sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
164 lines
4.0 KiB
C
164 lines
4.0 KiB
C
/* ARCHIVED: Legacy STM32F722/Mamba F722S era code. NOT used in current hardware. */
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#ifndef FAN_H
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#define FAN_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* fan.h — Cooling fan PWM speed controller (Issue #263)
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*
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* STM32F722 driver for brushless cooling fan on PA9 using TIM1_CH2 PWM.
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* Temperature-based speed curve with smooth ramp transitions.
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*
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* Pin: PA9 (TIM1_CH2, alternate function AF1)
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* PWM Frequency: 25 kHz (suitable for brushless DC fan)
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* Speed Range: 0-100% duty cycle
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*
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* Temperature Curve:
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* - Below 40°C: Fan off (0%)
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* - 40-50°C: Linear ramp from 0% to 30%
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* - 50-70°C: Linear ramp from 30% to 100%
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* - Above 70°C: Fan at maximum (100%)
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*/
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/* Fan speed state */
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typedef enum {
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FAN_OFF, /* Motor disabled (0% duty) */
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FAN_LOW, /* Low speed (5-30%) */
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FAN_MEDIUM, /* Medium speed (31-60%) */
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FAN_HIGH, /* High speed (61-99%) */
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FAN_FULL /* Maximum speed (100%) */
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} FanState;
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/*
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* fan_init()
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*
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* Initialize fan controller:
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* - PA9 as TIM1_CH2 PWM output
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* - TIM1 configured for 25 kHz frequency
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* - PWM duty cycle control (0-100%)
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* - Ramp rate limiter for smooth transitions
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*/
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void fan_init(void);
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/*
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* fan_set_speed(percentage)
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*
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* Set fan speed directly (bypasses temperature control).
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* Used for manual testing or emergency cooling.
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*
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* Arguments:
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* - percentage: 0-100% duty cycle
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*
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* Returns: true if set successfully, false if invalid value
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*/
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bool fan_set_speed(uint8_t percentage);
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/*
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* fan_get_speed()
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*
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* Get current fan speed setting.
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*
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* Returns: Current speed 0-100%
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*/
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uint8_t fan_get_speed(void);
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/*
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* fan_set_target_speed(percentage)
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*
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* Set target speed with smooth ramping.
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* Speed transitions over time according to ramp rate.
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*
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* Arguments:
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* - percentage: Target speed 0-100%
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*
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* Returns: true if set successfully
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*/
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bool fan_set_target_speed(uint8_t percentage);
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/*
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* fan_update_temperature(temp_celsius)
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*
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* Update temperature reading and apply speed curve.
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* Calculates target speed based on temperature curve.
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* Speed transition is smoothed via ramp limiter.
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*
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* Temperature Curve:
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* - temp < 40°C: 0% (off)
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* - 40°C ≤ temp < 50°C: 0% + (temp - 40) * 3% per °C = linear to 30%
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* - 50°C ≤ temp < 70°C: 30% + (temp - 50) * 3.5% per °C = linear to 100%
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* - temp ≥ 70°C: 100% (full)
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*
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* Arguments:
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* - temp_celsius: Temperature in degrees Celsius (int16_t for negative values)
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*/
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void fan_update_temperature(int16_t temp_celsius);
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/*
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* fan_get_temperature()
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*
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* Get last recorded temperature.
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*
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* Returns: Temperature in °C (or 0 if not yet set)
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*/
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int16_t fan_get_temperature(void);
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/*
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* fan_get_state()
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*
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* Get current fan operational state.
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*
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* Returns: FAN_OFF, FAN_LOW, FAN_MEDIUM, FAN_HIGH, or FAN_FULL
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*/
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FanState fan_get_state(void);
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/*
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* fan_set_ramp_rate(percentage_per_ms)
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*
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* Configure speed ramp rate for smooth transitions.
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* Default: 5% per 100ms = 0.05% per ms.
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* Higher values = faster transitions.
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*
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* Arguments:
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* - percentage_per_ms: Speed change per millisecond (e.g., 1 = 1% per ms)
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*
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* Typical ranges:
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* - 0.01 = very slow (100% change in 10 seconds)
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* - 0.05 = slow (100% change in 2 seconds)
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* - 0.1 = medium (100% change in 1 second)
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* - 1.0 = fast (100% change in 100ms)
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*/
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void fan_set_ramp_rate(float percentage_per_ms);
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/*
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* fan_is_ramping()
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*
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* Check if speed is currently transitioning.
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*
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* Returns: true if speed is ramping toward target, false if at target
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*/
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bool fan_is_ramping(void);
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/*
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* fan_tick(now_ms)
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*
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* Update function called periodically (recommended: every 10-100ms).
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* Processes speed ramp transitions.
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* Must be called regularly for smooth ramping operation.
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*
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* Arguments:
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* - now_ms: current time in milliseconds (from HAL_GetTick() or similar)
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*/
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void fan_tick(uint32_t now_ms);
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/*
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* fan_disable()
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*
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* Disable fan immediately (set to 0% duty).
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* Useful for shutdown or emergency stop.
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*/
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void fan_disable(void);
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#endif /* FAN_H */
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