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>
125 lines
3.0 KiB
C
125 lines
3.0 KiB
C
#ifndef RGB_FSM_H
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#define RGB_FSM_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* rgb_fsm.h — RGB Status LED State Machine (Issue #290)
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*
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* Manages an 8-LED WS2812 NeoPixel ring with 8 operational states.
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* Each state has a specific color pattern and animation.
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*
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* States:
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* BOOT — Blue pulse (startup sequence, 0.5 Hz)
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* IDLE — Green breathe (standby, smooth 0.5 Hz pulse)
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* ARMED — Solid green (ready to move)
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* NAV — Cyan spin (autonomous navigation active, rotating pattern)
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* ERROR — Red flash (fault detected, 2 Hz blink)
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* LOW_BATT — Orange blink (battery low, 1 Hz blink)
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* CHARGING — Green fill (charging, progressive LEDs filling)
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* ESTOP — Red solid (emergency stop, full red, no animation)
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*
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* Transitions via UART command from Jetson.
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* Non-blocking operation with tick-based timing.
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*/
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/* LED State Machine States */
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typedef enum {
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LED_STATE_BOOT = 0,
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LED_STATE_IDLE,
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LED_STATE_ARMED,
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LED_STATE_NAV,
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LED_STATE_ERROR,
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LED_STATE_LOW_BATT,
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LED_STATE_CHARGING,
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LED_STATE_ESTOP,
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LED_STATE_COUNT
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} LedState;
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/* RGB Color (8-bit per channel) */
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typedef struct {
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uint8_t r; /* Red (0-255) */
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uint8_t g; /* Green (0-255) */
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uint8_t b; /* Blue (0-255) */
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} RgbColor;
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/*
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* rgb_fsm_init()
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*
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* Initialize LED state machine:
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* - PB4 as TIM3_CH1 PWM output for WS2812 driver
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* - Configure TIM3 for 800 kHz PWM frequency
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* - Set initial state to BOOT
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* - Initialize all LEDs to off
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*/
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void rgb_fsm_init(void);
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/*
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* rgb_fsm_set_state(state)
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*
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* Transition to a new LED state immediately.
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* Resets animation timing for the new state.
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*
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* Arguments:
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* - state: Target LED state (LedState enum)
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*
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* Returns: true if state changed, false if already in that state
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*/
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bool rgb_fsm_set_state(LedState state);
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/*
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* rgb_fsm_get_state()
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*
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* Get current LED state.
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*
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* Returns: Current LED state (LedState enum)
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*/
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LedState rgb_fsm_get_state(void);
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/*
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* rgb_fsm_tick(now_ms)
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*
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* Update function called periodically (recommended: every 10-50ms).
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* Processes animations and timing for current state.
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* Updates LED strip via PWM.
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*
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* Arguments:
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* - now_ms: Current time in milliseconds (from HAL_GetTick() or similar)
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*/
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void rgb_fsm_tick(uint32_t now_ms);
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/*
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* rgb_fsm_set_color(led_index, color)
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*
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* Set color of a specific LED (for testing and manual control).
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* Bypasses current animation.
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*
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* Arguments:
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* - led_index: 0-7 (LED ring has 8 LEDs)
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* - color: RgbColor with R, G, B values (0-255)
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*
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* Returns: true if set, false if index out of range
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*/
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bool rgb_fsm_set_color(uint8_t led_index, RgbColor color);
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/*
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* rgb_fsm_all_off()
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*
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* Turn off all LEDs immediately.
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* Useful for shutdown or error conditions.
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*/
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void rgb_fsm_all_off(void);
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/*
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* rgb_fsm_get_animation_frame()
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*
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* Get current animation progress (0-255).
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* Useful for testing and debugging animation timing.
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*
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* Returns: Current frame value for animation (0-255 represents full cycle)
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*/
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uint8_t rgb_fsm_get_animation_frame(void);
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#endif /* RGB_FSM_H */
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