#ifndef JLINK_H #define JLINK_H #include #include /* * JLink — Jetson serial binary protocol over USART1 (PB6=TX, PB7=RX). * * Issue #120: replaces jetson_cmd ASCII-over-USB-CDC with a dedicated * hardware UART at 921600 baud using DMA circular RX and IDLE interrupt. * * Frame format (both directions): * [STX=0x02][LEN][CMD][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03] * * STX : frame start sentinel (0x02) * LEN : count of CMD + PAYLOAD bytes (1 + payload_len) * CMD : command/telemetry type byte * PAYLOAD: 0..N bytes depending on CMD * CRC16 : CRC16-XModem over CMD+PAYLOAD (poly 0x1021, init 0), big-endian * ETX : frame end sentinel (0x03) * * Jetson to STM32 commands: * 0x01 HEARTBEAT - no payload; refreshes heartbeat timer * 0x02 DRIVE - int16 speed (-1000..+1000), int16 steer (-1000..+1000) * 0x03 ARM - no payload; request arm (same interlock as CDC 'A') * 0x04 DISARM - no payload; disarm immediately * 0x05 PID_SET - float kp, float ki, float kd (12 bytes, IEEE-754 LE) * 0x06 DFU_ENTER - no payload; request OTA DFU reboot (denied while armed) * 0x07 ESTOP - no payload; engage emergency stop * 0x0A PID_SAVE - no payload; save current Kp/Ki/Kd to flash (Issue #531) * * STM32 to Jetson telemetry: * 0x80 STATUS - jlink_tlm_status_t (20 bytes), sent at JLINK_TLM_HZ * 0x81 POWER - jlink_tlm_power_t (11 bytes), sent at PM_TLM_HZ * 0x83 PID_RESULT - jlink_tlm_pid_result_t (13 bytes), sent after PID_SAVE (Issue #531) * * Priority: CRSF RC always takes precedence. Jetson steer/speed only applied * when mode_manager_active() == MODE_AUTONOMOUS (CH6 high). In RC_MANUAL and * RC_ASSISTED modes the Jetson speed offset and steer are injected via * mode_manager_set_auto_cmd() and blended per the existing blend ramp. * * Heartbeat: if no valid frame arrives within JLINK_HB_TIMEOUT_MS (1000ms), * jlink_is_active() returns false and the main loop clears the auto command. */ /* ---- Frame constants ---- */ #define JLINK_STX 0x02u #define JLINK_ETX 0x03u /* ---- Command IDs (Jetson to STM32) ---- */ #define JLINK_CMD_HEARTBEAT 0x01u #define JLINK_CMD_DRIVE 0x02u #define JLINK_CMD_ARM 0x03u #define JLINK_CMD_DISARM 0x04u #define JLINK_CMD_PID_SET 0x05u #define JLINK_CMD_DFU_ENTER 0x06u #define JLINK_CMD_ESTOP 0x07u #define JLINK_CMD_AUDIO 0x08u /* PCM audio chunk: int16 samples, up to 126 */ #define JLINK_CMD_SLEEP 0x09u /* no payload; request STOP-mode sleep */ #define JLINK_CMD_PID_SAVE 0x0Au /* no payload; save Kp/Ki/Kd to flash (Issue #531) */ /* ---- Telemetry IDs (STM32 to Jetson) ---- */ #define JLINK_TLM_STATUS 0x80u #define JLINK_TLM_POWER 0x81u /* jlink_tlm_power_t (11 bytes) */ #define JLINK_TLM_BATTERY 0x82u /* jlink_tlm_battery_t (10 bytes, Issue #533) */ #define JLINK_TLM_PID_RESULT 0x83u /* jlink_tlm_pid_result_t (13 bytes) Issue #531 */ /* ---- Telemetry STATUS payload (20 bytes, packed) ---- */ typedef struct __attribute__((packed)) { int16_t pitch_x10; /* pitch degrees x10 */ int16_t roll_x10; /* roll degrees x10 */ int16_t yaw_x10; /* yaw degrees x10 (gyro-integrated) */ int16_t motor_cmd; /* ESC output -1000..+1000 */ uint16_t vbat_mv; /* battery millivolts */ int8_t rssi_dbm; /* CRSF RSSI (dBm, negative) */ uint8_t link_quality; /* CRSF LQ 0-100 */ uint8_t balance_state; /* 0=DISARMED, 1=ARMED, 2=TILT_FAULT */ uint8_t rc_armed; /* crsf_state.armed (1=armed) */ uint8_t mode; /* robot_mode_t: 0=RC_MANUAL,1=ASSISTED,2=AUTONOMOUS */ uint8_t estop; /* EstopSource value */ uint8_t soc_pct; /* state-of-charge 0-100, 255=unknown */ uint8_t fw_major; uint8_t fw_minor; uint8_t fw_patch; } jlink_tlm_status_t; /* 20 bytes */ /* ---- Telemetry POWER payload (11 bytes, packed) ---- */ typedef struct __attribute__((packed)) { uint8_t power_state; /* PowerState: 0=ACTIVE,1=SLEEP_PENDING,2=SLEEPING,3=WAKING */ uint16_t