sl-controls
779f9d00e2
- TIM2 (32-bit) left encoder, TIM3 (16-bit) right encoder in mode 3 - RPM calculation with int16 clamp; 16-bit wrap handled via signed delta - Differential-drive odometry: x/y/theta Euler-forward integration - Flash config (sector 7, 0x0807FF00) for ticks_per_rev/wheel_diam/base - JLINK_TLM_ODOM (0x8C) at 50 Hz: rpm_l/r, x_mm, y_mm, theta_cdeg, speed_mmps - 75/75 unit tests passing (TEST_HOST build) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
299 lines
13 KiB
C
299 lines
13 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 NeoPixel, Issue #193) ---
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// TIM3_CH1 PWM on PB4 for 8-LED ring status indicator
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#define LED_STRIP_TIM TIM3
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#define LED_STRIP_CHANNEL TIM_CHANNEL_1
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#define LED_STRIP_PORT GPIOB
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#define LED_STRIP_PIN GPIO_PIN_4 // LED_STRIP 1 (TIM3_CH1)
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#define LED_STRIP_AF GPIO_AF2_TIM3 // Alternate function
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#define LED_STRIP_NUM_LEDS 8u // 8-LED ring
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#define LED_STRIP_FREQ_HZ 800000u // 800 kHz PWM for NeoPixel (1.25 µs per bit)
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// --- Servo Pan-Tilt (Issue #206) ---
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// TIM4_CH1 (PB6) for pan servo, TIM4_CH2 (PB7) for tilt servo
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#define SERVO_TIM TIM4
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#define SERVO_PAN_PORT GPIOB
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#define SERVO_PAN_PIN GPIO_PIN_6 // TIM4_CH1
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#define SERVO_PAN_CHANNEL TIM_CHANNEL_1
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#define SERVO_TILT_PORT GPIOB
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#define SERVO_TILT_PIN GPIO_PIN_7 // TIM4_CH2
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#define SERVO_TILT_CHANNEL TIM_CHANNEL_2
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#define SERVO_AF GPIO_AF2_TIM4 // Alternate function
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#define SERVO_FREQ_HZ 50u // 50 Hz (20ms period, standard servo)
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#define SERVO_MIN_US 500u // 500µs = 0°
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#define SERVO_MAX_US 2500u // 2500µs = 180°
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#define SERVO_CENTER_US 1500u // 1500µs = 90°
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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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// --- JLink: Jetson Serial Binary Protocol (USART1, Issue #120) ---
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#define JLINK_BAUD 921600 /* USART1 baud rate */
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#define JLINK_HB_TIMEOUT_MS 1000 /* Jetson heartbeat timeout (ms) */
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#define JLINK_TLM_HZ 50 /* STATUS telemetry TX rate (Hz) */
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// --- Firmware Version ---
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#define FW_MAJOR 1
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#define FW_MINOR 0
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#define FW_PATCH 0
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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 (JLink binary protocol, Issue #120): USART1 (PB6=TX, PB7=RX) @ 921600
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// USART6 (PC6=TX, PC7=RX): legacy Jetson CDC path — reserved for VESC (Issue #383)
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// Debug: UART5 (PC12=TX, PD2=RX)
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// --- ESC Backend Selection (Issue #388) ---
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// Pluggable ESC abstraction layer — supports multiple backends:
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// HOVERBOARD: EFeru FOC (USART2 @ 115200) — current default
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// VESC: FSESC 4.20 Plus (USART6 @ 921600, balance mode) — future
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#define ESC_BACKEND HOVERBOARD /* HOVERBOARD or VESC */
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// --- CRSF / ExpressLRS ---
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// CH1[0]=steer CH2[1]=throttle CH5[4]=arm CH6[5]=mode
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#define CRSF_ARM_THRESHOLD 1750 /* CH5 raw value; > threshold = armed */
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#define CRSF_STEER_MAX 400 /* CH1 range: -400..+400 motor counts */
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#define CRSF_FAILSAFE_MS 500 /* Disarm after this ms without a frame (Issue #103) */
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// --- Battery ADC (ADC3, PC1 = ADC123_IN11) ---
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/* Mamba F722: 10kΩ + 1kΩ voltage divider → 11:1 ratio */
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#define VBAT_SCALE_NUM 11 /* Numerator of divider ratio */
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#define VBAT_AREF_MV 3300 /* ADC reference in mV */
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#define VBAT_ADC_BITS 12 /* 12-bit ADC → 4096 counts */
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/* Filtered Vbat in mV: (raw * 3300 * 11) / 4096, updated at 10Hz */
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// --- CRSF Telemetry TX (uplink: FC → ELRS module → pilot handset) ---
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#define CRSF_TELEMETRY_HZ 1 /* Telemetry TX rate (Hz) */
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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_STEER 0 /* CH1 — right stick horizontal (steer) */
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#define CRSF_CH_SPEED 1 /* CH2 — right stick vertical (throttle) */
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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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// --- Power Management (STOP mode, Issue #178) ---
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#define PM_IDLE_TIMEOUT_MS 30000u // 30s no activity → PM_SLEEP_PENDING
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#define PM_FADE_MS 3000u // LED fade-out duration before STOP entry
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#define PM_LED_PERIOD_MS 2000u // sleep-pending triangle-wave period (ms)
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// Estimated per-subsystem currents (mA) — used for JLINK_TLM_POWER telemetry
