1=drive,2=estop)
|
||||
BALANCE_CMD_ESTOP 0x102 1 byte 0x01=stop
|
||||
|
||||
VESC STATUS (extended 29-bit, matching vesc_can.h):
|
||||
arb_id = (VESC_PKT_STATUS << 8) | vesc_node_id = (9 << 8) | node_id
|
||||
Payload: int32 RPM (BE), int16 current×10 (BE), int16 duty×1000 (BE)
|
||||
Payload: int32 RPM (BE), int16 current x10 (BE), int16 duty x1000 (BE)
|
||||
"""
|
||||
|
||||
import struct
|
||||
from typing import Tuple
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Orin → FC (ESP32-S3 BALANCE) command IDs (from orin_can.h)
|
||||
# Orin -> BALANCE (ESP32-S3 BALANCE) command IDs (from orin_can.h)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
ORIN_CMD_HEARTBEAT: int = 0x300
|
||||
@ -48,27 +45,24 @@ ORIN_CMD_MODE: int = 0x302
|
||||
ORIN_CMD_ESTOP: int = 0x303
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# FC (ESP32-S3 BALANCE) → Orin telemetry IDs (from orin_can.h)
|
||||
# BALANCE (ESP32-S3 BALANCE) -> Orin telemetry IDs (from orin_can.h)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
FC_STATUS: int = 0x400
|
||||
FC_VESC: int = 0x401
|
||||
FC_IMU: int = 0x402
|
||||
FC_BARO: int = 0x403
|
||||
BALANCE_STATUS: int = 0x400
|
||||
BALANCE_VESC: int = 0x401
|
||||
BALANCE_IMU: int = 0x402
|
||||
BALANCE_BARO: int = 0x403
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Mamba → VESC internal command IDs (from balance_protocol.py)
|
||||
=======
|
||||
# ESP32-S3 BALANCE → VESC internal command IDs (from balance_protocol.py)
|
||||
>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
|
||||
# ESP32-S3 BALANCE -> VESC internal command IDs (from balance_protocol.py)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
MAMBA_CMD_VELOCITY: int = 0x100
|
||||
MAMBA_CMD_MODE: int = 0x101
|
||||
MAMBA_CMD_ESTOP: int = 0x102
|
||||
BALANCE_CMD_VELOCITY: int = 0x100
|
||||
BALANCE_CMD_MODE: int = 0x101
|
||||
BALANCE_CMD_ESTOP: int = 0x102
|
||||
|
||||
MAMBA_TELEM_IMU: int = 0x200
|
||||
MAMBA_TELEM_BATTERY: int = 0x201
|
||||
BALANCE_TELEM_IMU: int = 0x200
|
||||
BALANCE_TELEM_BATTERY: int = 0x201
|
||||
VESC_TELEM_STATE: int = 0x300
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
@ -111,7 +105,7 @@ def VESC_SET_RPM_ID(vesc_node_id: int) -> int:
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Frame builders — Orin → FC
|
||||
# Frame builders — Orin -> BALANCE
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
def build_heartbeat(seq: int = 0) -> bytes:
|
||||
@ -125,8 +119,8 @@ def build_drive_cmd(speed: int, steer: int) -> bytes:
|
||||
|
||||
Parameters
|
||||
----------
|
||||
speed: int, −1000..+1000 (mapped directly to int16)
|
||||
steer: int, −1000..+1000
|
||||
speed: int, -1000..+1000 (mapped directly to int16)
|
||||
steer: int, -1000..+1000
|
||||
"""
|
||||
return struct.pack(">hh", int(speed), int(steer))
|
||||
|
||||
@ -137,20 +131,17 @@ def build_mode_cmd(mode: int) -> bytes:
|
||||
|
||||
|
||||
def build_estop_cmd(action: int = 1) -> bytes:
|
||||
"""Build an ORIN_CMD_ESTOP payload. action=1 → ESTOP, 0 → CLEAR."""
|
||||
"""Build an ORIN_CMD_ESTOP payload. action=1 -> ESTOP, 0 -> CLEAR."""
|
||||
return struct.pack(">B", action & 0xFF)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Frame builders — Mamba velocity commands (balance_protocol.py encoding)
|
||||
=======
|
||||
# Frame builders — ESP32-S3 BALANCE velocity commands (balance_protocol.py encoding)
|
||||
>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
|
||||
"""
|
||||
Build a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).
|
||||
Build a BALANCE_CMD_VELOCITY payload (8 bytes, 2 x float32 big-endian).
|
||||
|
||||
Matches encode_velocity_cmd() in balance_protocol.py.
|
||||
"""
|
||||
@ -158,10 +149,10 @@ def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Frame builders — FC → Orin telemetry
|
||||
# Frame builders — BALANCE -> Orin telemetry
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
def build_fc_status(
|
||||
def build_balance_status(
|
||||
pitch_x10: int = 0,
|
||||
motor_cmd: int = 0,
|
||||
vbat_mv: int = 24000,
|
||||
@ -169,9 +160,9 @@ def build_fc_status(
|
||||
flags: int = 0,
|
||||
) -> bytes:
|
||||
"""
|
||||
Build an FC_STATUS (0x400) payload.
|
||||
Build a BALANCE_STATUS (0x400) payload.
|
||||
|
||||
Layout (orin_can_fc_status_t, 8 bytes, big-endian):
|
||||
Layout (orin_can_balance_status_t, 8 bytes, big-endian):
|
||||
int16 pitch_x10
|
||||
int16 motor_cmd
|
||||
uint16 vbat_mv
|
||||
@ -188,23 +179,23 @@ def build_fc_status(
|
||||
)
|
||||
|
||||
|
||||
def build_fc_vesc(
|
||||
def build_balance_vesc(
|
||||
left_rpm_x10: int = 0,
|
||||
right_rpm_x10: int = 0,
|
||||
left_current_x10: int = 0,
|
||||
right_current_x10: int = 0,
|
||||
) -> bytes:
|
||||
"""
|
||||
Build an FC_VESC (0x401) payload.
|
||||
Build a BALANCE_VESC (0x401) payload.
|
||||
|
||||
Layout (orin_can_fc_vesc_t, 8 bytes, big-endian):
|
||||
Layout (orin_can_balance_vesc_t, 8 bytes, big-endian):
|
||||
int16 left_rpm_x10
|
||||
int16 right_rpm_x10
|
||||
int16 left_current_x10
|
||||
int16 right_current_x10
|
||||
|
||||
RPM values are RPM / 10 (e.g. 3000 RPM → 300).
|
||||
Current values are A × 10 (e.g. 5.5 A → 55).
|
||||
RPM values are RPM / 10 (e.g. 3000 RPM -> 300).
|
||||
Current values are A x 10 (e.g. 5.5 A -> 55).
|
||||
"""
|
||||
return struct.pack(
|
||||
">hhhh",
|
||||
@ -225,8 +216,8 @@ def build_vesc_status(
|
||||
|
||||
Layout (from vesc_can.h / VESC FW 6.x, big-endian):
|
||||
int32 rpm
|
||||
int16 current × 10
|
||||
int16 duty × 1000
|
||||
int16 current x 10
|
||||
int16 duty x 1000
|
||||
Total: 8 bytes.
|
||||
"""
|
||||
return struct.pack(
|
||||
@ -241,9 +232,9 @@ def build_vesc_status(
|
||||
# Frame parsers
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
def parse_fc_status(data: bytes):
|
||||
def parse_balance_status(data: bytes):
|
||||
"""
|
||||
Parse an FC_STATUS (0x400) payload.
|
||||
Parse a BALANCE_STATUS (0x400) payload.
|
||||
|
||||
Returns
|
||||
-------
|
||||
@ -251,7 +242,7 @@ def parse_fc_status(data: bytes):
|
||||
estop_active (bool), armed (bool)
|
||||
"""
|
||||
if len(data) < 8:
|
||||
raise ValueError(f"FC_STATUS needs 8 bytes, got {len(data)}")
|
||||
raise ValueError(f"BALANCE_STATUS needs 8 bytes, got {len(data)}")
|
||||
pitch_x10, motor_cmd, vbat_mv, balance_state, flags = struct.unpack(
|
||||
">hhHBB", data[:8]
|
||||
)
|
||||
@ -266,9 +257,9 @@ def parse_fc_status(data: bytes):
|
||||
}
|
||||
|
||||
|
||||
def parse_fc_vesc(data: bytes):
|
||||
def parse_balance_vesc(data: bytes):
|
||||
"""
|
||||
Parse an FC_VESC (0x401) payload.
|
||||
Parse a BALANCE_VESC (0x401) payload.
