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>
30 lines
691 B
C
30 lines
691 B
C
#ifndef HOVERBOARD_H
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#define HOVERBOARD_H
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#include <stdint.h>
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/*
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* Hoverboard ESC UART protocol (EFeru FOC firmware)
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* USART2: PA2=TX, PA3=RX @ 115200 baud
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*
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* Packet: [0xABCD] [steer:i16] [speed:i16] [checksum:u16]
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* Checksum = start ^ steer ^ speed
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* Speed range: -1000 to +1000
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* Must send at >=50Hz or ESC times out (TIMEOUT=20 * DELAY_IN_MAIN_LOOP=5ms = 100ms)
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*/
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#define HOVERBOARD_START_FRAME 0xABCD
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#define HOVERBOARD_BAUD 38400
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typedef struct __attribute__((packed)) {
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uint16_t start;
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int16_t steer;
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int16_t speed;
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uint16_t checksum;
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} hoverboard_cmd_t;
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void hoverboard_init(void);
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void hoverboard_send(int16_t speed, int16_t steer);
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#endif
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