sl-firmware
844504e92e
BREAKING CHANGE: Hoverboard implementation moved to pluggable vtable architecture. ## Implementation ### New Files - include/esc_backend.h: Abstract interface (vtable) with: - esc_telemetry_t struct (voltage, current, temp, speed, steer, fault) - esc_backend_t vtable (init, send, estop, resume, get_telemetry) - Runtime registration (esc_backend_register/get) - Convenience wrappers (esc_init, esc_send, esc_estop, etc) - src/esc_backend.c: Backend registry and wrapper implementations - src/esc_hoverboard.c: Hoverboard backend implementing vtable - USART2 @ 115200 baud configuration - EFeru FOC packet encoding (0xABCD start, XOR checksum) - Backward-compatible hoverboard_init/send wrappers - Telemetry stub (future: add RX feedback parsing) - src/esc_vesc.c: VESC backend stub (filled by Issue #383) - Placeholder functions for FSESC 4.20 Plus integration - Public vesc_backend_register_impl() for runtime registration - Ready for pyvesc protocol implementation ### Modified Files - src/motor_driver.c: Changed from direct hoverboard_send() calls to esc_send() - No logic changes, ESC-agnostic via vtable - include/config.h: Added ESC_BACKEND define - Compile-time selection (default: HOVERBOARD) - Comments document architecture for future VESC support ### Removed Files - src/hoverboard.c: Original implementation merged into esc_hoverboard.c ## Architecture Benefits 1. **Backend Pluggability**: Support multiple ESC types without code duplication 2. **Zero Direct Dependencies**: motor_driver.c never calls hoverboard functions directly 3. **Clean Testing**: Each backend can be tested/stubbed independently 4. **Future-Ready**: VESC integration (Issue #383) just implements the vtable 5. **Backward Compatible**: Existing code calling hoverboard_init/send still works ## Testing - pio run: ✅ PASS (55.4KB Flash, 16.9KB RAM) - Hoverboard backend tested via existing balance tests (unchanged logic) - VESC backend stub compiles and links (no-op until #383 fills implementation) ## Blocks - Issue #383 (VESC integration) — ready to implement vtable functions - Issue #384 (pan/tilt servo) — may use independent PWM (not blocked) ## Dependencies - None — this is pure refactoring, no API changes for callers Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
80 lines
2.5 KiB
C
80 lines
2.5 KiB
C
#ifndef ESC_BACKEND_H
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#define ESC_BACKEND_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* ESC Backend Abstraction Layer
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*
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* Provides a pluggable interface for different ESC implementations:
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* - Hoverboard (EFeru FOC firmware, UART @ 115200)
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* - VESC (via UART @ 921600, with balance mode) — future
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*
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* Allows motor_driver.c to remain ESC-agnostic. Backend selection
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* via ESC_BACKEND compile-time define in config.h.
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*
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* Issue #388: ESC abstraction layer
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* Blocks Issue #383: VESC integration
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*/
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/* Telemetry snapshot from ESC (polled on-demand) */
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typedef struct {
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int16_t speed; /* Motor speed (PWM duty or RPM, backend-dependent) */
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int16_t steer; /* Steering position (0 = centered) */
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uint16_t voltage_mv; /* Battery voltage in millivolts */
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int16_t current_ma; /* Motor current in milliamps (signed: discharge/charge) */
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int16_t temperature_c; /* ESC temperature in °C */
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uint16_t fault; /* Fault code (backend-specific) */
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} esc_telemetry_t;
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/* Virtual function table for ESC backends */
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typedef struct {
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/* Initialize ESC hardware and UART (called once at startup) */
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void (*init)(void);
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/* Send motor command to ESC (called at ~50Hz from motor_driver_update)
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* speed: -1000..+1000 (forward/reverse)
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* steer: -1000..+1000 (left/right)
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*/
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void (*send)(int16_t speed, int16_t steer);
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/* Emergency stop: send zero and disable output
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* (called from safety or mode manager)
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*/
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void (*estop)(void);
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/* Query current ESC state
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* Returns latest telemetry snapshot (may be cached/stale on some backends).
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* Safe to call from any context (non-blocking).
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*/
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void (*get_telemetry)(esc_telemetry_t *out);
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/* Optional: resume from estop (not all backends use this) */
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void (*resume)(void);
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} esc_backend_t;
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/*
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* Register a backend implementation at runtime.
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* Typically called during init sequence before motor_driver_init().
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*/
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void esc_backend_register(const esc_backend_t *backend);
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/*
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* Get the currently active backend.
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* Returns pointer to vtable; nullptr if no backend registered.
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*/
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const esc_backend_t *esc_backend_get(void);
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/*
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* High-level convenience wrappers (match motor_driver.c interface).
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* These call through the active backend if registered.
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*/
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void esc_init(void);
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void esc_send(int16_t speed, int16_t steer);
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void esc_estop(void);
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void esc_resume(void);
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void esc_get_telemetry(esc_telemetry_t *out);
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#endif /* ESC_BACKEND_H */
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