sl-jetson
cea3eaff97
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
164 lines
4.0 KiB
C
164 lines
4.0 KiB
C
/* DEPRECATED: STM32/Mamba firmware -- replaced by ESP32-S3. Do not modify. */
|
|
#ifndef FAN_H
|
|
#define FAN_H
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
/*
|
|
* fan.h — Cooling fan PWM speed controller (Issue #263)
|
|
*
|
|
* STM32F722 driver for brushless cooling fan on PA9 using TIM1_CH2 PWM.
|
|
* Temperature-based speed curve with smooth ramp transitions.
|
|
*
|
|
* Pin: PA9 (TIM1_CH2, alternate function AF1)
|
|
* PWM Frequency: 25 kHz (suitable for brushless DC fan)
|
|
* Speed Range: 0-100% duty cycle
|
|
*
|
|
* Temperature Curve:
|
|
* - Below 40°C: Fan off (0%)
|
|
* - 40-50°C: Linear ramp from 0% to 30%
|
|
* - 50-70°C: Linear ramp from 30% to 100%
|
|
* - Above 70°C: Fan at maximum (100%)
|
|
*/
|
|
|
|
/* Fan speed state */
|
|
typedef enum {
|
|
FAN_OFF, /* Motor disabled (0% duty) */
|
|
FAN_LOW, /* Low speed (5-30%) */
|
|
FAN_MEDIUM, /* Medium speed (31-60%) */
|
|
FAN_HIGH, /* High speed (61-99%) */
|
|
FAN_FULL /* Maximum speed (100%) */
|
|
} FanState;
|
|
|
|
/*
|
|
* fan_init()
|
|
*
|
|
* Initialize fan controller:
|
|
* - PA9 as TIM1_CH2 PWM output
|
|
* - TIM1 configured for 25 kHz frequency
|
|
* - PWM duty cycle control (0-100%)
|
|
* - Ramp rate limiter for smooth transitions
|
|
*/
|
|
void fan_init(void);
|
|
|
|
/*
|
|
* fan_set_speed(percentage)
|
|
*
|
|
* Set fan speed directly (bypasses temperature control).
|
|
* Used for manual testing or emergency cooling.
|
|
*
|
|
* Arguments:
|
|
* - percentage: 0-100% duty cycle
|
|
*
|
|
* Returns: true if set successfully, false if invalid value
|
|
*/
|
|
bool fan_set_speed(uint8_t percentage);
|
|
|
|
/*
|
|
* fan_get_speed()
|
|
*
|
|
* Get current fan speed setting.
|
|
*
|
|
* Returns: Current speed 0-100%
|
|
*/
|
|
uint8_t fan_get_speed(void);
|
|
|
|
/*
|
|
* fan_set_target_speed(percentage)
|
|
*
|
|
* Set target speed with smooth ramping.
|
|
* Speed transitions over time according to ramp rate.
|
|
*
|
|
* Arguments:
|
|
* - percentage: Target speed 0-100%
|
|
*
|
|
* Returns: true if set successfully
|
|
*/
|
|
bool fan_set_target_speed(uint8_t percentage);
|
|
|
|
/*
|
|
* fan_update_temperature(temp_celsius)
|
|
*
|
|
* Update temperature reading and apply speed curve.
|
|
* Calculates target speed based on temperature curve.
|
|
* Speed transition is smoothed via ramp limiter.
|
|
*
|
|
* Temperature Curve:
|
|
* - temp < 40°C: 0% (off)
|
|
* - 40°C ≤ temp < 50°C: 0% + (temp - 40) * 3% per °C = linear to 30%
|
|
* - 50°C ≤ temp < 70°C: 30% + (temp - 50) * 3.5% per °C = linear to 100%
|
|
* - temp ≥ 70°C: 100% (full)
|
|
*
|
|
* Arguments:
|
|
* - temp_celsius: Temperature in degrees Celsius (int16_t for negative values)
|
|
*/
|
|
void fan_update_temperature(int16_t temp_celsius);
|
|
|
|
/*
|
|
* fan_get_temperature()
|
|
*
|
|
* Get last recorded temperature.
|
|
*
|
|
* Returns: Temperature in °C (or 0 if not yet set)
|
|
*/
|
|
int16_t fan_get_temperature(void);
|
|
|
|
/*
|
|
* fan_get_state()
|
|
*
|
|
* Get current fan operational state.
|
|
*
|
|
* Returns: FAN_OFF, FAN_LOW, FAN_MEDIUM, FAN_HIGH, or FAN_FULL
|
|
*/
|
|
FanState fan_get_state(void);
|
|
|
|
/*
|
|
* fan_set_ramp_rate(percentage_per_ms)
|
|
*
|
|
* Configure speed ramp rate for smooth transitions.
|
|
* Default: 5% per 100ms = 0.05% per ms.
|
|
* Higher values = faster transitions.
|
|
*
|
|
* Arguments:
|
|
* - percentage_per_ms: Speed change per millisecond (e.g., 1 = 1% per ms)
|
|
*
|
|
* Typical ranges:
|
|
* - 0.01 = very slow (100% change in 10 seconds)
|
|
* - 0.05 = slow (100% change in 2 seconds)
|
|
* - 0.1 = medium (100% change in 1 second)
|
|
* - 1.0 = fast (100% change in 100ms)
|
|
*/
|
|
void fan_set_ramp_rate(float percentage_per_ms);
|
|
|
|
/*
|
|
* fan_is_ramping()
|
|
*
|
|
* Check if speed is currently transitioning.
|
|
*
|
|
* Returns: true if speed is ramping toward target, false if at target
|
|
*/
|
|
bool fan_is_ramping(void);
|
|
|
|
/*
|
|
* fan_tick(now_ms)
|
|
*
|
|
* Update function called periodically (recommended: every 10-100ms).
|
|
* Processes speed ramp transitions.
|
|
* Must be called regularly for smooth ramping operation.
|
|
*
|
|
* Arguments:
|
|
* - now_ms: current time in milliseconds (from HAL_GetTick() or similar)
|
|
*/
|
|
void fan_tick(uint32_t now_ms);
|
|
|
|
/*
|
|
* fan_disable()
|
|
*
|
|
* Disable fan immediately (set to 0% duty).
|
|
* Useful for shutdown or emergency stop.
|
|
*/
|
|
void fan_disable(void);
|
|
|
|
#endif /* FAN_H */
|