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>
109 lines
3.5 KiB
C
109 lines
3.5 KiB
C
/* main.c — ESP32-S3 BALANCE app_main (bd-66hx + OTA beads) */
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#include "orin_serial.h"
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#include "vesc_can.h"
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#include "gitea_ota.h"
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#include "ota_self.h"
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#include "uart_ota.h"
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#include "ota_display.h"
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#include "config.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include <string.h>
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static const char *TAG = "main";
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static QueueHandle_t s_orin_tx_q;
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/* ── Telemetry task: sends TELEM_STATUS to Orin at 10 Hz ── */
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static void telem_task(void *arg)
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{
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for (;;) {
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vTaskDelay(pdMS_TO_TICKS(TELEM_STATUS_PERIOD_MS));
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uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
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bool hb_timeout = (now_ms - g_orin_ctrl.hb_last_ms) > HB_TIMEOUT_MS;
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/* Determine balance state for telemetry */
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bal_state_t state;
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if (g_orin_ctrl.estop) {
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state = BAL_ESTOP;
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} else if (!g_orin_ctrl.armed) {
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state = BAL_DISARMED;
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} else {
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state = BAL_ARMED;
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}
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/* flags: bit0=estop_active, bit1=heartbeat_timeout */
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uint8_t flags = (g_orin_ctrl.estop ? 0x01u : 0x00u) |
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(hb_timeout ? 0x02u : 0x00u);
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/* Battery voltage from VESC_ID_A STATUS_5 (V×10 → mV) */
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uint16_t vbat_mv = (uint16_t)((int32_t)g_vesc[0].voltage_x10 * 100);
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orin_send_status(s_orin_tx_q,
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0, /* pitch_x10: stub — full IMU in future bead */
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0, /* motor_cmd: stub */
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vbat_mv,
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state,
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flags);
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}
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}
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/* ── Drive task: applies Orin drive commands to VESCs @ 50 Hz ── */
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static void drive_task(void *arg)
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{
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for (;;) {
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vTaskDelay(pdMS_TO_TICKS(20)); /* 50 Hz */
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uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
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bool hb_timeout = (now_ms - g_orin_ctrl.hb_last_ms) > HB_TIMEOUT_MS;
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bool drive_stale = (now_ms - g_orin_drive.updated_ms) > DRIVE_TIMEOUT_MS;
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int32_t front_erpm = 0;
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if (g_orin_ctrl.armed && !g_orin_ctrl.estop &&
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!hb_timeout && !drive_stale) {
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front_erpm = (int32_t)g_orin_drive.speed * RPM_PER_SPEED_UNIT;
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}
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vesc_can_send_rpm(VESC_ID_A, front_erpm);
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}
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "ESP32-S3 BALANCE starting");
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/* OTA rollback health check — must be called within OTA_ROLLBACK_WINDOW_S */
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ota_self_health_check();
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/* Init peripherals */
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orin_serial_init();
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vesc_can_init();
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/* TX queue for outbound serial frames */
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s_orin_tx_q = xQueueCreate(ORIN_TX_QUEUE_DEPTH, sizeof(orin_tx_frame_t));
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configASSERT(s_orin_tx_q);
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/* Seed heartbeat timer so we don't immediately timeout */
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g_orin_ctrl.hb_last_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
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/* Create tasks */
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xTaskCreate(orin_serial_rx_task, "orin_rx", 4096, s_orin_tx_q, 10, NULL);
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xTaskCreate(orin_serial_tx_task, "orin_tx", 2048, s_orin_tx_q, 9, NULL);
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xTaskCreate(vesc_can_rx_task, "vesc_rx", 4096, s_orin_tx_q, 10, NULL);
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xTaskCreate(telem_task, "telem", 2048, NULL, 5, NULL);
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xTaskCreate(drive_task, "drive", 2048, NULL, 8, NULL);
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/* OTA subsystem — WiFi version checker + display overlay */
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gitea_ota_init();
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ota_display_init();
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ESP_LOGI(TAG, "all tasks started");
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/* app_main returns — FreeRTOS scheduler continues */
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}
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