sl-firmware
36643dd652
- servo_bus.c/h: half-duplex USART3 driver for Feetech ST3215 servos at 1 Mbps; blocking TX/RX with CRC checksum; read/write position, torque enable, speed; deg<->raw conversion (center=2048, 4096 counts/360°) - gimbal.c/h: gimbal_t controller; 50 Hz feedback poll alternating pan/tilt at 25 Hz each; clamps to ±GIMBAL_PAN/TILT_LIMIT_DEG soft limits - jlink.c: dispatch JLINK_CMD_GIMBAL_POS (0x0B, 6-byte payload int16+int16+ uint16); jlink_send_gimbal_state() for JLINK_TLM_GIMBAL_STATE (0x84) - main.c: servo_bus_init() + gimbal_init() on boot; gimbal_tick() in main loop; gimbal_updated flag handler; GIMBAL_STATE telemetry at 50 Hz - config.h: SERVO_BUS_UART/PORT/PIN/BAUD, GIMBAL_PAN/TILT_ID, GIMBAL_TLM_HZ, GIMBAL_PAN/TILT_LIMIT_DEG - jlink.h: CMD_GIMBAL_POS, TLM_GIMBAL_STATE, jlink_tlm_gimbal_state_t (10 B), gimbal_updated/pan_x10/tilt_x10/speed volatile fields in JLinkState Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
221 lines
9.7 KiB
C
221 lines
9.7 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 to 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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* 0x0A PID_SAVE - no payload; save current Kp/Ki/Kd to flash (Issue #531)
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* 0x0B GIMBAL_POS - int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547)
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*
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* STM32 to Jetson telemetry:
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* 0x80 STATUS - jlink_tlm_status_t (20 bytes), sent at JLINK_TLM_HZ
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* 0x81 POWER - jlink_tlm_power_t (11 bytes), sent at PM_TLM_HZ
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* 0x83 PID_RESULT - jlink_tlm_pid_result_t (13 bytes), sent after PID_SAVE (Issue #531)
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* 0x84 GIMBAL_STATE - jlink_tlm_gimbal_state_t (10 bytes, Issue #547)
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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 to 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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#define JLINK_CMD_AUDIO 0x08u /* PCM audio chunk: int16 samples, up to 126 */
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#define JLINK_CMD_SLEEP 0x09u /* no payload; request STOP-mode sleep */
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#define JLINK_CMD_PID_SAVE 0x0Au /* no payload; save Kp/Ki/Kd to flash (Issue #531) */
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#define JLINK_CMD_GIMBAL_POS 0x0Bu /* int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547) */
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/* ---- Telemetry IDs (STM32 to Jetson) ---- */
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#define JLINK_TLM_STATUS 0x80u
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#define JLINK_TLM_POWER 0x81u /* jlink_tlm_power_t (11 bytes) */
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#define JLINK_TLM_BATTERY 0x82u /* jlink_tlm_battery_t (10 bytes, Issue #533) */
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#define JLINK_TLM_PID_RESULT 0x83u /* jlink_tlm_pid_result_t (13 bytes) Issue #531 */
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#define JLINK_TLM_GIMBAL_STATE 0x84u /* jlink_tlm_gimbal_state_t (10 bytes, Issue #547) */
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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 x10 */
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int16_t roll_x10; /* roll degrees x10 */
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int16_t yaw_x10; /* yaw degrees x10 (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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/* ---- Telemetry POWER payload (11 bytes, packed) ---- */
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typedef struct __attribute__((packed)) {
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uint8_t power_state; /* PowerState: 0=ACTIVE,1=SLEEP_PENDING,2=SLEEPING,3=WAKING */
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uint16_t est_total_ma; /* estimated total current draw (mA) */
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uint16_t est_audio_ma; /* estimated I2S3+amp current (mA); 0 if gated */
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uint16_t est_osd_ma; /* estimated OSD SPI2 current (mA); 0 if gated */
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uint32_t idle_ms; /* ms since last cmd_vel activity */
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} jlink_tlm_power_t; /* 11 bytes */
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/* ---- Telemetry BATTERY payload (10 bytes, packed) — Issue #533 ---- */
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typedef struct __attribute__((packed)) {
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uint16_t vbat_mv; /* DMA-sampled LPF-filtered Vbat (mV) */
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int16_t ibat_ma; /* DMA-sampled LPF-filtered Ibat (mA, + = discharge) */
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uint16_t vbat_raw_mv; /* unfiltered last-tick average (mV) */
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uint8_t flags; /* bit0=low, bit1=critical, bit2=4S, bit3=adc_ready */
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int8_t cal_offset; /* vbat_offset_mv / 4 (±127 → ±508 mV) */