|
||||
|
||||
Returns
|
||||
-------
|
||||
@ -276,7 +267,7 @@ def parse_fc_vesc(data: bytes):
|
||||
right_current_x10, left_rpm (float), right_rpm (float)
|
||||
"""
|
||||
if len(data) < 8:
|
||||
raise ValueError(f"FC_VESC needs 8 bytes, got {len(data)}")
|
||||
raise ValueError(f"BALANCE_VESC needs 8 bytes, got {len(data)}")
|
||||
left_rpm_x10, right_rpm_x10, left_cur_x10, right_cur_x10 = struct.unpack(
|
||||
">hhhh", data[:8]
|
||||
)
|
||||
@ -312,12 +303,12 @@ def parse_vesc_status(data: bytes):
|
||||
|
||||
def parse_velocity_cmd(data: bytes) -> Tuple[float, float]:
|
||||
"""
|
||||
Parse a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).
|
||||
Parse a BALANCE_CMD_VELOCITY payload (8 bytes, 2 x float32 big-endian).
|
||||
|
||||
Returns
|
||||
-------
|
||||
(left_mps, right_mps)
|
||||
"""
|
||||
if len(data) < 8:
|
||||
raise ValueError(f"MAMBA_CMD_VELOCITY needs 8 bytes, got {len(data)}")
|
||||
raise ValueError(f"BALANCE_CMD_VELOCITY needs 8 bytes, got {len(data)}")
|
||||
return struct.unpack(">ff", data[:8])
|
||||
|
||||
@ -4,7 +4,7 @@ test_drive_command.py — Integration tests for the drive command path.
|
||||
|
||||
Tests verify:
|
||||
DRIVE cmd → ESP32-S3 BALANCE receives velocity command frame → mock VESC status response
|
||||
→ FC_VESC broadcast contains correct RPMs.
|
||||
→ BALANCE_VESC broadcast contains correct RPMs.
|
||||
|
||||
All tests run without real hardware or a running ROS2 system.
|
||||
Run with: python -m pytest test/test_drive_command.py -v
|
||||
@ -14,19 +14,19 @@ import struct
|
||||
import pytest
|
||||
|
||||
from saltybot_can_e2e_test.protocol_defs import (
|
||||
MAMBA_CMD_VELOCITY,
|
||||
MAMBA_CMD_MODE,
|
||||
FC_VESC,
|
||||
BALANCE_CMD_VELOCITY,
|
||||
BALANCE_CMD_MODE,
|
||||
BALANCE_VESC,
|
||||
MODE_DRIVE,
|
||||
MODE_IDLE,
|
||||
VESC_CAN_ID_LEFT,
|
||||
VESC_CAN_ID_RIGHT,
|
||||
VESC_STATUS_ID,
|
||||
build_velocity_cmd,
|
||||
build_fc_vesc,
|
||||
build_balance_vesc,
|
||||
build_vesc_status,
|
||||
parse_velocity_cmd,
|
||||
parse_fc_vesc,
|
||||
parse_balance_vesc,
|
||||
)
|
||||
from saltybot_can_bridge.balance_protocol import (
|
||||
encode_velocity_cmd,
|
||||
@ -50,8 +50,8 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None:
|
||||
self.data = bytearray(data)
|
||||
self.is_extended_id = False
|
||||
|
||||
bus.send(_Msg(MAMBA_CMD_VELOCITY, payload))
|
||||
bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
||||
bus.send(_Msg(BALANCE_CMD_VELOCITY, payload))
|
||||
bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
@ -62,11 +62,11 @@ class TestDriveForward:
|
||||
def test_drive_forward_velocity_frame_sent(self, mock_can_bus):
|
||||
"""
|
||||
Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32-S3 BALANCE receives
|
||||
a MAMBA_CMD_VELOCITY frame with correct payload.
|
||||
a BALANCE_CMD_VELOCITY frame with correct payload.
|
||||
"""
|
||||
_send_drive(mock_can_bus, 1.0, 1.0)
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 1, "Expected exactly one velocity command frame"
|
||||
|
||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
||||
@ -77,26 +77,26 @@ class TestDriveForward:
|
||||
"""After a drive command, a MODE=drive frame must accompany it."""
|
||||
_send_drive(mock_can_bus, 1.0, 1.0)
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert len(mode_frames) >= 1, "Expected at least one MODE frame"
|
||||
assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE])
|
||||
|
||||
def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus):
|
||||
"""
|
||||
Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct.
|
||||
(In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts FC_VESC.)
|
||||
This test checks the FC_VESC frame format and parser.
|
||||
Simulate BALANCE_VESC broadcast arriving after drive cmd; verify parse is correct.
|
||||
(In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts BALANCE_VESC.)
|
||||
This test checks the BALANCE_VESC frame format and parser.
|
||||
"""
|
||||
# Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)
|
||||
fc_payload = build_fc_vesc(
|
||||
fc_payload = build_balance_vesc(
|
||||
left_rpm_x10=300, right_rpm_x10=300,
|
||||
left_current_x10=50, right_current_x10=50,
|
||||
)
|
||||
mock_can_bus.inject(FC_VESC, fc_payload)
|
||||
mock_can_bus.inject(BALANCE_VESC, fc_payload)
|
||||
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
assert frame is not None, "FC_VESC frame not received"
|
||||
parsed = parse_fc_vesc(bytes(frame.data))
|
||||
assert frame is not None, "BALANCE_VESC frame not received"
|
||||
parsed = parse_balance_vesc(bytes(frame.data))
|
||||
assert parsed["left_rpm_x10"] == 300
|
||||
assert parsed["right_rpm_x10"] == 300
|
||||
assert abs(parsed["left_rpm"] - 3000.0) < 0.1
|
||||
@ -109,7 +109,7 @@ class TestDriveTurn:
|
||||
"""
|
||||
_send_drive(mock_can_bus, 0.5, -0.5)
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 1
|
||||
|
||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
||||
@ -119,14 +119,14 @@ class TestDriveTurn:
|
||||
assert left > 0 and right < 0
|
||||
|
||||
def test_drive_turn_fc_vesc_differential(self, mock_can_bus):
|
||||
"""Simulated FC_VESC for a turn has opposite-sign RPMs."""
|
||||
fc_payload = build_fc_vesc(
|
||||
"""Simulated BALANCE_VESC for a turn has opposite-sign RPMs."""
|
||||
fc_payload = build_balance_vesc(
|
||||
left_rpm_x10=150, right_rpm_x10=-150,
|
||||
left_current_x10=30, right_current_x10=30,
|
||||
)
|
||||
mock_can_bus.inject(FC_VESC, fc_payload)
|
||||
mock_can_bus.inject(BALANCE_VESC, fc_payload)
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
parsed = parse_fc_vesc(bytes(frame.data))
|
||||
parsed = parse_balance_vesc(bytes(frame.data))
|
||||
assert parsed["left_rpm_x10"] > 0
|
||||
assert parsed["right_rpm_x10"] < 0
|
||||
|
||||
@ -142,7 +142,7 @@ class TestDriveZero:
|
||||
|
||||
_send_drive(mock_can_bus, 0.0, 0.0)
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 1
|
||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
||||
assert abs(left) < 1e-5, "Left motor not stopped"
|
||||
@ -156,7 +156,7 @@ class TestDriveCmdTimeout:
|
||||
zero velocity is sent. We test the encoding directly (without timers).
|
||||
"""
|
||||
# The watchdog in CanBridgeNode calls encode_velocity_cmd(0.0, 0.0) and
|
||||
# sends it on MAMBA_CMD_VELOCITY. Replicate that here.
|
||||
# sends it on BALANCE_CMD_VELOCITY. Replicate that here.
|
||||
zero_payload = encode_velocity_cmd(0.0, 0.0)
|
||||
|
||||
class _Msg:
|
||||
@ -165,16 +165,16 @@ class TestDriveCmdTimeout:
|
||||
self.data = bytearray(data)
|
||||
self.is_extended_id = False
|
||||
|
||||
mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, zero_payload))
|
||||
mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
|
||||
mock_can_bus.send(_Msg(BALANCE_CMD_VELOCITY, zero_payload))
|
||||
mock_can_bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 1
|
||||
left, right = parse_velocity_cmd(bytes(vel_frames[0].data))
|
||||
assert abs(left) < 1e-5
|
||||
assert abs(right) < 1e-5
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert len(mode_frames) == 1
|
||||
assert bytes(mode_frames[0].data) == bytes([MODE_IDLE])
|
||||
|
||||
|
||||
@ -6,7 +6,7 @@ Covers:
|
||||
- ESTOP command halts motors immediately
|
||||
- ESTOP persists: DRIVE commands ignored while ESTOP is active
|
||||
- ESTOP clear restores normal drive operation
|
||||
- Firmware-side estop via FC_STATUS flags is detected correctly
|
||||
- Firmware-side estop via BALANCE_STATUS flags is detected correctly
|
||||
|
||||
No ROS2 or real CAN hardware required.
