sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
48 lines
1.5 KiB
C
48 lines
1.5 KiB
C
#ifndef MOTOR_DRIVER_H
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#define MOTOR_DRIVER_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* SaltyLab Motor Driver
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*
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* Sits between the balance PID and the raw hoverboard UART driver.
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* Responsibilities:
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* - Differential drive mixing: speed = balance_cmd, steer mixed in
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* - Steer ramping to avoid sudden yaw torque disturbing balance
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* - Headroom clamping: |speed| + |steer| <= MOTOR_CMD_MAX
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* - Emergency stop: immediate zero + latch until explicitly cleared
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*
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* Balance PID output is NOT ramped — it needs full immediate authority.
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* Only the steer channel is ramped.
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*
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* Call motor_driver_update() at the ESC send rate (50Hz / every 20ms).
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*/
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typedef struct {
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int16_t steer_actual; /* Ramped steer command currently sent */
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bool estop; /* Emergency stop latched */
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} motor_driver_t;
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void motor_driver_init(motor_driver_t *m);
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/*
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* Update and send to ESC.
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* balance_cmd : PID output, -1000..+1000
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* steer_cmd : desired yaw/steer, -1000..+1000 (future RC/autonomous input)
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* now : HAL_GetTick() timestamp (ms) for ramp delta-time
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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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/* Latch emergency stop — sends zero immediately */
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void motor_driver_estop(motor_driver_t *m);
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/* Clear emergency stop latch (only call from armed/ready context) */
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void motor_driver_estop_clear(motor_driver_t *m);
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#endif
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