sl-firmware
4affd6d0cb
Add hw_button driver (PC2 active-low, 20ms debounce) with gesture detection: - Single short press + 500ms quiet -> BTN_EVENT_PARK - SHORT+SHORT+LONG combo (within 3s) -> BTN_EVENT_REARM_COMBO New BALANCE_PARKED state: PID frozen, motors off, quick re-arm via button combo without the 3-second arm interlock required from DISARMED. FC_BTN (0x404) CAN frame sent to Orin on each event: event_id 1=PARKED, 2=UNPARKED, 3=UNPARK_FAILED (pitch > 20 deg) Includes 11 unit tests (1016 assertions) exercising debounce, bounce rejection, short/long classification, sequence detection, and timeout. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
54 lines
1.6 KiB
C
54 lines
1.6 KiB
C
#ifndef BALANCE_H
|
|
#define BALANCE_H
|
|
|
|
#include <stdint.h>
|
|
#include "mpu6000.h"
|
|
#include "slope_estimator.h"
|
|
|
|
/*
|
|
* SaltyLab Balance Controller
|
|
*
|
|
* Consumes fused IMUData (pitch + pitch_rate from mpu6000 complementary filter)
|
|
* PID controller → motor speed command
|
|
* Safety: tilt cutoff, arming, watchdog
|
|
*/
|
|
|
|
typedef enum {
|
|
BALANCE_DISARMED = 0, /* Motors off, waiting for arm command */
|
|
BALANCE_ARMED = 1, /* Active balancing */
|
|
BALANCE_TILT_FAULT = 2, /* Tilt exceeded limit, motors killed */
|
|
BALANCE_PARKED = 3, /* PID frozen, motors off — quick re-arm via button (Issue #682) */
|
|
} balance_state_t;
|
|
|
|
typedef struct {
|
|
/* State */
|
|
balance_state_t state;
|
|
float pitch_deg; /* Current pitch angle (degrees) */
|
|
float pitch_rate; /* Gyro pitch rate (deg/s) */
|
|
|
|
/* PID internals */
|
|
float integral;
|
|
float prev_error;
|
|
int16_t motor_cmd; /* Output to ESC: -1000..+1000 */
|
|
|
|
/* Tuning */
|
|
float kp, ki, kd;
|
|
float setpoint; /* Target pitch angle (degrees) — tune for COG offset */
|
|
|
|
/* Safety */
|
|
float max_tilt; /* Cutoff angle (degrees) */
|
|
int16_t max_speed; /* Speed limit */
|
|
|
|
/* Slope compensation (Issue #600) */
|
|
slope_estimator_t slope;
|
|
} balance_t;
|
|
|
|
void balance_init(balance_t *b);
|
|
void balance_update(balance_t *b, const IMUData *imu, float dt);
|
|
void balance_arm(balance_t *b);
|
|
void balance_disarm(balance_t *b);
|
|
void balance_park(balance_t *b); /* ARMED -> PARKED: freeze PID, zero motors (Issue #682) */
|
|
void balance_unpark(balance_t *b); /* PARKED -> ARMED if pitch < 20 deg (Issue #682) */
|
|
|
|
#endif
|