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>
75 lines
2.6 KiB
C
75 lines
2.6 KiB
C
#ifndef MODE_MANAGER_H
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#define MODE_MANAGER_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* SaltyLab Mode Manager
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*
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* Resolves three operating modes selected by RC CH6 (3-pos switch):
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*
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* RC_MANUAL — RC steer (CH4) and speed bias (CH3) applied directly.
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* Balance PID remains active for stability.
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* RC_ASSISTED — RC inputs blended 50/50 with Jetson autonomous commands.
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* AUTONOMOUS — Jetson commands only; RC CH5 arm switch still kills motors.
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*
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* Transitions between modes are smoothed over MODE_BLEND_MS (~500ms) to
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* prevent jerky handoffs. A single `blend` scalar (0=pure RC, 1=pure auto)
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* drives all interpolation; adjacent-mode steps take ~250ms each.
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*
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* RC safety rule: if RC is alive and CH5 is disarmed, the main loop MUST
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* disarm regardless of mode. mode_manager only blends commands — kill
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* authority lives in the main loop.
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*
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* Autonomous commands are set by the Jetson serial bridge via
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* mode_manager_set_auto_cmd(). They default to zero (no motion).
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*/
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typedef enum {
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MODE_RC_MANUAL = 0,
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MODE_RC_ASSISTED = 1,
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MODE_AUTONOMOUS = 2,
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} robot_mode_t;
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typedef struct {
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robot_mode_t target; /* Mode requested by CH6 (or fallback) */
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float blend; /* 0.0=pure RC .. 1.0=pure auto, smoothly ramped */
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bool rc_alive; /* Cached RC liveness (set in update) */
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int16_t auto_steer; /* Jetson steer cmd (-1000..+1000) */
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int16_t auto_speed_bias;/* Jetson speed bias (-MOTOR_RC_SPEED_MAX..+) */
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} mode_manager_t;
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/* Initialise — call once before the main loop */
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void mode_manager_init(mode_manager_t *m);
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/*
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* Call every main-loop tick (1ms) to:
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* - read CH6, update target mode
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* - cache RC liveness
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* - advance blend ramp toward target blend value
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*/
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void mode_manager_update(mode_manager_t *m, uint32_t now);
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/* Set autonomous commands from the Jetson serial bridge */
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void mode_manager_set_auto_cmd(mode_manager_t *m,
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int16_t steer,
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int16_t speed_bias);
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/*
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* Blended steer command to pass to motor_driver_update().
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* Returns 0 when RC is not alive and no autonomous steer set.
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*/
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int16_t mode_manager_get_steer(const mode_manager_t *m);
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/*
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* Blended speed bias to add to bal.motor_cmd before motor_driver_update().
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* Returns 0 when RC is not alive and no autonomous speed set.
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*/
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int16_t mode_manager_get_speed_bias(const mode_manager_t *m);
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/* Quantised current mode (based on blend position, not target) */
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robot_mode_t mode_manager_active(const mode_manager_t *m);
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#endif
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