|
||||
Run with: python -m pytest test/test_estop.py -v
|
||||
@ -17,20 +17,20 @@ import pytest
|
||||
|
||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
||||
from saltybot_can_e2e_test.protocol_defs import (
|
||||
MAMBA_CMD_VELOCITY,
|
||||
MAMBA_CMD_MODE,
|
||||
MAMBA_CMD_ESTOP,
|
||||
BALANCE_CMD_VELOCITY,
|
||||
BALANCE_CMD_MODE,
|
||||
BALANCE_CMD_ESTOP,
|
||||
ORIN_CMD_ESTOP,
|
||||
FC_STATUS,
|
||||
BALANCE_STATUS,
|
||||
MODE_IDLE,
|
||||
MODE_DRIVE,
|
||||
MODE_ESTOP,
|
||||
build_estop_cmd,
|
||||
build_mode_cmd,
|
||||
build_velocity_cmd,
|
||||
build_fc_status,
|
||||
build_balance_status,
|
||||
parse_velocity_cmd,
|
||||
parse_fc_status,
|
||||
parse_balance_status,
|
||||
)
|
||||
from saltybot_can_bridge.balance_protocol import (
|
||||
encode_velocity_cmd,
|
||||
@ -68,16 +68,16 @@ class EstopStateMachine:
|
||||
"""Send ESTOP and transition to estop mode."""
|
||||
self._estop_active = True
|
||||
self._mode = MODE_ESTOP
|
||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
|
||||
self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True)))
|
||||
|
||||
def clear_estop(self) -> None:
|
||||
"""Clear ESTOP and return to IDLE mode."""
|
||||
self._estop_active = False
|
||||
self._mode = MODE_IDLE
|
||||
self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False)))
|
||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(False)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE)))
|
||||
|
||||
def send_drive(self, left_mps: float, right_mps: float) -> None:
|
||||
"""Send velocity command only if ESTOP is not active."""
|
||||
@ -85,8 +85,8 @@ class EstopStateMachine:
|
||||
# Bridge silently drops commands while estopped
|
||||
return
|
||||
self._mode = MODE_DRIVE
|
||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
|
||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
||||
|
||||
@property
|
||||
def estop_active(self) -> bool:
|
||||
@ -105,7 +105,7 @@ class TestEstopHaltsMotors:
|
||||
sm = EstopStateMachine(mock_can_bus)
|
||||
sm.assert_estop()
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) >= 1, "No velocity frame after ESTOP"
|
||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
||||
assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP"
|
||||
@ -116,17 +116,17 @@ class TestEstopHaltsMotors:
|
||||
sm = EstopStateMachine(mock_can_bus)
|
||||
sm.assert_estop()
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert any(
|
||||
bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames
|
||||
), "MODE=ESTOP not found in sent frames"
|
||||
|
||||
def test_estop_flag_byte_is_0x01(self, mock_can_bus):
|
||||
"""MAMBA_CMD_ESTOP payload must be 0x01 when asserting e-stop."""
|
||||
"""BALANCE_CMD_ESTOP payload must be 0x01 when asserting e-stop."""
|
||||
sm = EstopStateMachine(mock_can_bus)
|
||||
sm.assert_estop()
|
||||
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
|
||||
assert len(estop_frames) >= 1
|
||||
assert bytes(estop_frames[-1].data) == b"\x01", \
|
||||
f"ESTOP payload {estop_frames[-1].data!r} != 0x01"
|
||||
@ -143,7 +143,7 @@ class TestEstopPersists:
|
||||
|
||||
sm.send_drive(1.0, 1.0) # should be suppressed
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 0, \
|
||||
"Velocity command was forwarded while ESTOP is active"
|
||||
|
||||
@ -158,7 +158,7 @@ class TestEstopPersists:
|
||||
sm.send_drive(0.5, 0.5)
|
||||
|
||||
# No mode frames should have been emitted (drive was suppressed)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert all(
|
||||
bytes(f.data) != bytes([MODE_DRIVE]) for f in mode_frames
|
||||
), "MODE=DRIVE was set despite active ESTOP"
|
||||
@ -174,19 +174,19 @@ class TestEstopClear:
|
||||
|
||||
sm.send_drive(0.8, 0.8)
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 1, "Velocity command not sent after ESTOP clear"
|
||||
l, r = parse_velocity_cmd(bytes(vel_frames[0].data))
|
||||
assert abs(l - 0.8) < 1e-4
|
||||
assert abs(r - 0.8) < 1e-4
|
||||
|
||||
def test_estop_clear_flag_byte_is_0x00(self, mock_can_bus):
|
||||
"""MAMBA_CMD_ESTOP payload must be 0x00 when clearing e-stop."""
|
||||
"""BALANCE_CMD_ESTOP payload must be 0x00 when clearing e-stop."""
|
||||
sm = EstopStateMachine(mock_can_bus)
|
||||
sm.assert_estop()
|
||||
sm.clear_estop()
|
||||
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
|
||||
assert len(estop_frames) >= 2
|
||||
# Last ESTOP frame should be the clear
|
||||
assert bytes(estop_frames[-1].data) == b"\x00", \
|
||||
@ -198,7 +198,7 @@ class TestEstopClear:
|
||||
sm.assert_estop()
|
||||
sm.clear_estop()
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
last_mode = bytes(mode_frames[-1].data)
|
||||
assert last_mode == bytes([MODE_IDLE]), \
|
||||
f"Mode after ESTOP clear is {last_mode!r}, expected MODE_IDLE"
|
||||
@ -207,55 +207,55 @@ class TestEstopClear:
|
||||
class TestFirmwareSideEstop:
|
||||
def test_fc_status_estop_flag_detected(self, mock_can_bus):
|
||||
"""
|
||||
Simulate firmware sending estop via FC_STATUS flags (bit0=estop_active).
|
||||
Simulate firmware sending estop via BALANCE_STATUS flags (bit0=estop_active).
|
||||
Verify the Orin bridge side correctly parses the flag.
|
||||
"""
|
||||
# Build FC_STATUS with estop_active bit set (flags=0x01)
|
||||
payload = build_fc_status(
|
||||
# Build BALANCE_STATUS with estop_active bit set (flags=0x01)
|
||||
payload = build_balance_status(
|
||||
pitch_x10=0,
|
||||
motor_cmd=0,
|
||||
vbat_mv=24000,
|
||||
balance_state=2, # TILT_FAULT
|
||||
flags=0x01, # bit0 = estop_active
|
||||
)
|
||||
mock_can_bus.inject(FC_STATUS, payload)
|
||||
mock_can_bus.inject(BALANCE_STATUS, payload)
|
||||
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
assert frame is not None, "FC_STATUS frame not received"
|
||||
parsed = parse_fc_status(bytes(frame.data))
|
||||
assert frame is not None, "BALANCE_STATUS frame not received"
|
||||
parsed = parse_balance_status(bytes(frame.data))
|
||||
assert parsed["estop_active"] is True, \
|
||||
"estop_active flag not set in FC_STATUS"
|
||||
"estop_active flag not set in BALANCE_STATUS"
|
||||
assert parsed["balance_state"] == 2
|
||||
|
||||
def test_fc_status_no_estop_flag(self, mock_can_bus):
|
||||
"""FC_STATUS with flags=0x00 must NOT set estop_active."""
|
||||
payload = build_fc_status(flags=0x00)
|
||||
mock_can_bus.inject(FC_STATUS, payload)
|
||||
"""BALANCE_STATUS with flags=0x00 must NOT set estop_active."""
|
||||
payload = build_balance_status(flags=0x00)
|
||||
mock_can_bus.inject(BALANCE_STATUS, payload)
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
parsed = parse_fc_status(bytes(frame.data))
|
||||
parsed = parse_balance_status(bytes(frame.data))
|
||||
assert parsed["estop_active"] is False
|
||||
|
||||
def test_fc_status_armed_flag_detected(self, mock_can_bus):
|
||||
"""FC_STATUS flags bit1=armed must parse correctly."""
|
||||
payload = build_fc_status(flags=0x02) # bit1 = armed
|
||||
mock_can_bus.inject(FC_STATUS, payload)
|
||||
"""BALANCE_STATUS flags bit1=armed must parse correctly."""
|
||||
payload = build_balance_status(flags=0x02) # bit1 = armed
|
||||
mock_can_bus.inject(BALANCE_STATUS, payload)
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
parsed = parse_fc_status(bytes(frame.data))
|
||||
parsed = parse_balance_status(bytes(frame.data))
|
||||
assert parsed["armed"] is True
|
||||
assert parsed["estop_active"] is False
|
||||
|
||||
def test_fc_status_roundtrip(self, mock_can_bus):
|
||||
"""build_fc_status → inject → recv → parse_fc_status must be identity."""
