sl-firmware
021caef61a
Robot is no longer a balance bot. Remove: - TILT_CUTOFF_DEG (±25° tilt cutoff) from config.h - BAL_TILT_FAULT enum value from orin_serial.h - CMD_PID / orin_pid_t (balance PID tuning) from protocol - Steer differential (RPM_PER_STEER_UNIT) from drive task - VESC_ID_B drive command — front VESC (ID 61) only Update VESC CAN IDs: 56→61 (front), 68→79 (rear). VESC_ID_B retained for rear telemetry RX only. ESTOP and heartbeat watchdog unchanged. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
39 lines
1.8 KiB
C
39 lines
1.8 KiB
C
#pragma once
|
|
|
|
/* ── ESP32-S3 BALANCE board — bd-66hx pin/config definitions ───────────────
|
|
*
|
|
* Hardware change from pre-bd-66hx design:
|
|
* Previously: IO43/IO44 = CAN SN65HVD230 (shared Orin+VESC bus via CANable2)
|
|
* After bd-66hx: IO43/IO44 = CH343 UART0 (Orin serial comms)
|
|
* IO2/IO1 = CAN SN65HVD230 rewired (VESC-only bus)
|
|
*
|
|
* The SN65HVD230 transceiver physical wiring must be updated from IO43/44
|
|
* to IO2/IO1 when deploying this firmware. See docs/SAUL-TEE-SYSTEM-REFERENCE.md.
|
|
*/
|
|
|
|
/* ── Orin serial (CH343 USB-to-UART, 1a86:55d3 on Orin side) ── */
|
|
#define ORIN_UART_PORT UART_NUM_0
|
|
#define ORIN_UART_BAUD 460800
|
|
#define ORIN_UART_TX_GPIO 43 /* ESP32→CH343 RXD */
|
|
#define ORIN_UART_RX_GPIO 44 /* CH343 TXD→ESP32 */
|
|
#define ORIN_UART_RX_BUF 1024
|
|
#define ORIN_TX_QUEUE_DEPTH 16
|
|
|
|
/* ── VESC CAN TWAI (SN65HVD230 transceiver, rewired for bd-66hx) ── */
|
|
#define VESC_CAN_TX_GPIO 2 /* ESP32 TWAI TX → SN65HVD230 TXD */
|
|
#define VESC_CAN_RX_GPIO 1 /* SN65HVD230 RXD → ESP32 TWAI RX */
|
|
#define VESC_CAN_RX_QUEUE 32
|
|
|
|
/* VESC node IDs */
|
|
#define VESC_ID_A 61u /* FRONT VESC — drive + telemetry (0x81) */
|
|
#define VESC_ID_B 79u /* REAR VESC — telemetry only (0x82) */
|
|
|
|
/* ── Safety / timing ── */
|
|
#define HB_TIMEOUT_MS 500u /* heartbeat watchdog: disarm if exceeded */
|
|
#define DRIVE_TIMEOUT_MS 500u /* drive command staleness timeout */
|
|
#define TELEM_STATUS_PERIOD_MS 100u /* 10 Hz status telemetry to Orin */
|
|
#define TELEM_VESC_PERIOD_MS 100u /* 10 Hz VESC telemetry to Orin */
|
|
|
|
/* ── Drive → VESC RPM scaling ── */
|
|
#define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */
|