sl-firmware
4affd6d0cb
Add hw_button driver (PC2 active-low, 20ms debounce) with gesture detection: - Single short press + 500ms quiet -> BTN_EVENT_PARK - SHORT+SHORT+LONG combo (within 3s) -> BTN_EVENT_REARM_COMBO New BALANCE_PARKED state: PID frozen, motors off, quick re-arm via button combo without the 3-second arm interlock required from DISARMED. FC_BTN (0x404) CAN frame sent to Orin on each event: event_id 1=PARKED, 2=UNPARKED, 3=UNPARK_FAILED (pitch > 20 deg) Includes 11 unit tests (1016 assertions) exercising debounce, bounce rejection, short/long classification, sequence detection, and timeout. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
122 lines
3.4 KiB
C
122 lines
3.4 KiB
C
#include "balance.h"
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#include "slope_estimator.h"
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#include "config.h"
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#include <math.h>
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void balance_init(balance_t *b) {
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b->state = BALANCE_DISARMED;
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b->pitch_deg = 0.0f;
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b->pitch_rate = 0.0f;
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b->integral = 0.0f;
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b->prev_error = 0.0f;
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b->motor_cmd = 0;
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/* Default PID — conservative starting point */
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b->kp = PID_KP;
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b->ki = PID_KI;
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b->kd = PID_KD;
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b->setpoint = 0.0f;
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/* Safety defaults from config */
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b->max_tilt = MAX_TILT_DEG;
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b->max_speed = MAX_SPEED_LIMIT;
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/* Slope estimator */
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slope_estimator_init(&b->slope);
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}
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void balance_update(balance_t *b, const IMUData *imu, float dt) {
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if (dt <= 0.0f || dt > 0.1f) return; /* Sanity check dt */
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/* Consume fused angle from mpu6000 complementary filter */
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b->pitch_deg = imu->pitch;
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b->pitch_rate = imu->pitch_rate;
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/* Advance slope estimator (no-op when not armed) */
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slope_estimator_update(&b->slope, b->pitch_deg, dt);
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/* Safety: tilt cutoff */
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if (b->state == BALANCE_ARMED) {
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if (fabsf(b->pitch_deg) > b->max_tilt) {
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b->state = BALANCE_TILT_FAULT;
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b->motor_cmd = 0;
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b->integral = 0.0f;
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slope_estimator_reset(&b->slope);
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return;
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}
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}
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if (b->state != BALANCE_ARMED) {
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b->motor_cmd = 0;
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b->integral = 0.0f;
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b->prev_error = 0.0f;
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return;
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}
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/* PID — subtract slope estimate so controller balances on incline */
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float tilt_corrected = b->pitch_deg - slope_estimator_get_deg(&b->slope);
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float error = b->setpoint - tilt_corrected;
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/* Proportional */
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float p_term = b->kp * error;
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/* Integral with anti-windup */
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b->integral += error * dt;
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if (b->integral > PID_INTEGRAL_MAX) b->integral = PID_INTEGRAL_MAX;
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if (b->integral < -PID_INTEGRAL_MAX) b->integral = -PID_INTEGRAL_MAX;
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float i_term = b->ki * b->integral;
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/* Derivative on measurement (avoids setpoint kick) */
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float d_term = b->kd * (-b->pitch_rate);
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/* Sum and clamp */
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float output = p_term + i_term + d_term;
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if (output > (float)b->max_speed) output = (float)b->max_speed;
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if (output < -(float)b->max_speed) output = -(float)b->max_speed;
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b->motor_cmd = (int16_t)output;
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b->prev_error = error;
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}
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void balance_arm(balance_t *b) {
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if (b->state == BALANCE_DISARMED) {
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/* Only arm if roughly upright */
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if (fabsf(b->pitch_deg) < 10.0f) {
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b->integral = 0.0f;
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b->prev_error = 0.0f;
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b->motor_cmd = 0;
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b->state = BALANCE_ARMED;
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}
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}
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}
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void balance_disarm(balance_t *b) {
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b->state = BALANCE_DISARMED;
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b->motor_cmd = 0;
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b->integral = 0.0f;
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slope_estimator_reset(&b->slope);
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}
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void balance_park(balance_t *b) {
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/* Suspend balancing from ARMED state only — keeps robot stationary on flat ground */
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if (b->state == BALANCE_ARMED) {
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b->state = BALANCE_PARKED;
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b->motor_cmd = 0;
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b->integral = 0.0f;
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b->prev_error = 0.0f;
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slope_estimator_reset(&b->slope);
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}
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}
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void balance_unpark(balance_t *b) {
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/* Quick re-arm from PARKED — only if pitch is safe (< 20 deg) */
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if (b->state == BALANCE_PARKED) {
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if (fabsf(b->pitch_deg) < 20.0f) {
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b->motor_cmd = 0;
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b->prev_error = 0.0f;
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b->state = BALANCE_ARMED;
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}
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/* If pitch too large, stay PARKED — caller checks resulting state */
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}
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}
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