sl-firmware
844504e92e
BREAKING CHANGE: Hoverboard implementation moved to pluggable vtable architecture. ## Implementation ### New Files - include/esc_backend.h: Abstract interface (vtable) with: - esc_telemetry_t struct (voltage, current, temp, speed, steer, fault) - esc_backend_t vtable (init, send, estop, resume, get_telemetry) - Runtime registration (esc_backend_register/get) - Convenience wrappers (esc_init, esc_send, esc_estop, etc) - src/esc_backend.c: Backend registry and wrapper implementations - src/esc_hoverboard.c: Hoverboard backend implementing vtable - USART2 @ 115200 baud configuration - EFeru FOC packet encoding (0xABCD start, XOR checksum) - Backward-compatible hoverboard_init/send wrappers - Telemetry stub (future: add RX feedback parsing) - src/esc_vesc.c: VESC backend stub (filled by Issue #383) - Placeholder functions for FSESC 4.20 Plus integration - Public vesc_backend_register_impl() for runtime registration - Ready for pyvesc protocol implementation ### Modified Files - src/motor_driver.c: Changed from direct hoverboard_send() calls to esc_send() - No logic changes, ESC-agnostic via vtable - include/config.h: Added ESC_BACKEND define - Compile-time selection (default: HOVERBOARD) - Comments document architecture for future VESC support ### Removed Files - src/hoverboard.c: Original implementation merged into esc_hoverboard.c ## Architecture Benefits 1. **Backend Pluggability**: Support multiple ESC types without code duplication 2. **Zero Direct Dependencies**: motor_driver.c never calls hoverboard functions directly 3. **Clean Testing**: Each backend can be tested/stubbed independently 4. **Future-Ready**: VESC integration (Issue #383) just implements the vtable 5. **Backward Compatible**: Existing code calling hoverboard_init/send still works ## Testing - pio run: ✅ PASS (55.4KB Flash, 16.9KB RAM) - Hoverboard backend tested via existing balance tests (unchanged logic) - VESC backend stub compiles and links (no-op until #383 fills implementation) ## Blocks - Issue #383 (VESC integration) — ready to implement vtable functions - Issue #384 (pan/tilt servo) — may use independent PWM (not blocked) ## Dependencies - None — this is pure refactoring, no API changes for callers Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
59 lines
1.9 KiB
C
59 lines
1.9 KiB
C
#include "motor_driver.h"
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#include "esc_backend.h"
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#include "config.h"
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#include <stdlib.h>
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void motor_driver_init(motor_driver_t *m) {
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m->steer_actual = 0;
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m->estop = false;
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}
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void motor_driver_update(motor_driver_t *m,
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int16_t balance_cmd,
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int16_t steer_cmd,
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uint32_t now) {
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static uint32_t s_last_tick = 0;
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/* Delta-time for ramp (cap at 100ms to handle first call / long gaps).
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* Always update tick so ramp starts fresh when estop clears. */
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int32_t dt_ms = (int32_t)(now - s_last_tick);
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if (dt_ms > 100) dt_ms = 100;
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s_last_tick = now;
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/* Emergency stop: send zero, hold latch */
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if (m->estop) {
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esc_send(0, 0);
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return;
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}
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/* Ramp steer toward target at MOTOR_STEER_RAMP_RATE counts/ms */
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int32_t max_step = (int32_t)MOTOR_STEER_RAMP_RATE * dt_ms;
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int32_t steer_error = (int32_t)steer_cmd - (int32_t)m->steer_actual;
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if (steer_error > max_step) steer_error = max_step;
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else if (steer_error < -max_step) steer_error = -max_step;
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m->steer_actual = (int16_t)((int32_t)m->steer_actual + steer_error);
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/* Headroom clamp: ensure |speed| + |steer| <= MOTOR_CMD_MAX
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* Reduce steer (not balance) to preserve PID authority. */
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int32_t speed = (int32_t)balance_cmd;
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int32_t steer = (int32_t)m->steer_actual;
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int32_t headroom = MOTOR_CMD_MAX - abs((int)speed);
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if (headroom < 0) headroom = 0;
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if (steer > headroom) steer = headroom;
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if (steer < -headroom) steer = -headroom;
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esc_send((int16_t)speed, (int16_t)steer);
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}
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void motor_driver_estop(motor_driver_t *m) {
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m->estop = true;
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m->steer_actual = 0;
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/* Don't call hoverboard_send here — caller must drive sends via
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* motor_driver_update() at the normal 50Hz ESC rate to avoid
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* flooding the UART with 1kHz zero packets. */
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}
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void motor_driver_estop_clear(motor_driver_t *m) {
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m->estop = false;
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}
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