|
||||
payload = build_fc_status(
|
||||
"""build_balance_status → inject → recv → parse_balance_status must be identity."""
|
||||
payload = build_balance_status(
|
||||
pitch_x10=150,
|
||||
motor_cmd=-200,
|
||||
vbat_mv=23800,
|
||||
balance_state=1,
|
||||
flags=0x03,
|
||||
)
|
||||
mock_can_bus.inject(FC_STATUS, payload)
|
||||
mock_can_bus.inject(BALANCE_STATUS, payload)
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
parsed = parse_fc_status(bytes(frame.data))
|
||||
parsed = parse_balance_status(bytes(frame.data))
|
||||
assert parsed["pitch_x10"] == 150
|
||||
assert parsed["motor_cmd"] == -200
|
||||
assert parsed["vbat_mv"] == 23800
|
||||
|
||||
@ -1,11 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
test_fc_vesc_broadcast.py — FC_VESC broadcast and VESC STATUS integration tests.
|
||||
test_fc_vesc_broadcast.py — BALANCE_VESC broadcast and VESC STATUS integration tests.
|
||||
|
||||
Covers:
|
||||
- VESC STATUS extended frame for left VESC (ID 56) triggers FC_VESC broadcast
|
||||
- Both left (56) and right (68) VESC STATUS combined in FC_VESC
|
||||
- FC_VESC broadcast rate (~10 Hz)
|
||||
- VESC STATUS extended frame for left VESC (ID 56) triggers BALANCE_VESC broadcast
|
||||
- Both left (56) and right (68) VESC STATUS combined in BALANCE_VESC
|
||||
- BALANCE_VESC broadcast rate (~10 Hz)
|
||||
- current_x10 scaling matches protocol spec
|
||||
|
||||
No ROS2 or real CAN hardware required.
|
||||
@ -19,15 +19,15 @@ import pytest
|
||||
|
||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
||||
from saltybot_can_e2e_test.protocol_defs import (
|
||||
FC_VESC,
|
||||
BALANCE_VESC,
|
||||
VESC_CAN_ID_LEFT,
|
||||
VESC_CAN_ID_RIGHT,
|
||||
VESC_STATUS_ID,
|
||||
VESC_SET_RPM_ID,
|
||||
VESC_TELEM_STATE,
|
||||
build_vesc_status,
|
||||
build_fc_vesc,
|
||||
parse_fc_vesc,
|
||||
build_balance_vesc,
|
||||
parse_balance_vesc,
|
||||
parse_vesc_status,
|
||||
)
|
||||
from saltybot_can_bridge.balance_protocol import (
|
||||
@ -44,8 +44,8 @@ class VescStatusAggregator:
|
||||
"""
|
||||
Simulates the firmware logic that:
|
||||
1. Receives VESC STATUS extended frames from left/right VESCs
|
||||
2. Builds an FC_VESC broadcast payload
|
||||
3. Injects the FC_VESC frame onto the mock bus
|
||||
2. Builds an BALANCE_VESC broadcast payload
|
||||
3. Injects the BALANCE_VESC frame onto the mock bus
|
||||
|
||||
This represents the ESP32-S3 BALANCE → Orin telemetry path.
|
||||
"""
|
||||
@ -62,7 +62,7 @@ class VescStatusAggregator:
|
||||
def process_vesc_status(self, arb_id: int, data: bytes) -> None:
|
||||
"""
|
||||
Process an incoming VESC STATUS frame (extended 29-bit ID).
|
||||
Updates internal state; broadcasts FC_VESC when at least one side is known.
|
||||
Updates internal state; broadcasts BALANCE_VESC when at least one side is known.
|
||||
"""
|
||||
node_id = arb_id & 0xFF
|
||||
parsed = parse_vesc_status(data)
|
||||
@ -77,17 +77,17 @@ class VescStatusAggregator:
|
||||
self._right_current_x10 = parsed["current_x10"]
|
||||
self._right_seen = True
|
||||
|
||||
# Broadcast FC_VESC whenever we receive any update
|
||||
# Broadcast BALANCE_VESC whenever we receive any update
|
||||
self._broadcast_fc_vesc()
|
||||
|
||||
def _broadcast_fc_vesc(self) -> None:
|
||||
payload = build_fc_vesc(
|
||||
payload = build_balance_vesc(
|
||||
left_rpm_x10=self._left_rpm_x10,
|
||||
right_rpm_x10=self._right_rpm_x10,
|
||||
left_current_x10=self._left_current_x10,
|
||||
right_current_x10=self._right_current_x10,
|
||||
)
|
||||
self._bus.inject(FC_VESC, payload)
|
||||
self._bus.inject(BALANCE_VESC, payload)
|
||||
|
||||
|
||||
def _inject_vesc_status(bus: MockCANBus, vesc_id: int, rpm: int,
|
||||
@ -105,7 +105,7 @@ def _inject_vesc_status(bus: MockCANBus, vesc_id: int, rpm: int,
|
||||
class TestVescStatusToFcVesc:
|
||||
def test_left_vesc_status_triggers_broadcast(self, mock_can_bus):
|
||||
"""
|
||||
Inject VESC STATUS for left VESC (ID 56) → verify FC_VESC contains
|
||||
Inject VESC STATUS for left VESC (ID 56) → verify BALANCE_VESC contains
|
||||
the correct left RPM (rpm / 10).
|
||||
"""
|
||||
agg = VescStatusAggregator(mock_can_bus)
|
||||
@ -116,14 +116,14 @@ class TestVescStatusToFcVesc:
|
||||
agg.process_vesc_status(arb_id, payload)
|
||||
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
assert frame is not None, "No FC_VESC broadcast after left VESC STATUS"
|
||||
parsed = parse_fc_vesc(bytes(frame.data))
|
||||
assert frame is not None, "No BALANCE_VESC broadcast after left VESC STATUS"
|
||||
parsed = parse_balance_vesc(bytes(frame.data))
|
||||
assert parsed["left_rpm_x10"] == 300, \
|
||||
f"left_rpm_x10 {parsed['left_rpm_x10']} != 300"
|
||||
assert abs(parsed["left_rpm"] - 3000.0) < 1.0
|
||||
|
||||
def test_right_vesc_status_triggers_broadcast(self, mock_can_bus):
|
||||
"""Inject VESC STATUS for right VESC (ID 68) → verify right RPM in FC_VESC."""
|
||||
"""Inject VESC STATUS for right VESC (ID 68) → verify right RPM in BALANCE_VESC."""
|
||||
agg = VescStatusAggregator(mock_can_bus)
|
||||
|
||||
arb_id = VESC_STATUS_ID(VESC_CAN_ID_RIGHT)
|
||||
@ -132,7 +132,7 @@ class TestVescStatusToFcVesc:
|
||||
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
assert frame is not None
|
||||
parsed = parse_fc_vesc(bytes(frame.data))
|
||||
parsed = parse_balance_vesc(bytes(frame.data))
|
||||
assert parsed["right_rpm_x10"] == 200
|
||||
|
||||
def test_left_vesc_id_matches_constant(self):
|
||||
@ -150,7 +150,7 @@ class TestBothVescStatusCombined:
|
||||
def test_both_vesc_status_combined_in_fc_vesc(self, mock_can_bus):
|
||||
"""
|
||||
Inject both left (56) and right (68) VESC STATUS frames.
|
||||
Final FC_VESC must contain both RPMs.
|
||||
Final BALANCE_VESC must contain both RPMs.
|
||||
"""
|
||||
agg = VescStatusAggregator(mock_can_bus)
|
||||
|
||||
@ -165,7 +165,7 @@ class TestBothVescStatusCombined:
|
||||
build_vesc_status(rpm=-1500, current_x10=30),
|
||||
)
|
||||
|
||||
# Drain two FC_VESC frames (one per update), check the latest
|
||||
# Drain two BALANCE_VESC frames (one per update), check the latest
|
||||
frames = []
|
||||
while True:
|
||||
f = mock_can_bus.recv(timeout=0.05)
|
||||
@ -173,16 +173,16 @@ class TestBothVescStatusCombined:
|
||||
break
|
||||
frames.append(f)
|
||||
|
||||
assert len(frames) >= 2, "Expected at least 2 FC_VESC frames"
|
||||
assert len(frames) >= 2, "Expected at least 2 BALANCE_VESC frames"
|
||||
# Last frame must have both sides
|
||||
last = parse_fc_vesc(bytes(frames[-1].data))
|
||||
last = parse_balance_vesc(bytes(frames[-1].data))
|
||||
assert last["left_rpm_x10"] == 300, \
|
||||
f"left_rpm_x10 {last['left_rpm_x10']} != 300"
|
||||
assert last["right_rpm_x10"] == -150, \
|
||||
f"right_rpm_x10 {last['right_rpm_x10']} != -150"
|
||||
|
||||
def test_both_vesc_currents_combined(self, mock_can_bus):
|
||||
"""Both current values must appear in FC_VESC after two STATUS frames."""
