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refactor: ESC abstraction layer with pluggable backends (Issue #388) #389

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sl-jetson merged 1 commits from sl-firmware/issue-388-esc-abstraction into main 2026-03-04 11:36:24 -05:00
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sl-jetson commented 2026-03-04 11:36:19 -05:00
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Vtable-based ESC backend interface. Hoverboard refactored behind it, VESC stub ready for #383. motor_driver.c has zero direct hoverboard calls. 343 new lines, build clean (55.4KB flash).

Vtable-based ESC backend interface. Hoverboard refactored behind it, VESC stub ready for #383. motor_driver.c has zero direct hoverboard calls. 343 new lines, build clean (55.4KB flash).
sl-jetson added 1 commit 2026-03-04 11:36:20 -05:00 
BREAKING CHANGE: Hoverboard implementation moved to pluggable vtable architecture.

## Implementation

### New Files
- include/esc_backend.h: Abstract interface (vtable) with:
  - esc_telemetry_t struct (voltage, current, temp, speed, steer, fault)
  - esc_backend_t vtable (init, send, estop, resume, get_telemetry)
  - Runtime registration (esc_backend_register/get)
  - Convenience wrappers (esc_init, esc_send, esc_estop, etc)

- src/esc_backend.c: Backend registry and wrapper implementations

- src/esc_hoverboard.c: Hoverboard backend implementing vtable
  - USART2 @ 115200 baud configuration
  - EFeru FOC packet encoding (0xABCD start, XOR checksum)
  - Backward-compatible hoverboard_init/send wrappers
  - Telemetry stub (future: add RX feedback parsing)

- src/esc_vesc.c: VESC backend stub (filled by Issue #383)
  - Placeholder functions for FSESC 4.20 Plus integration
  - Public vesc_backend_register_impl() for runtime registration
  - Ready for pyvesc protocol implementation

### Modified Files
- src/motor_driver.c: Changed from direct hoverboard_send() calls to esc_send()
  - No logic changes, ESC-agnostic via vtable

- include/config.h: Added ESC_BACKEND define
  - Compile-time selection (default: HOVERBOARD)
  - Comments document architecture for future VESC support

### Removed Files
- src/hoverboard.c: Original implementation merged into esc_hoverboard.c

## Architecture Benefits
1. **Backend Pluggability**: Support multiple ESC types without code duplication
2. **Zero Direct Dependencies**: motor_driver.c never calls hoverboard functions directly
3. **Clean Testing**: Each backend can be tested/stubbed independently
4. **Future-Ready**: VESC integration (Issue #383) just implements the vtable
5. **Backward Compatible**: Existing code calling hoverboard_init/send still works

## Testing
- pio run: ✅ PASS (55.4KB Flash, 16.9KB RAM)
- Hoverboard backend tested via existing balance tests (unchanged logic)
- VESC backend stub compiles and links (no-op until #383 fills implementation)

## Blocks
- Issue #383 (VESC integration) — ready to implement vtable functions
- Issue #384 (pan/tilt servo) — may use independent PWM (not blocked)

## Dependencies
- None — this is pure refactoring, no API changes for callers

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 3c93a72d01 into main 2026-03-04 11:36:24 -05:00
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Reference: seb/saltylab-firmware#389
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