sl-firmware
d41a9dfe10
STM32 firmware: - safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active() CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch - usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags - status: status_update() +remote_estop param; both LEDs fast-blink 200ms - main.c: immediate motor cutoff highest-priority; arming gated by !safety_remote_estop_active(); motor estop auto-clear gated; telemetry 'es' field 0-4; status_update() updated to 5 args Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED, cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe. Jetson bridge: - remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s - estop_params.yaml, remote_estop.launch.py - setup.py / package.xml: register node + paho-mqtt dep - docker-compose.yml: remote-estop service - test_remote_estop.py: kill/clear/watchdog/latency unit tests Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
21 lines
712 B
C
21 lines
712 B
C
#ifndef STATUS_H
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#define STATUS_H
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#include <stdint.h>
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void status_init(void);
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void status_boot_beep(void);
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/*
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* status_update() — call every main loop iteration.
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* Controls LED1 (PC15) and LED2 (PC14), both active-low.
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*
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* Solid ON = good (normal operation)
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* Slow blink (~1 Hz) = needs attention (error or fault)
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*
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* LED1 solid + LED2 off → disarmed, IMU OK
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* LED1 solid + LED2 solid → armed
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* Both slow blink → tilt fault
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* Both fast blink (200ms) -- remote e-stop active (highest priority)
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* LED1 slow blink + LED2 solid → IMU error (solid LED2 = always-on indicator)
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*/
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void status_update(uint32_t tick, int imu_ok, int armed, int tilt_fault, int remote_estop);
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#endif
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