|
||||
"""Both current values must appear in BALANCE_VESC after two STATUS frames."""
|
||||
agg = VescStatusAggregator(mock_can_bus)
|
||||
agg.process_vesc_status(
|
||||
VESC_STATUS_ID(VESC_CAN_ID_LEFT),
|
||||
@ -198,7 +198,7 @@ class TestBothVescStatusCombined:
|
||||
if f is None:
|
||||
break
|
||||
frames.append(f)
|
||||
last = parse_fc_vesc(bytes(frames[-1].data))
|
||||
last = parse_balance_vesc(bytes(frames[-1].data))
|
||||
assert last["left_current_x10"] == 55
|
||||
assert last["right_current_x10"] == 42
|
||||
|
||||
@ -206,11 +206,11 @@ class TestBothVescStatusCombined:
|
||||
class TestVescBroadcastRate:
|
||||
def test_fc_vesc_broadcast_at_10hz(self, mock_can_bus):
|
||||
"""
|
||||
Simulate FC_VESC broadcasts at ~10 Hz and verify the rate.
|
||||
Simulate BALANCE_VESC broadcasts at ~10 Hz and verify the rate.
|
||||
We inject 12 frames over ~120 ms, then verify count and average interval.
|
||||
"""
|
||||
_FC_VESC_HZ = 10
|
||||
_interval = 1.0 / _FC_VESC_HZ
|
||||
_BALANCE_VESC_HZ = 10
|
||||
_interval = 1.0 / _BALANCE_VESC_HZ
|
||||
|
||||
timestamps = []
|
||||
stop_event = threading.Event()
|
||||
@ -219,8 +219,8 @@ class TestVescBroadcastRate:
|
||||
while not stop_event.is_set():
|
||||
t = time.monotonic()
|
||||
mock_can_bus.inject(
|
||||
FC_VESC,
|
||||
build_fc_vesc(100, -100, 30, 30),
|
||||
BALANCE_VESC,
|
||||
build_balance_vesc(100, -100, 30, 30),
|
||||
timestamp=t,
|
||||
)
|
||||
timestamps.append(t)
|
||||
@ -232,18 +232,18 @@ class TestVescBroadcastRate:
|
||||
stop_event.set()
|
||||
t.join(timeout=0.2)
|
||||
|
||||
assert len(timestamps) >= 1, "No FC_VESC broadcasts in 150 ms window"
|
||||
assert len(timestamps) >= 1, "No BALANCE_VESC broadcasts in 150 ms window"
|
||||
|
||||
if len(timestamps) >= 2:
|
||||
intervals = [timestamps[i+1] - timestamps[i] for i in range(len(timestamps)-1)]
|
||||
avg = sum(intervals) / len(intervals)
|
||||
# ±40 ms tolerance for OS scheduling
|
||||
assert 0.06 <= avg <= 0.14, \
|
||||
f"FC_VESC broadcast interval {avg*1000:.1f} ms not ~100 ms"
|
||||
f"BALANCE_VESC broadcast interval {avg*1000:.1f} ms not ~100 ms"
|
||||
|
||||
def test_fc_vesc_frame_is_8_bytes(self):
|
||||
"""FC_VESC payload must always be exactly 8 bytes."""
|
||||
payload = build_fc_vesc(300, -150, 55, 42)
|
||||
"""BALANCE_VESC payload must always be exactly 8 bytes."""
|
||||
payload = build_balance_vesc(300, -150, 55, 42)
|
||||
assert len(payload) == 8
|
||||
|
||||
|
||||
@ -267,16 +267,16 @@ class TestVescCurrentScaling:
|
||||
assert abs(parsed["current"] - (-3.0)) < 0.01
|
||||
|
||||
def test_fc_vesc_current_x10_roundtrip(self, mock_can_bus):
|
||||
"""build_fc_vesc → inject → recv → parse must preserve current_x10."""
|
||||
payload = build_fc_vesc(
|
||||
"""build_balance_vesc → inject → recv → parse must preserve current_x10."""
|
||||
payload = build_balance_vesc(
|
||||
left_rpm_x10=200,
|
||||
right_rpm_x10=200,
|
||||
left_current_x10=55,
|
||||
right_current_x10=42,
|
||||
)
|
||||
mock_can_bus.inject(FC_VESC, payload)
|
||||
mock_can_bus.inject(BALANCE_VESC, payload)
|
||||
frame = mock_can_bus.recv(timeout=0.1)
|
||||
parsed = parse_fc_vesc(bytes(frame.data))
|
||||
parsed = parse_balance_vesc(bytes(frame.data))
|
||||
assert parsed["left_current_x10"] == 55
|
||||
assert parsed["right_current_x10"] == 42
|
||||
|
||||
@ -306,7 +306,7 @@ class TestVescCurrentScaling:
|
||||
)
|
||||
frame = mock_can_bus.recv(timeout=0.05)
|
||||
assert frame is not None
|
||||
parsed = parse_fc_vesc(bytes(frame.data))
|
||||
parsed = parse_balance_vesc(bytes(frame.data))
|
||||
if vesc_id == VESC_CAN_ID_LEFT:
|
||||
assert parsed["left_rpm_x10"] == expected_rpm_x10, \
|
||||
f"left_rpm_x10={parsed['left_rpm_x10']} expected {expected_rpm_x10}"
|
||||
|
||||
@ -21,9 +21,9 @@ from saltybot_can_e2e_test.protocol_defs import (
|
||||
ORIN_CMD_HEARTBEAT,
|
||||
ORIN_CMD_ESTOP,
|
||||
ORIN_CMD_MODE,
|
||||
MAMBA_CMD_VELOCITY,
|
||||
MAMBA_CMD_MODE,
|
||||
MAMBA_CMD_ESTOP,
|
||||
BALANCE_CMD_VELOCITY,
|
||||
BALANCE_CMD_MODE,
|
||||
BALANCE_CMD_ESTOP,
|
||||
MODE_IDLE,
|
||||
MODE_DRIVE,
|
||||
MODE_ESTOP,
|
||||
@ -100,9 +100,9 @@ def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
|
||||
self.data = bytearray(data)
|
||||
self.is_extended_id = False
|
||||
|
||||
bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
||||
bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
|
||||
bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
|
||||
bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
||||
bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP)))
|
||||
bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True)))
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
@ -121,25 +121,25 @@ class TestHeartbeatLoss:
|
||||
# Simulate bridge detecting timeout and escalating
|
||||
_simulate_estop_on_timeout(mock_can_bus)
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) >= 1, "Zero velocity not sent after timeout"
|
||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
||||
assert abs(l) < 1e-5, "Left not zero on timeout"
|
||||
assert abs(r) < 1e-5, "Right not zero on timeout"
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert any(
|
||||
bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames
|
||||
), "ESTOP mode not asserted on heartbeat timeout"
|
||||
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
|
||||
assert len(estop_frames) >= 1, "ESTOP command not sent"
|
||||
assert bytes(estop_frames[0].data) == b"\x01"
|
||||
|
||||
def test_heartbeat_loss_zero_velocity(self, mock_can_bus):
|
||||
"""Zero velocity frame must appear among sent frames after timeout."""