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uint8_t lpf_shift; /* IIR shift factor (α = 1/2^lpf_shift) */
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uint8_t soc_pct; /* voltage-based SoC 0–100, 255 = unknown */
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} jlink_tlm_battery_t; /* 10 bytes */
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/* ---- Telemetry PID_RESULT payload (13 bytes, packed) Issue #531 ---- */
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/* Sent after JLINK_CMD_PID_SAVE is processed; confirms gains written to flash. */
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typedef struct __attribute__((packed)) {
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float kp; /* Kp saved */
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float ki; /* Ki saved */
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float kd; /* Kd saved */
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uint8_t saved_ok; /* 1 = flash write verified, 0 = write failed */
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} jlink_tlm_pid_result_t; /* 13 bytes */
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/* ---- Telemetry GIMBAL_STATE payload (10 bytes, packed) Issue #547 ---- */
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/* Sent at GIMBAL_TLM_HZ (50 Hz); reports measured pan/tilt and speed. */
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typedef struct __attribute__((packed)) {
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int16_t pan_x10; /* Measured pan angle, deg x10 */
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int16_t tilt_x10; /* Measured tilt angle, deg x10 */
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uint16_t pan_speed_raw; /* Present speed register, pan servo */
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uint16_t tilt_speed_raw; /* Present speed register, tilt servo */
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uint8_t torque_en; /* 1 = torque enabled */
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uint8_t rx_err_pct; /* bus error rate 0-100% (rx_err*100/(rx_ok+rx_err)) */
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} jlink_tlm_gimbal_state_t; /* 10 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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/* Sleep request - set by JLINK_CMD_SLEEP, cleared by main loop */
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volatile uint8_t sleep_req;
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/* PID save request - set by JLINK_CMD_PID_SAVE, cleared by main loop (Issue #531) */
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volatile uint8_t pid_save_req;
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/* Gimbal position command - set by JLINK_CMD_GIMBAL_POS (Issue #547) */
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volatile uint8_t gimbal_updated; /* set by parser, cleared by main loop */
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volatile int16_t gimbal_pan_x10; /* pan angle deg x10 */
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volatile int16_t gimbal_tilt_x10; /* tilt angle deg x10 */
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volatile uint16_t gimbal_speed; /* servo speed 0-4095 (0=max) */
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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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/*
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* jlink_send_power_telemetry(power) - build and transmit a JLINK_TLM_POWER
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* frame (17 bytes) at PM_TLM_HZ. Call from main loop when not in STOP mode.
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*/
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void jlink_send_power_telemetry(const jlink_tlm_power_t *power);
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/*
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* jlink_send_pid_result(result) - build and transmit a JLINK_TLM_PID_RESULT
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* frame (19 bytes) to confirm PID flash save outcome (Issue #531).
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*/
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void jlink_send_pid_result(const jlink_tlm_pid_result_t *result);
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/*
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* jlink_send_battery_telemetry(batt) - build and transmit JLINK_TLM_BATTERY
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* (0x82) frame (16 bytes) at BATTERY_ADC_PUBLISH_HZ (1 Hz).
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* Called by battery_adc_publish(); not normally called directly.
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*/
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void jlink_send_battery_telemetry(const jlink_tlm_battery_t *batt);
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/*
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* jlink_send_gimbal_state(state) - transmit JLINK_TLM_GIMBAL_STATE (0x84)
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* frame (16 bytes) at GIMBAL_TLM_HZ (50 Hz). Issue #547.
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*/
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void jlink_send_gimbal_state(const jlink_tlm_gimbal_state_t *state);
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#endif /* JLINK_H */
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