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#define PM_CURRENT_BASE_MA 30 // SPI1(IMU)+UART4(CRSF)+USART1(JLink)+core
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#define PM_CURRENT_AUDIO_MA 8 // I2S3 + amplifier quiescent
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#define PM_CURRENT_OSD_MA 5 // SPI2 OSD (MAX7456)
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#define PM_CURRENT_DEBUG_MA 1 // UART5 + USART6
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#define PM_CURRENT_STOP_MA 1 // MCU in STOP mode (< 1 mA)
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#define PM_TLM_HZ 1 // JLINK_TLM_POWER transmit rate (Hz)
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// --- Audio Amplifier (I2S3, Issue #143) ---
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// SPI3 repurposed as I2S3; blackbox flash unused on balance bot
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#define AUDIO_BCLK_PORT GPIOC
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#define AUDIO_BCLK_PIN GPIO_PIN_10 // I2S3_CK (PC10, AF6)
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#define AUDIO_LRCK_PORT GPIOA
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#define AUDIO_LRCK_PIN GPIO_PIN_15 // I2S3_WS (PA15, AF6)
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#define AUDIO_DOUT_PORT GPIOB
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#define AUDIO_DOUT_PIN GPIO_PIN_5 // I2S3_SD (PB5, AF6)
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#define AUDIO_MUTE_PORT GPIOC
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#define AUDIO_MUTE_PIN GPIO_PIN_5 // active-high = amp enabled
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// PLLI2S: N=192, R=2 → I2S clock=96 MHz → FS≈22058 Hz (< 0.04% error)
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#define AUDIO_SAMPLE_RATE 22050u // nominal sample rate (Hz)
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#define AUDIO_BUF_HALF 441u // DMA half-buffer: 20ms at 22050 Hz
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#define AUDIO_VOLUME_DEFAULT 80u // default volume 0-100
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// --- Gimbal Servo Bus (ST3215, USART3 half-duplex, Issue #547) ---
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// Half-duplex single-wire on PB10 (USART3_TX, AF7) at 1 Mbps.
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// USART3 is available: not assigned to any active subsystem.
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#define SERVO_BUS_UART USART3
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#define SERVO_BUS_PORT GPIOB
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#define SERVO_BUS_PIN GPIO_PIN_10 // USART3_TX, AF7
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#define SERVO_BUS_BAUD 1000000u // 1 Mbps (ST3215 default)
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#define GIMBAL_PAN_ID 1u // ST3215 servo ID for pan
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#define GIMBAL_TILT_ID 2u // ST3215 servo ID for tilt
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#define GIMBAL_TLM_HZ 50u // position feedback rate (Hz)
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#define GIMBAL_PAN_LIMIT_DEG 180.0f // pan soft limit (deg each side)
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#define GIMBAL_TILT_LIMIT_DEG 90.0f // tilt soft limit (deg each side)
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// --- CAN Bus Driver (Issue #597) ---
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// CAN2 on PB12 (RX, AF9) / PB13 (TX, AF9) — repurposes SPI2/OSD pins (unused on balance bot)
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#define CAN_RPM_SCALE 10 // motor_cmd to RPM: 1 cmd count = 10 RPM
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#define CAN_TLM_HZ 1u // JLINK_TLM_CAN_STATS transmit rate (Hz)
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// --- LVC: Low Voltage Cutoff (Issue #613) ---
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// 3-stage undervoltage protection; voltages in mV
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#define LVC_WARNING_MV 21000u // 21.0 V -- buzzer alert, full power
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#define LVC_CRITICAL_MV 19800u // 19.8 V -- 50% motor power reduction
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#define LVC_CUTOFF_MV 18600u // 18.6 V -- motors disabled, latch until reboot
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#define LVC_HYSTERESIS_MV 200u // recovery hysteresis to prevent threshold chatter
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#define LVC_TLM_HZ 1u // JLINK_TLM_LVC transmit rate (Hz)
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// --- UART Command Protocol (Issue #629) ---
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// Jetson-STM32 binary command protocol on UART5 (PC12/PD2)
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// NOTE: Spec requested USART1 @ 115200; USART1 is occupied by JLink @ 921600.
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#define UART_PROT_BAUD 115200u // baud rate for UART5 Jetson protocol
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#define UART_PROT_HB_TIMEOUT_MS 500u // heartbeat timeout: Jetson considered lost after 500 ms
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// --- Encoder Odometry (Issue #632) ---
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// Left encoder: TIM2 (32-bit), CH1=PA15 (AF1), CH2=PB3 (AF1)
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// Right encoder: TIM3 (16-bit), CH1=PC6 (AF2), CH2=PC7 (AF2)
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// Encoder mode 3: count on both A and B edges (x4 resolution)
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#define ENC_LEFT_TIM TIM2
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#define ENC_LEFT_CH1_PORT GPIOA
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#define ENC_LEFT_CH1_PIN GPIO_PIN_15 // TIM2_CH1, AF1
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#define ENC_LEFT_CH2_PORT GPIOB
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#define ENC_LEFT_CH2_PIN GPIO_PIN_3 // TIM2_CH2, AF1
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#define ENC_LEFT_AF GPIO_AF1_TIM2
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#define ENC_RIGHT_TIM TIM3
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#define ENC_RIGHT_CH1_PORT GPIOC
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#define ENC_RIGHT_CH1_PIN GPIO_PIN_6 // TIM3_CH1, AF2
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#define ENC_RIGHT_CH2_PORT GPIOC
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#define ENC_RIGHT_CH2_PIN GPIO_PIN_7 // TIM3_CH2, AF2
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#define ENC_RIGHT_AF GPIO_AF2_TIM3
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#endif // CONFIG_H
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