|
||||
_simulate_estop_on_timeout(mock_can_bus)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) >= 1
|
||||
for f in vel_frames:
|
||||
l, r = parse_velocity_cmd(bytes(f.data))
|
||||
@ -165,20 +165,20 @@ class TestHeartbeatRecovery:
|
||||
mock_can_bus.reset()
|
||||
|
||||
# Phase 2: recovery — clear estop, restore drive mode
|
||||
mock_can_bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False)))
|
||||
mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
||||
mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.5, 0.5)))
|
||||
mock_can_bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(False)))
|
||||
mock_can_bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE)))
|
||||
mock_can_bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.5, 0.5)))
|
||||
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP)
|
||||
estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP)
|
||||
assert any(bytes(f.data) == b"\x00" for f in estop_frames), \
|
||||
"ESTOP clear not sent on recovery"
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert any(
|
||||
bytes(f.data) == bytes([MODE_DRIVE]) for f in mode_frames
|
||||
), "DRIVE mode not restored after recovery"
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) >= 1
|
||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
||||
assert abs(l - 0.5) < 1e-4
|
||||
|
||||
@ -17,9 +17,9 @@ import pytest
|
||||
|
||||
from saltybot_can_e2e_test.can_mock import MockCANBus
|
||||
from saltybot_can_e2e_test.protocol_defs import (
|
||||
MAMBA_CMD_VELOCITY,
|
||||
MAMBA_CMD_MODE,
|
||||
MAMBA_CMD_ESTOP,
|
||||
BALANCE_CMD_VELOCITY,
|
||||
BALANCE_CMD_MODE,
|
||||
BALANCE_CMD_ESTOP,
|
||||
MODE_IDLE,
|
||||
MODE_DRIVE,
|
||||
MODE_ESTOP,
|
||||
@ -64,12 +64,12 @@ class ModeStateMachine:
|
||||
|
||||
prev_mode = self._mode
|
||||
self._mode = mode
|
||||
self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(mode)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(mode)))
|
||||
|
||||
# Side-effects of entering ESTOP from DRIVE
|
||||
if mode == MODE_ESTOP and prev_mode == MODE_DRIVE:
|
||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
||||
self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True)))
|
||||
|
||||
return True
|
||||
|
||||
@ -79,7 +79,7 @@ class ModeStateMachine:
|
||||
"""
|
||||
if self._mode != MODE_DRIVE:
|
||||
return False
|
||||
self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
|
||||
self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps)))
|
||||
return True
|
||||
|
||||
@property
|
||||
@ -97,7 +97,7 @@ class TestIdleToDrive:
|
||||
sm = ModeStateMachine(mock_can_bus)
|
||||
sm.set_mode(MODE_DRIVE)
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert len(mode_frames) == 1
|
||||
assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE])
|
||||
|
||||
@ -108,7 +108,7 @@ class TestIdleToDrive:
|
||||
forwarded = sm.send_drive(1.0, 1.0)
|
||||
assert forwarded is False, "Drive cmd should be blocked in IDLE mode"
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 0
|
||||
|
||||
def test_drive_mode_allows_commands(self, mock_can_bus):
|
||||
@ -120,7 +120,7 @@ class TestIdleToDrive:
|
||||
forwarded = sm.send_drive(0.5, 0.5)
|
||||
assert forwarded is True
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 1
|
||||
l, r = parse_velocity_cmd(bytes(vel_frames[0].data))
|
||||
assert abs(l - 0.5) < 1e-4
|
||||
@ -137,7 +137,7 @@ class TestDriveToEstop:
|
||||
|
||||
sm.set_mode(MODE_ESTOP)
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) >= 1, "No velocity frame on DRIVE→ESTOP transition"
|
||||
l, r = parse_velocity_cmd(bytes(vel_frames[-1].data))
|
||||
assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP"
|
||||
@ -149,7 +149,7 @@ class TestDriveToEstop:
|
||||
sm.set_mode(MODE_DRIVE)
|
||||
sm.set_mode(MODE_ESTOP)
|
||||
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE)
|
||||
mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE)
|
||||
assert any(bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames)
|
||||
|
||||
def test_estop_blocks_subsequent_drive(self, mock_can_bus):
|
||||
@ -162,7 +162,7 @@ class TestDriveToEstop:
|
||||
forwarded = sm.send_drive(1.0, 1.0)
|
||||
assert forwarded is False
|
||||
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY)
|
||||
vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY)
|
||||
assert len(vel_frames) == 0
|
||||
|
||||
|
||||
|
||||
@ -27,12 +27,7 @@ robot:
|
||||
stem_od: 0.0381 # m STEM_OD = 38.1mm
|
||||
stem_height: 1.050 # m nominal cut length
|
||||
|
||||
<<<<<<< HEAD
|
||||
# ── FC / IMU (ESP32 BALANCE) ──────────────────────────────────────────────────
|
||||
=======
|
||||
# ── FC / IMU (ESP32-S3 BALANCE) ──────────────────────────────────────────────────
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
# fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
|
||||
# ── FC / IMU (ESP32-S3 BALANCE) ────────────────────────────────────────────────── # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
|
||||
# z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
|
||||
imu_x: 0.050 # m forward of base_link center
|
||||
imu_y: 0.000 # m
|
||||
|
||||
@ -5,12 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot.
|
||||
## Features
|
||||
|
||||
### Startup Checks
|
||||
<<<<<<< HEAD
|
||||
- RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos
|
||||
=======
|
||||
- RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
- WiFi, GPS, disk space, RAM
|
||||
- RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos- WiFi, GPS, disk space, RAM
|
||||
- Boot result TTS + face animation
|
||||
- JSON logging
|
||||
|
||||
|
||||
@ -138,12 +138,7 @@ class DiagnosticsNode(Node):
|
||||
self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})
|
||||
|
||||
def _check_stm32(self):
|
||||
<<<<<<< HEAD
|
||||
self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {})
|
||||
=======
|
||||
self.hardware_checks["stm32"] = ("OK", "ESP32-S3 bridge online", {})
|
||||
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
|
||||
|
||||
def _check_servos(self):
|
||||
try:
|
||||
result = subprocess.run(["i2cdetect", "-y", "1"], capture_output=True, text=True, timeout=2)
|
||||
|
||||
@ -1,9 +0,0 @@
|
||||
# dronecan_gps_params.yaml — CubePilot Here4 DroneCAN GPS driver defaults
|
||||
# Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
|
||||
|
||||
dronecan_gps:
|
||||
ros__parameters:
|
||||
can_interface: "can0"
|
||||
can_bitrate: 1000000 # Here4 default: 1Mbps DroneCAN
|
||||
node_id: 127 # DroneCAN local node ID (GPS driver)
|
||||
publish_compass: true # publish MagneticFieldStrength if available
|
||||
@ -1,22 +0,0 @@
|
||||
here4_can_node:
|
||||
ros__parameters:
|
||||
# SocketCAN interface — freed from ESP32 BALANCE comms by bd-wim1
|
||||
can_interface: can0
|
||||
|
||||
# DroneCAN bitrate — Here4 runs at 1 Mbps (not 500 kbps used previously)
|
||||
bitrate: 1000000
|
||||
|
||||
# Local DroneCAN node ID for this Orin instance (1-127, must be unique on bus)
|
||||
local_node_id: 126
|
||||
|
||||
# Set true to run: ip link set can0 type can bitrate 1000000 && ip link set can0 up
|
||||
# Requires: sudo setcap cap_net_admin+eip $(which python3) or run as root
|
||||
# Default false — manage interface externally (systemd-networkd or udev)
|
||||
bring_up_can: false
|
||||
|
||||
# Here4 DroneCAN node ID — 0 means auto-detect from first Fix2 message
|
||||
node_id_filter: 0
|
||||
|
||||
# TF frame IDs
|
||||
fix_frame_id: gps
|
||||
imu_frame_id: here4_imu
|
||||
@ -1,109 +0,0 @@
|
||||
"""here4.launch.py — Launch the Here4 GPS DroneCAN bridge on CANable2.
|
||||
|
||||
bd-p47c: CANable2 freed by bd-wim1 (ESP32 moved to UART/USB) now used for
|
||||
Here4 GPS at 1 Mbps DroneCAN/UAVCAN v0.
