sl-firmware
4beef8da03
- Add ota.h / ota.c: ota_enter_dfu() (armed guard, writes BKP15R, resets), ota_fw_crc32() using STM32F7 hardware CRC peripheral (CRC-32/MPEG-2, 512 KB) - Add JLINK_CMD_DFU_ENTER (0x06) and dfu_req flag to jlink.h / jlink.c - Handle dfu_req in main loop: calls ota_enter_dfu(is_armed) — no-op if armed - Update usbd_cdc_if.c: move DFU magic from BKP0R to BKP15R (OTA_DFU_BKP_IDX) resolving BKP register conflict with BNO055 calibration (BKP0R–6R, PR #150) - Add scripts/flash_firmware.py: CRC-32/MPEG-2 + ISO-HDLC verification, dfu-util flash, host-side backup/rollback, --trigger-dfu JLink serial path - Add test/test_ota.py: 42 tests passing (CRC-32/MPEG-2, CRC-16/XMODEM, DFU_ENTER frame structure, BKP register safety, flash constants) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
133 lines
4.9 KiB
C
133 lines
4.9 KiB
C
#ifndef JLINK_H
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#define JLINK_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* JLink — Jetson serial binary protocol over USART1 (PB6=TX, PB7=RX).
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*
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* Issue #120: replaces jetson_cmd ASCII-over-USB-CDC with a dedicated
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* hardware UART at 921600 baud using DMA circular RX and IDLE interrupt.
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*
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* Frame format (both directions):
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* [STX=0x02][LEN][CMD][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03]
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*
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* STX : frame start sentinel (0x02)
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* LEN : count of CMD + PAYLOAD bytes (1 + payload_len)
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* CMD : command/telemetry type byte
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* PAYLOAD: 0..N bytes depending on CMD
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* CRC16 : CRC16-XModem over CMD+PAYLOAD (poly 0x1021, init 0), big-endian
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* ETX : frame end sentinel (0x03)
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*
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* Jetson → STM32 commands:
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* 0x01 HEARTBEAT — no payload; refreshes heartbeat timer
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* 0x02 DRIVE — int16 speed (-1000..+1000), int16 steer (-1000..+1000)
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* 0x03 ARM — no payload; request arm (same interlock as CDC 'A')
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* 0x04 DISARM — no payload; disarm immediately
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* 0x05 PID_SET — float kp, float ki, float kd (12 bytes, IEEE-754 LE)
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* 0x06 DFU_ENTER — no payload; request OTA DFU reboot (denied while armed)
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* 0x07 ESTOP — no payload; engage emergency stop
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*
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* STM32 → Jetson telemetry:
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* 0x80 STATUS — jlink_tlm_status_t (20 bytes), sent at JLINK_TLM_HZ
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*
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* Priority: CRSF RC always takes precedence. Jetson steer/speed only applied
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* when mode_manager_active() == MODE_AUTONOMOUS (CH6 high). In RC_MANUAL and
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* RC_ASSISTED modes the Jetson speed offset and steer are injected via
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* mode_manager_set_auto_cmd() and blended per the existing blend ramp.
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*
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* Heartbeat: if no valid frame arrives within JLINK_HB_TIMEOUT_MS (1000ms),
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* jlink_is_active() returns false and the main loop clears the auto command.
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*/
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/* ---- Frame constants ---- */
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#define JLINK_STX 0x02u
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#define JLINK_ETX 0x03u
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/* ---- Command IDs (Jetson → STM32) ---- */
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#define JLINK_CMD_HEARTBEAT 0x01u
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#define JLINK_CMD_DRIVE 0x02u
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#define JLINK_CMD_ARM 0x03u
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#define JLINK_CMD_DISARM 0x04u
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#define JLINK_CMD_PID_SET 0x05u
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#define JLINK_CMD_DFU_ENTER 0x06u
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#define JLINK_CMD_ESTOP 0x07u
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/* ---- Telemetry IDs (STM32 → Jetson) ---- */
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#define JLINK_TLM_STATUS 0x80u
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/* ---- Telemetry STATUS payload (20 bytes, packed) ---- */
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typedef struct __attribute__((packed)) {
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int16_t pitch_x10; /* pitch degrees ×10 */
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int16_t roll_x10; /* roll degrees ×10 */
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int16_t yaw_x10; /* yaw degrees ×10 (gyro-integrated) */
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int16_t motor_cmd; /* ESC output -1000..+1000 */
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uint16_t vbat_mv; /* battery millivolts */
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int8_t rssi_dbm; /* CRSF RSSI (dBm, negative) */
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uint8_t link_quality; /* CRSF LQ 0-100 */
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uint8_t balance_state; /* 0=DISARMED, 1=ARMED, 2=TILT_FAULT */
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uint8_t rc_armed; /* crsf_state.armed (1=armed) */
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uint8_t mode; /* robot_mode_t: 0=RC_MANUAL,1=ASSISTED,2=AUTONOMOUS */
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uint8_t estop; /* EstopSource value */
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uint8_t soc_pct; /* state-of-charge 0-100, 255=unknown */
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uint8_t fw_major;
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uint8_t fw_minor;
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uint8_t fw_patch;
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} jlink_tlm_status_t; /* 20 bytes */
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/* ---- Volatile state (read from main loop) ---- */
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typedef struct {
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/* Drive command — updated on JLINK_CMD_DRIVE */
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volatile int16_t speed; /* -1000..+1000 */
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volatile int16_t steer; /* -1000..+1000 */
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/* Heartbeat timer — updated on any valid frame */
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volatile uint32_t last_rx_ms; /* HAL_GetTick() of last valid frame; 0=none */
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/* One-shot request flags — set by parser, cleared by main loop */
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volatile uint8_t arm_req;
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volatile uint8_t disarm_req;
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volatile uint8_t estop_req;
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/* PID update — set by parser, cleared by main loop */
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volatile uint8_t pid_updated;
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volatile float pid_kp;
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volatile float pid_ki;
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volatile float pid_kd;
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/* DFU reboot request — set by parser, cleared by main loop */
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volatile uint8_t dfu_req;
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} JLinkState;
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extern volatile JLinkState jlink_state;
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/* ---- API ---- */
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/*
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* jlink_init() — configure USART1 (PB6=TX, PB7=RX) at 921600 baud with
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* DMA2_Stream2_Channel4 circular RX (128-byte buffer) and IDLE interrupt.
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* Call once before safety_init().
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*/
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void jlink_init(void);
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/*
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* jlink_is_active(now_ms) — returns true if a valid frame arrived within
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* JLINK_HB_TIMEOUT_MS. Returns false if no frame ever received.
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*/
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bool jlink_is_active(uint32_t now_ms);
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/*
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* jlink_send_telemetry(status) — build and transmit a JLINK_TLM_STATUS frame
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* over USART1 TX (blocking, ~0.2ms at 921600). Call at JLINK_TLM_HZ.
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*/
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void jlink_send_telemetry(const jlink_tlm_status_t *status);
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/*
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* jlink_process() — drain DMA circular buffer and parse frames.
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* Call from main loop every iteration (not ISR). Lightweight: O(bytes_pending).
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*/
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void jlink_process(void);
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#endif /* JLINK_H */
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