sl-controls
ea5e2dac72
Adds mode_manager.c/h: three operating modes selected by RC CH6 (3-pos switch), smoothly interpolated over ~500ms to prevent jerky transitions. Modes: RC_MANUAL (blend=0.0) — RC CH4 steer + CH3 speed bias; balance PID active RC_ASSISTED (blend=0.5) — 50/50 blend of RC and Jetson autonomous commands AUTONOMOUS (blend=1.0) — Jetson steer only; RC CH5 still kills motors Key design: - Single `blend` float (0=RC, 1=auto) drives all lerp; MANUAL→AUTO takes 500ms, adjacent steps take ~250ms - CH6 thresholds: <=600=MANUAL, >=1200=AUTONOMOUS, else ASSISTED - CH4/CH3 read with ±30-count deadband around CRSF center (992) - RC speed bias (CH3, ±300 counts) added to bal.motor_cmd AFTER PID - RC CH5 kill: if rc_alive && !crsf_state.armed → disarm, regardless of mode - Jetson steer fed via mode_manager_set_auto_cmd() → blended in get_steer() - Telemetry: new "md" field (0/1/2) in USB JSON stream - mode_manager_set_auto_cmd() API ready for Jetson serial bridge integration config.h: CRSF channel indices, deadband, speed-bias max, blend timing. Safe on USB-only build: CRSF stub keeps last_rx_ms=0 → rc_alive=false → RC inputs = 0, mode stays RC_MANUAL, CH5 kill never fires. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
167 lines
6.0 KiB
C
167 lines
6.0 KiB
C
#ifndef CONFIG_H
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#define CONFIG_H
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// ============================================
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// SaltyLab Balance Bot — MAMBA F722S FC
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// Pin assignments from Betaflight: DIAT-MAMBAF722_2022B
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// ============================================
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// --- IMU: MPU6000 (SPI1) ---
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// SPI1: PA5=SCK, PA6=MISO, PA7=MOSI
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// WHO_AM_I = 0x68
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#define MPU_SPI SPI1
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#define MPU_CS_PORT GPIOA
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#define MPU_CS_PIN GPIO_PIN_4 // GYRO_CS 1
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#define MPU_EXTI_PORT GPIOC
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#define MPU_EXTI_PIN GPIO_PIN_4 // GYRO_EXTI 1 (data ready IRQ)
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#define GYRO_ALIGN CW270 // gyro_1_sensor_align = CW270
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// --- Barometer: BMP280 or DPS310 (I2C1) ---
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#define BARO_I2C I2C1
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#define BARO_SCL_PORT GPIOB
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#define BARO_SCL_PIN GPIO_PIN_8 // I2C_SCL 1
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#define BARO_SDA_PORT GPIOB
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#define BARO_SDA_PIN GPIO_PIN_9 // I2C_SDA 1
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// Magnetometer also on I2C1 (external, header only)
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// --- LEDs ---
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#define LED1_PORT GPIOC
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#define LED1_PIN GPIO_PIN_15 // LED 1 (active low)
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#define LED2_PORT GPIOC
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#define LED2_PIN GPIO_PIN_14 // LED 2 (active low)
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// --- Buzzer ---
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#define BEEPER_PORT GPIOB
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#define BEEPER_PIN GPIO_PIN_2 // BEEPER 1
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#define BEEPER_INVERTED 1 // beeper_inversion = ON
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// beeper_od = OFF (push-pull)
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// --- Battery Monitoring (ADC3) ---
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#define ADC_VBAT_PORT GPIOC
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#define ADC_VBAT_PIN GPIO_PIN_1 // ADC_BATT 1
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#define ADC_CURR_PORT GPIOC
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#define ADC_CURR_PIN GPIO_PIN_3 // ADC_CURR 1
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#define ADC_IBAT_SCALE 115 // ibata_scale
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// --- LED Strip (WS2812) ---
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#define LED_STRIP_PORT GPIOB
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#define LED_STRIP_PIN GPIO_PIN_3 // LED_STRIP 1 (TIM2_CH2)
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// --- OSD: MAX7456 (SPI2) ---
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#define OSD_SPI SPI2
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#define OSD_CS_PORT GPIOB
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#define OSD_CS_PIN GPIO_PIN_12 // OSD_CS 1
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// SPI2: PB13=SCK, PB14=MISO, PB15=MOSI
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// --- Blackbox Flash: M25P16 (SPI3) ---
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#define FLASH_SPI SPI3
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#define FLASH_CS_PORT GPIOA
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#define FLASH_CS_PIN GPIO_PIN_15 // FLASH_CS 1
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// SPI3: PC10=SCK, PC11=MISO, PB5=MOSI
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// --- Motor Outputs (PWM/DShot) ---
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#define MOTOR1_PORT GPIOC
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#define MOTOR1_PIN GPIO_PIN_8 // TIM8_CH3
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#define MOTOR2_PORT GPIOC
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#define MOTOR2_PIN GPIO_PIN_9 // TIM8_CH4
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#define MOTOR3_PORT GPIOA
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#define MOTOR3_PIN GPIO_PIN_8 // TIM1_CH1
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#define MOTOR4_PORT GPIOA
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#define MOTOR4_PIN GPIO_PIN_9 // TIM1_CH2
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#define MOTOR5_PORT GPIOB
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#define MOTOR5_PIN GPIO_PIN_0 // TIM3_CH3
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#define MOTOR6_PORT GPIOB
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#define MOTOR6_PIN GPIO_PIN_1 // TIM3_CH4
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#define MOTOR7_PORT GPIOA