|
||||
|
||||
CAN setup (one-time, survives reboot via systemd-networkd or udev)
|
||||
------------------------------------------------------------------
|
||||
# Option A — manual (quick test):
|
||||
sudo ip link set can0 down
|
||||
sudo ip link set can0 type can bitrate 1000000
|
||||
sudo ip link set can0 up
|
||||
|
||||
# Option B — let the node do it (requires CAP_NET_ADMIN):
|
||||
ros2 launch saltybot_dronecan_gps here4.launch.py bring_up_can:=true
|
||||
|
||||
# Option C — systemd-networkd (/etc/systemd/network/80-can0.network):
|
||||
[Match]
|
||||
Name=can0
|
||||
[CAN]
|
||||
BitRate=1M
|
||||
|
||||
Published topics
|
||||
----------------
|
||||
/gps/fix sensor_msgs/NavSatFix → navsat_transform_node (EKF)
|
||||
/gps/velocity geometry_msgs/TwistWithCovarianceStamped
|
||||
/here4/fix sensor_msgs/NavSatFix (alias)
|
||||
/here4/imu sensor_msgs/Imu
|
||||
/here4/mag sensor_msgs/MagneticField
|
||||
/here4/baro sensor_msgs/FluidPressure
|
||||
/here4/status std_msgs/String JSON
|
||||
/here4/node_id std_msgs/Int32
|
||||
|
||||
Subscribed topics
|
||||
-----------------
|
||||
/rtcm std_msgs/ByteMultiArray RTCM corrections (NTRIP client)
|
||||
/rtcm_hex std_msgs/String hex-encoded RTCM (fallback)
|
||||
|
||||
Usage
|
||||
-----
|
||||
# Default (interface already up):
|
||||
ros2 launch saltybot_dronecan_gps here4.launch.py
|
||||
|
||||
# Bring up interface automatically (CAP_NET_ADMIN required):
|
||||
ros2 launch saltybot_dronecan_gps here4.launch.py bring_up_can:=true
|
||||
|
||||
# Override interface (e.g. second CAN adapter):
|
||||
ros2 launch saltybot_dronecan_gps here4.launch.py can_interface:=can1
|
||||
|
||||
# Pin to specific Here4 node ID (skip auto-detect):
|
||||
ros2 launch saltybot_dronecan_gps here4.launch.py node_id_filter:=10
|
||||
|
||||
System dependency
|
||||
-----------------
|
||||
pip install dronecan # DroneCAN/UAVCAN v0 Python library
|
||||
apt install can-utils # optional: candump, cansend for debugging
|
||||
"""
|
||||
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
pkg_share = get_package_share_directory("saltybot_dronecan_gps")
|
||||
params_file = os.path.join(pkg_share, "config", "here4_params.yaml")
|
||||
|
||||
args = [
|
||||
DeclareLaunchArgument(
|
||||
"can_interface",
|
||||
default_value="can0",
|
||||
description="SocketCAN interface (CANable2 @ 1 Mbps)",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"bring_up_can",
|
||||
default_value="false",
|
||||
description="Bring up can_interface via ip link (requires CAP_NET_ADMIN)",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"node_id_filter",
|
||||
default_value="0",
|
||||
description="DroneCAN node ID of Here4 (0=auto-detect from first Fix2)",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
"local_node_id",
|
||||
default_value="126",
|
||||
description="DroneCAN node ID for this Orin (must be unique on bus)",
|
||||
),
|
||||
]
|
||||
|
||||
node = Node(
|
||||
package="saltybot_dronecan_gps",
|
||||
executable="here4_node",
|
||||
name="here4_can_node",
|
||||
output="screen",
|
||||
parameters=[
|
||||
params_file,
|
||||
{
|
||||
"can_interface": LaunchConfiguration("can_interface"),
|
||||
"bring_up_can": LaunchConfiguration("bring_up_can"),
|
||||
"node_id_filter": LaunchConfiguration("node_id_filter"),
|
||||
"local_node_id": LaunchConfiguration("local_node_id"),
|
||||
},
|
||||
],
|
||||
)
|
||||
|
||||
return LaunchDescription([*args, node])
|
||||
@ -1,110 +0,0 @@
|
||||
"""
|
||||
here4_gps.launch.py — CubePilot Here4 RTK GPS full stack
|
||||
Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
|
||||
|
||||
Launches:
|
||||
- dronecan_gps_node (saltybot_dronecan_gps)
|
||||
- ntrip_client_node (saltybot_ntrip_client)
|
||||
|
||||
Usage (minimal):
|
||||
ros2 launch saltybot_dronecan_gps here4_gps.launch.py \\
|
||||
ntrip_mount:=RTCM3_GENERIC ntrip_user:=you@email.com
|
||||
|
||||
Full options:
|
||||
ros2 launch saltybot_dronecan_gps here4_gps.launch.py \\
|
||||
can_interface:=can0 \\
|
||||
can_bitrate:=1000000 \\
|
||||
ntrip_caster:=rtk2go.com \\
|
||||
ntrip_port:=2101 \\
|
||||
ntrip_mount:=MYBASE \\
|
||||
ntrip_user:=you@email.com \\
|
||||
ntrip_password:=secret
|
||||
"""
|
||||
|
||||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description() -> LaunchDescription:
|
||||
gps_cfg = os.path.join(
|
||||
get_package_share_directory('saltybot_dronecan_gps'),
|
||||
'config', 'dronecan_gps_params.yaml',
|
||||
)
|
||||
ntrip_cfg = os.path.join(
|
||||
get_package_share_directory('saltybot_ntrip_client'),
|
||||
'config', 'ntrip_params.yaml',
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
# ── Shared CAN args ───────────────────────────────────────────────────
|
||||
DeclareLaunchArgument(
|
||||
'can_interface', default_value='can0',
|
||||
description='SocketCAN interface name',
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
'can_bitrate', default_value='1000000',
|
||||
description='CAN bus bitrate — Here4 default is 1000000 (1 Mbps)',
|
||||
),
|
||||
|
||||
# ── NTRIP args ────────────────────────────────────────────────────────
|
||||
DeclareLaunchArgument(
|
||||
'ntrip_caster', default_value='rtk2go.com',
|
||||
description='NTRIP caster hostname',
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
'ntrip_port', default_value='2101',
|
||||
description='NTRIP caster port',
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
'ntrip_mount', default_value='',
|
||||
description='NTRIP mount point (REQUIRED)',
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
'ntrip_user', default_value='',
|
||||
description='NTRIP username (rtk2go.com requires email address)',
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
'ntrip_password', default_value='',
|
||||
description='NTRIP password',
|
||||
),
|
||||
|
||||
# ── DroneCAN GPS node ─────────────────────────────────────────────────
|
||||
Node(
|
||||
package='saltybot_dronecan_gps',
|
||||
executable='dronecan_gps_node',
|
||||
name='dronecan_gps',
|
||||
output='screen',
|
||||
parameters=[
|
||||
gps_cfg,
|
||||
{
|
||||
'can_interface': LaunchConfiguration('can_interface'),
|
||||
'can_bitrate': LaunchConfiguration('can_bitrate'),
|
||||
},
|
||||
],
|
||||
),
|
||||
|
||||
# ── NTRIP client node ─────────────────────────────────────────────────
|
||||
Node(
|
||||
package='saltybot_ntrip_client',
|
||||
executable='ntrip_client_node',
|
||||
name='ntrip_client',
|
||||
output='screen',
|
||||
parameters=[
|
||||
ntrip_cfg,
|
||||
{
|
||||
'can_interface': LaunchConfiguration('can_interface'),
|
||||
'can_bitrate': LaunchConfiguration('can_bitrate'),
|
||||
'ntrip_caster': LaunchConfiguration('ntrip_caster'),
|
||||
'ntrip_port': LaunchConfiguration('ntrip_port'),
|
||||
'ntrip_mount': LaunchConfiguration('ntrip_mount'),
|
||||
'ntrip_user': LaunchConfiguration('ntrip_user'),
|
||||
'ntrip_password': LaunchConfiguration('ntrip_password'),
|
||||
},
|
||||
],
|
||||
),
|
||||
])
|
||||
@ -1,37 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>saltybot_dronecan_gps</name>
|
||||
<version>0.1.0</version>
|
||||
<description>
|
||||
DroneCAN/UAVCAN v0 bridge for Here4 GPS on the CANable2 SocketCAN adapter.
|
||||
Publishes GPS fix, IMU, magnetometer, and barometer data to ROS2.
|
||||
Injects RTCM corrections for RTK.
|
||||
|
||||
bd-p47c: CANable2 freed from ESP32 BALANCE comms by bd-wim1.
|
||||
Here4 operates at 1 Mbps on can0 (was 500 kbps for VESC comms).
