3bb4b71cea
- Fix UART5 ESC: PC12=TX, PD2=RX @ 115200 baud (was USART2/38400) - Add jetson_uart.c: USART6 command interface (A/D/E/Z/H/C/W/R/X/? commands) - Add W command: persistent direct motor test (sets globals, main loop sends at 50Hz) - Fix power_mgmt: keep UART5 clock active, PC7 EXTI wake source - Fix main loop: direct_test_speed/steer override disarmed zero-send - Add boot banner on USART6 Tested: Orin -> FC USART6 -> FC UART5 -> EFeru ESC -> both motors spin
30 lines
691 B
C
30 lines
691 B
C
#ifndef HOVERBOARD_H
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#define HOVERBOARD_H
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#include <stdint.h>
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/*
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* Hoverboard ESC UART protocol (EFeru FOC firmware)
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* USART2: PA2=TX, PA3=RX @ 115200 baud
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*
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* Packet: [0xABCD] [steer:i16] [speed:i16] [checksum:u16]
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* Checksum = start ^ steer ^ speed
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* Speed range: -1000 to +1000
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* Must send at >=50Hz or ESC times out (TIMEOUT=20 * DELAY_IN_MAIN_LOOP=5ms = 100ms)
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*/
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#define HOVERBOARD_START_FRAME 0xABCD
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#define HOVERBOARD_BAUD 38400
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typedef struct __attribute__((packed)) {
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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} hoverboard_cmd_t;
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void hoverboard_init(void);
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void hoverboard_send(int16_t speed, int16_t steer);
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#endif
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