sl-firmware
04922ac875
Platform is no longer a self-balancing bot. Remove: - TILT_CUTOFF_DEG (±25° tilt cutoff constant, was unused in ESP32-S3) - BAL_TILT_FAULT state from bal_state_t enum (no code path generates it) ESTOP and heartbeat watchdog are unchanged. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
41 lines
1.9 KiB
C
41 lines
1.9 KiB
C
#pragma once
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/* ── ESP32-S3 BALANCE board — bd-66hx pin/config definitions ───────────────
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*
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* Hardware change from pre-bd-66hx design:
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* Previously: IO43/IO44 = CAN SN65HVD230 (shared Orin+VESC bus via CANable2)
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* After bd-66hx: IO43/IO44 = CH343 UART0 (Orin serial comms)
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* IO2/IO1 = CAN SN65HVD230 rewired (VESC-only bus)
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*
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* The SN65HVD230 transceiver physical wiring must be updated from IO43/44
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* to IO2/IO1 when deploying this firmware. See docs/SAUL-TEE-SYSTEM-REFERENCE.md.
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*/
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/* ── Orin serial (CH343 USB-to-UART, 1a86:55d3 on Orin side) ── */
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#define ORIN_UART_PORT UART_NUM_0
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#define ORIN_UART_BAUD 460800
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#define ORIN_UART_TX_GPIO 43 /* ESP32→CH343 RXD */
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#define ORIN_UART_RX_GPIO 44 /* CH343 TXD→ESP32 */
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#define ORIN_UART_RX_BUF 1024
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#define ORIN_TX_QUEUE_DEPTH 16
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/* ── VESC CAN TWAI (SN65HVD230 transceiver, rewired for bd-66hx) ── */
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#define VESC_CAN_TX_GPIO 2 /* ESP32 TWAI TX → SN65HVD230 TXD */
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#define VESC_CAN_RX_GPIO 1 /* SN65HVD230 RXD → ESP32 TWAI RX */
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#define VESC_CAN_RX_QUEUE 32
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/* VESC node IDs — matched to bd-wim1 TELEM_VESC_LEFT/RIGHT mapping */
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#define VESC_ID_A 56u /* TELEM_VESC_LEFT (0x81) */
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#define VESC_ID_B 68u /* TELEM_VESC_RIGHT (0x82) */
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/* ── Safety / timing ── */
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#define HB_TIMEOUT_MS 500u /* heartbeat watchdog: disarm if exceeded */
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#define DRIVE_TIMEOUT_MS 500u /* drive command staleness timeout */
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#define TELEM_STATUS_PERIOD_MS 100u /* 10 Hz status telemetry to Orin */
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#define TELEM_VESC_PERIOD_MS 100u /* 10 Hz VESC telemetry to Orin */
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/* ── Drive → VESC RPM scaling ── */
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#define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */
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#define RPM_PER_STEER_UNIT 3 /* steer differential scale */
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