|
||||
|
||||
System dependency: dronecan Python library (pip install dronecan)
|
||||
</description>
|
||||
<maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
<exec_depend>rclpy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>sensor_msgs</exec_depend>
|
||||
<exec_depend>geometry_msgs</exec_depend>
|
||||
|
||||
<!-- dronecan: pip install dronecan (DroneCAN/UAVCAN v0 Python library) -->
|
||||
<!-- python3-can is a transitive dependency of dronecan -->
|
||||
|
||||
<buildtool_depend>ament_python</buildtool_depend>
|
||||
|
||||
<test_depend>ament_copyright</test_depend>
|
||||
<test_depend>ament_flake8</test_depend>
|
||||
<test_depend>ament_pep257</test_depend>
|
||||
<test_depend>python3-pytest</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_python</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@ -1 +0,0 @@
|
||||
saltybot_dronecan_gps
|
||||
@ -1 +0,0 @@
|
||||
# saltybot_dronecan_gps — Here4 GPS DroneCAN bridge for CANable2 (bd-p47c)
|
||||
@ -1,204 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
dronecan_gps_node.py — DroneCAN GPS driver for CubePilot Here4 RTK
|
||||
Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/725
|
||||
|
||||
Subscribes to:
|
||||
uavcan.equipment.gnss.Fix2 (msg ID 1063) — position + fix status
|
||||
uavcan.equipment.ahrs.MagneticFieldStrength — compass (optional)
|
||||
|
||||
Publishes:
|
||||
/gps/fix sensor_msgs/NavSatFix
|
||||
/gps/vel geometry_msgs/TwistStamped
|
||||
/gps/rtk_status std_msgs/String
|
||||
|
||||
DroneCAN fix_type → sensor_msgs status mapping:
|
||||
0 = NO_FIX → STATUS_NO_FIX (-1)
|
||||
1 = TIME_ONLY → STATUS_NO_FIX (-1)
|
||||
2 = 2D_FIX → STATUS_FIX (0)
|
||||
3 = 3D_FIX → STATUS_FIX (0)
|
||||
4 = DGPS → STATUS_SBAS_FIX (1)
|
||||
5 = RTK_FLOAT → STATUS_GBAS_FIX (2)
|
||||
6 = RTK_FIXED → STATUS_GBAS_FIX (2)
|
||||
"""
|
||||
|
||||
import math
|
||||
import threading
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
|
||||
|
||||
from sensor_msgs.msg import NavSatFix, NavSatStatus
|
||||
from geometry_msgs.msg import TwistStamped
|
||||
from std_msgs.msg import String
|
||||
|
||||
try:
|
||||
import dronecan
|
||||
except ImportError:
|
||||
dronecan = None
|
||||
|
||||
_SENSOR_QOS = QoSProfile(
|
||||
reliability=ReliabilityPolicy.BEST_EFFORT,
|
||||
history=HistoryPolicy.KEEP_LAST,
|
||||
depth=5,
|
||||
)
|
||||
|
||||
# DroneCAN fix_type → (NavSatStatus.status, rtk_label)
|
||||
_FIX_MAP = {
|
||||
0: (NavSatStatus.STATUS_NO_FIX, 'NO_FIX'),
|
||||
1: (NavSatStatus.STATUS_NO_FIX, 'TIME_ONLY'),
|
||||
2: (NavSatStatus.STATUS_FIX, '2D_FIX'),
|
||||
3: (NavSatStatus.STATUS_FIX, '3D_FIX'),
|
||||
4: (NavSatStatus.STATUS_SBAS_FIX, 'DGPS'),
|
||||
5: (NavSatStatus.STATUS_GBAS_FIX, 'RTK_FLOAT'),
|
||||
6: (NavSatStatus.STATUS_GBAS_FIX, 'RTK_FIXED'),
|
||||
}
|
||||
|
||||
|
||||
class DroneCanGpsNode(Node):
|
||||
def __init__(self) -> None:
|
||||
super().__init__('dronecan_gps')
|
||||
|
||||
self.declare_parameter('can_interface', 'can0')
|
||||
self.declare_parameter('can_bitrate', 1000000)
|
||||
self.declare_parameter('node_id', 127) # DroneCAN local node ID
|
||||
self.declare_parameter('publish_compass', True)
|
||||
|
||||
self._iface = self.get_parameter('can_interface').value
|
||||
self._bitrate = self.get_parameter('can_bitrate').value
|
||||
self._node_id = self.get_parameter('node_id').value
|
||||
self._publish_compass = self.get_parameter('publish_compass').value
|
||||
|
||||
self._fix_pub = self.create_publisher(NavSatFix, '/gps/fix', _SENSOR_QOS)
|
||||
self._vel_pub = self.create_publisher(TwistStamped, '/gps/vel', _SENSOR_QOS)
|
||||
self._rtk_pub = self.create_publisher(String, '/gps/rtk_status', 10)
|
||||
|
||||
if dronecan is None:
|
||||
self.get_logger().error(
|
||||
'python-dronecan not installed. '
|
||||
'Run: pip install python-dronecan'
|
||||
)
|
||||
return
|
||||
|
||||
self._lock = threading.Lock()
|
||||
self._dc_node = None
|
||||
self._spin_thread = threading.Thread(
|
||||
target=self._dronecan_spin, daemon=True
|
||||
)
|
||||
self._spin_thread.start()
|
||||
self.get_logger().info(
|
||||
f'DroneCanGpsNode started — interface={self._iface} '
|
||||
f'bitrate={self._bitrate}'
|
||||
)
|
||||
|
||||
# ── DroneCAN spin (runs in background thread) ─────────────────────────────
|
||||
|
||||
def _dronecan_spin(self) -> None:
|
||||
try:
|
||||
self._dc_node = dronecan.make_node(
|
||||
self._iface,
|
||||
node_id=self._node_id,
|
||||
bitrate=self._bitrate,
|
||||
)
|
||||
self._dc_node.add_handler(
|
||||
dronecan.uavcan.equipment.gnss.Fix2,
|
||||
self._on_fix2,
|
||||
)
|
||||
if self._publish_compass:
|
||||
self._dc_node.add_handler(
|
||||
dronecan.uavcan.equipment.ahrs.MagneticFieldStrength,
|
||||
self._on_mag,
|
||||
)
|
||||
self.get_logger().info(
|
||||
f'DroneCAN node online on {self._iface}'
|
||||
)
|
||||
while rclpy.ok():
|
||||
self._dc_node.spin(timeout=0.1)
|
||||
except Exception as exc:
|
||||
self.get_logger().error(f'DroneCAN spin error: {exc}')
|
||||
|
||||
# ── Message handlers ──────────────────────────────────────────────────────
|
||||
|
||||
def _on_fix2(self, event) -> None:
|
||||
msg = event.message
|
||||
now = self.get_clock().now().to_msg()
|
||||
|
||||
fix_type = int(msg.fix_type)
|
||||
nav_status, rtk_label = _FIX_MAP.get(
|
||||
fix_type, (NavSatStatus.STATUS_NO_FIX, 'UNKNOWN')
|
||||
)
|
||||
|
||||
# NavSatFix
|
||||
fix = NavSatFix()
|
||||
fix.header.stamp = now
|
||||
fix.header.frame_id = 'gps'
|
||||
fix.status.status = nav_status
|
||||
fix.status.service = NavSatStatus.SERVICE_GPS
|
||||
|
||||
fix.latitude = math.degrees(msg.latitude_deg_1e8 * 1e-8)
|
||||
fix.longitude = math.degrees(msg.longitude_deg_1e8 * 1e-8)
|
||||
fix.altitude = msg.height_msl_mm * 1e-3 # mm → m
|
||||
|
||||
# Covariance from position_covariance if available, else diagonal guess
|
||||
if hasattr(msg, 'position_covariance') and len(msg.position_covariance) >= 9:
|
||||
fix.position_covariance = list(msg.position_covariance)
|
||||
fix.position_covariance_type = NavSatFix.COVARIANCE_TYPE_FULL
|
||||
else:
|
||||
h_var = (msg.horizontal_pos_accuracy_m_1e2 * 1e-2) ** 2 \
|
||||
if hasattr(msg, 'horizontal_pos_accuracy_m_1e2') else 4.0
|
||||
v_var = (msg.vertical_pos_accuracy_m_1e2 * 1e-2) ** 2 \
|
||||
if hasattr(msg, 'vertical_pos_accuracy_m_1e2') else 4.0
|
||||
fix.position_covariance = [
|
||||
h_var, 0.0, 0.0,
|
||||
0.0, h_var, 0.0,
|
||||
0.0, 0.0, v_var,
|
||||
]
|
||||
fix.position_covariance_type = NavSatFix.COVARIANCE_TYPE_DIAGONAL_KNOWN
|
||||
|
||||
self._fix_pub.publish(fix)
|
||||
|
||||
# TwistStamped velocity
|
||||
if hasattr(msg, 'ned_velocity'):
|
||||
vel = TwistStamped()
|
||||
vel.header.stamp = now
|
||||
vel.header.frame_id = 'gps'
|
||||
vel.twist.linear.x = float(msg.ned_velocity[0]) # North m/s
|
||||
vel.twist.linear.y = float(msg.ned_velocity[1]) # East m/s
|
||||
vel.twist.linear.z = float(msg.ned_velocity[2]) # Down m/s (ROS: up+)
|
||||
self._vel_pub.publish(vel)
|
||||
|
||||
# RTK status string
|
||||
rtk_msg = String()
|
||||
rtk_msg.data = rtk_label
|
||||
self._rtk_pub.publish(rtk_msg)
|
||||
|
||||
self.get_logger().debug(
|
||||
f'Fix2: {fix.latitude:.6f},{fix.longitude:.6f} '
|
||||
f'alt={fix.altitude:.1f}m status={rtk_label}'
|
||||
)
|
||||
|
||||
def _on_mag(self, event) -> None:
|
||||
# Compass data logged; extend to publish /imu/mag if needed
|
||||
msg = event.message
|
||||
self.get_logger().debug(
|
||||
f'Mag: {msg.magnetic_field_ga[0]:.3f} '
|
||||
f'{msg.magnetic_field_ga[1]:.3f} '
|
||||
f'{msg.magnetic_field_ga[2]:.3f} Ga'
|
||||
)
|
||||
|
||||
|
||||
def main(args=None) -> None:
|
||||
rclpy.init(args=args)
|
||||
node = DroneCanGpsNode()
|
||||
try:
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
x
Reference in New Issue
Block a user