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#define MOTOR7_PIN GPIO_PIN_10 // TIM1_CH3
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#define MOTOR8_PORT GPIOB
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#define MOTOR8_PIN GPIO_PIN_4 // TIM3_CH1
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// --- UARTs ---
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// USART1: PB6=TX, PB7=RX (serial 0, SmartAudio/VTX)
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#define UART1_TX_PORT GPIOB
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#define UART1_TX_PIN GPIO_PIN_6
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#define UART1_RX_PORT GPIOB
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#define UART1_RX_PIN GPIO_PIN_7
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// USART2: PA2=TX, PA3=RX (serial 1)
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#define UART2_TX_PORT GPIOA
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#define UART2_TX_PIN GPIO_PIN_2
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#define UART2_RX_PORT GPIOA
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#define UART2_RX_PIN GPIO_PIN_3
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// USART3: PB10=TX, PB11=RX (serial 2, SBUS RX default)
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#define UART3_TX_PORT GPIOB
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#define UART3_TX_PIN GPIO_PIN_10
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#define UART3_RX_PORT GPIOB
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#define UART3_RX_PIN GPIO_PIN_11
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// UART4: PA0=TX, PA1=RX (serial 3)
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#define UART4_TX_PORT GPIOA
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#define UART4_TX_PIN GPIO_PIN_0
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#define UART4_RX_PORT GPIOA
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#define UART4_RX_PIN GPIO_PIN_1
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// UART5: PC12=TX, PD2=RX (serial 4)
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#define UART5_TX_PORT GPIOC
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#define UART5_TX_PIN GPIO_PIN_12
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#define UART5_RX_PORT GPIOD
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#define UART5_RX_PIN GPIO_PIN_2
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// USART6: PC6=TX, PC7=RX (serial 5)
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#define UART6_TX_PORT GPIOC
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#define UART6_TX_PIN GPIO_PIN_6
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#define UART6_RX_PORT GPIOC
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#define UART6_RX_PIN GPIO_PIN_7
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// --- PINIO (switchable outputs, e.g. VTX power) ---
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#define PINIO1_PORT GPIOC
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#define PINIO1_PIN GPIO_PIN_2 // pinio_config = 129 (USER1)
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#define PINIO2_PORT GPIOC
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#define PINIO2_PIN GPIO_PIN_0 // pinio_config = 129 (USER2)
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// --- SaltyLab Assignments ---
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// Hoverboard ESC: USART2 (PA2=TX, PA3=RX) or USART3
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// ELRS Receiver: UART4 (PA0=TX, PA1=RX) — CRSF 420000 baud
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// Jetson: USART6 (PC6=TX, PC7=RX)
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// Debug: UART5 (PC12=TX, PD2=RX)
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// --- PID Tuning ---
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#define PID_KP 35.0f
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#define PID_KI 1.0f
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#define PID_KD 1.0f
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#define PID_INTEGRAL_MAX 500.0f
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#define PID_LOOP_HZ 1000
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// --- Safety ---
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#define MAX_TILT_DEG 25.0f
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#define RC_TIMEOUT_MS 500
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#define ARMING_HOLD_MS 3000
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#define MAX_SPEED_LIMIT 100
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#define WATCHDOG_TIMEOUT_MS 50
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// --- Motor Driver ---
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#define MOTOR_CMD_MAX 1000 /* ESC range: -1000..+1000 */
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#define MOTOR_STEER_RAMP_RATE 20 /* counts/ms — steer ramp only */
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// --- IMU Calibration ---
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#define GYRO_CAL_SAMPLES 1000 /* gyro bias samples (~1s at 1ms/sample) */
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// --- RC / Mode Manager ---
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/* CRSF channel indices (0-based; CRSF range 172-1811, center 992) */
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#define CRSF_CH_SPEED 2 /* CH3 — left stick vertical (fwd/back) */
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#define CRSF_CH_STEER 3 /* CH4 — left stick horizontal (yaw) */
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#define CRSF_CH_ARM 4 /* CH5 — arm switch (2-pos) */
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#define CRSF_CH_MODE 5 /* CH6 — mode switch (3-pos) */
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/* Deadband around CRSF center (992) in raw counts (~2% of range) */
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#define CRSF_DEADBAND 30
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/* CH6 mode thresholds (raw CRSF counts) */
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#define CRSF_MODE_LOW_THRESH 600 /* <= → RC_MANUAL */
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#define CRSF_MODE_HIGH_THRESH 1200 /* >= → AUTONOMOUS */
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/* Max speed bias RC can add to balance PID output (counts, same scale as ESC) */
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#define MOTOR_RC_SPEED_MAX 300
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/* Full blend transition time: MANUAL→AUTO takes this many ms */
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#define MODE_BLEND_MS 500
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#endif // CONFIG_H
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