est_total_ma; /* estimated total current draw (mA) */ uint16_t est_audio_ma; /* estimated I2S3+amp current (mA); 0 if gated */ uint16_t est_osd_ma; /* estimated OSD SPI2 current (mA); 0 if gated */ uint32_t idle_ms; /* ms since last cmd_vel activity */ } jlink_tlm_power_t; /* 11 bytes */ /* ---- Telemetry BATTERY payload (10 bytes, packed) — Issue #533 ---- */ typedef struct __attribute__((packed)) { uint16_t vbat_mv; /* DMA-sampled LPF-filtered Vbat (mV) */ int16_t ibat_ma; /* DMA-sampled LPF-filtered Ibat (mA, + = discharge) */ uint16_t vbat_raw_mv; /* unfiltered last-tick average (mV) */ uint8_t flags; /* bit0=low, bit1=critical, bit2=4S, bit3=adc_ready */ int8_t cal_offset; /* vbat_offset_mv / 4 (±127 → ±508 mV) */ uint8_t lpf_shift; /* IIR shift factor (α = 1/2^lpf_shift) */ uint8_t soc_pct; /* voltage-based SoC 0–100, 255 = unknown */ } jlink_tlm_battery_t; /* 10 bytes */ /* ---- Telemetry PID_RESULT payload (13 bytes, packed) Issue #531 ---- */ /* Sent after JLINK_CMD_PID_SAVE is processed; confirms gains written to flash. */ typedef struct __attribute__((packed)) { float kp; /* Kp saved */ float ki; /* Ki saved */ float kd; /* Kd saved */ uint8_t saved_ok; /* 1 = flash write verified, 0 = write failed */ } jlink_tlm_pid_result_t; /* 13 bytes */ /* ---- Volatile state (read from main loop) ---- */ typedef struct { /* Drive command - updated on JLINK_CMD_DRIVE */ volatile int16_t speed; /* -1000..+1000 */ volatile int16_t steer; /* -1000..+1000 */ /* Heartbeat timer - updated on any valid frame */ volatile uint32_t last_rx_ms; /* HAL_GetTick() of last valid frame; 0=none */ /* One-shot request flags - set by parser, cleared by main loop */ volatile uint8_t arm_req; volatile uint8_t disarm_req; volatile uint8_t estop_req; /* PID update - set by parser, cleared by main loop */ volatile uint8_t pid_updated; volatile float pid_kp; volatile float pid_ki; volatile float pid_kd; /* DFU reboot request - set by parser, cleared by main loop */ volatile uint8_t dfu_req; /* Sleep request - set by JLINK_CMD_SLEEP, cleared by main loop */ volatile uint8_t sleep_req; /* PID save request - set by JLINK_CMD_PID_SAVE, cleared by main loop (Issue #531) */ volatile uint8_t pid_save_req; } JLinkState; extern volatile JLinkState jlink_state; /* ---- API ---- */ /* * jlink_init() - configure USART1 (PB6=TX, PB7=RX) at 921600 baud with * DMA2_Stream2_Channel4 circular RX (128-byte buffer) and IDLE interrupt. * Call once before safety_init(). */ void jlink_init(void); /* * jlink_is_active(now_ms) - returns true if a valid frame arrived within * JLINK_HB_TIMEOUT_MS. Returns false if no frame ever received. */ bool jlink_is_active(uint32_t now_ms); /* * jlink_send_telemetry(status) - build and transmit a JLINK_TLM_STATUS frame * over USART1 TX (blocking, ~0.2ms at 921600). Call at JLINK_TLM_HZ. */ void jlink_send_telemetry(const jlink_tlm_status_t *status); /* * jlink_process() - drain DMA circular buffer and parse frames. * Call from main loop every iteration (not ISR). Lightweight: O(bytes_pending). */ void jlink_process(void); /* * jlink_send_power_telemetry(power) - build and transmit a JLINK_TLM_POWER * frame (17 bytes) at PM_TLM_HZ. Call from main loop when not in STOP mode. */ void jlink_send_power_telemetry(const jlink_tlm_power_t *power); /* * jlink_send_pid_result(result) - build and transmit a JLINK_TLM_PID_RESULT * frame (19 bytes) to confirm PID flash save outcome (Issue #531). */ void jlink_send_pid_result(const jlink_tlm_pid_result_t *result); /* * jlink_send_battery_telemetry(batt) - build and transmit JLINK_TLM_BATTERY * (0x82) frame (16 bytes) at BATTERY_ADC_PUBLISH_HZ (1 Hz). * Called by battery_adc_publish(); not normally called directly. */ void jlink_send_battery_telemetry(const jlink_tlm_battery_t *batt); #endif /* JLINK_H */