sl-firmware
4335d71187
- vesc_can: poll twai_get_status_info() every 500ms; auto-recover from bus-off (twai_initiate_recovery) and stopped state (twai_start) - vesc_can: expose g_twai_bus_off / g_twai_tx_err_count / g_twai_rx_err_count - main: set flags bit2 when TWAI is bus-off (visible in TELEM_STATUS) - sdkconfig: switch console from UART0 (conflicts with binary protocol at 460800) to USB serial JTAG — eliminates log corruption on Orin Flags byte: bit0=estop, bit1=hb_timeout, bit2=twai_bus_off Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
42 lines
1.6 KiB
C
42 lines
1.6 KiB
C
#pragma once
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/* vesc_can.h — VESC CAN TWAI driver for ESP32-S3 BALANCE (bd-66hx)
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*
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* VESC extended CAN ID: (packet_type << 8) | vesc_node_id
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* Physical layer: TWAI peripheral → SN65HVD230 → 500 kbps shared bus
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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/* ── VESC packet types ── */
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#define VESC_PKT_SET_RPM 3u
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#define VESC_PKT_STATUS 9u /* int32 erpm, int16 I×10, int16 duty×1000 */
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#define VESC_PKT_STATUS_4 16u /* int16 T_fet×10, T_mot×10, I_in×10 */
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#define VESC_PKT_STATUS_5 27u /* int32 tacho, int16 V_in×10 */
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/* ── VESC telemetry snapshot ── */
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typedef struct {
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int32_t erpm; /* electrical RPM (STATUS) */
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int16_t current_x10; /* phase current A×10 (STATUS) */
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int16_t voltage_x10; /* bus voltage V×10 (STATUS_5) */
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int16_t temp_mot_x10; /* motor temp °C×10 (STATUS_4) */
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uint32_t last_rx_ms; /* esp_timer ms of last STATUS frame */
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} vesc_state_t;
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/* ── Globals (two VESC nodes: index 0 = VESC_ID_A=56, 1 = VESC_ID_B=68) ── */
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extern vesc_state_t g_vesc[2];
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/* TWAI bus health — set by vesc_can_rx_task, read by telem_task for flags bit2 */
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extern volatile bool g_twai_bus_off;
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extern volatile uint32_t g_twai_tx_err_count;
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extern volatile uint32_t g_twai_rx_err_count;
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/* ── API ── */
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void vesc_can_init(void);
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void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm);
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/* RX task — pass tx_queue as arg; forwards STATUS frames to Orin over serial */
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void vesc_can_rx_task(void *arg); /* arg = QueueHandle_t orin_tx_queue */
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