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>
381 lines
19 KiB
C
381 lines
19 KiB
C
#ifndef JLINK_H
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#define JLINK_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "pid_flash.h" /* pid_sched_entry_t, PID_SCHED_MAX_BANDS */
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/*
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* JLink -- Jetson serial binary protocol over USART1 (PB6=TX, PB7=RX).
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*
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* Issue #120: replaces jetson_cmd ASCII-over-USB-CDC with a dedicated
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* hardware UART at 921600 baud using DMA circular RX and IDLE interrupt.
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*
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* Frame format (both directions):
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* [STX=0x02][LEN][CMD][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03]
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*
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* STX : frame start sentinel (0x02)
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* LEN : count of CMD + PAYLOAD bytes (1 + payload_len)
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* CMD : command/telemetry type byte
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* PAYLOAD: 0..N bytes depending on CMD
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* CRC16 : CRC16-XModem over CMD+PAYLOAD (poly 0x1021, init 0), big-endian
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* ETX : frame end sentinel (0x03)
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*
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* Jetson to STM32 commands:
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* 0x01 HEARTBEAT - no payload; refreshes heartbeat timer
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* 0x02 DRIVE - int16 speed (-1000..+1000), int16 steer (-1000..+1000)
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* 0x03 ARM - no payload; request arm (same interlock as CDC 'A')
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* 0x04 DISARM - no payload; disarm immediately
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* 0x05 PID_SET - float kp, float ki, float kd (12 bytes, IEEE-754 LE)
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* 0x06 DFU_ENTER - no payload; request OTA DFU reboot (denied while armed)
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* 0x07 ESTOP - no payload; engage emergency stop
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* 0x08 AUDIO - int16 PCM samples (up to 126 samples)
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* 0x09 SLEEP - no payload; request STOP-mode sleep
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* 0x0A PID_SAVE - no payload; save current Kp/Ki/Kd to flash (Issue #531)
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* 0x0B GIMBAL_POS - int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547)
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* 0x0C SCHED_GET - no payload; reply with TLM_SCHED (Issue #550)
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* 0x0D SCHED_SET - uint8 num_bands + N*16-byte pid_sched_entry_t (Issue #550)
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* 0x0E SCHED_SAVE - float kp, ki, kd (12 bytes); save sched+single to flash (Issue #550)
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* 0x0F FAULT_LOG_GET - no payload; reply with TLM_FAULT_LOG (Issue #565)
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* 0x10 CAN_STATS_GET - no payload; reply with TLM_CAN_STATS (Issue #597)
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*
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* STM32 to Jetson telemetry:
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* 0x80 STATUS - jlink_tlm_status_t (20 bytes), sent at JLINK_TLM_HZ
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* 0x81 POWER - jlink_tlm_power_t (11 bytes), sent at PM_TLM_HZ
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* 0x82 BATTERY - jlink_tlm_battery_t (10 bytes, Issue #533)
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* 0x83 PID_RESULT - jlink_tlm_pid_result_t (13 bytes), sent after PID_SAVE (Issue #531)
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* 0x84 GIMBAL_STATE - jlink_tlm_gimbal_state_t (10 bytes, Issue #547)
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* 0x85 SCHED - jlink_tlm_sched_t (1+N*16 bytes), sent on SCHED_GET (Issue #550)
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* 0x86 MOTOR_CURRENT - jlink_tlm_motor_current_t (8 bytes, Issue #584)
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* 0x87 FAULT_LOG - jlink_tlm_fault_log_t (20 bytes), sent on boot + FAULT_LOG_GET (Issue #565)
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* 0x88 SLOPE - jlink_tlm_slope_t (4 bytes), sent at SLOPE_TLM_HZ (Issue #600)
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* 0x89 CAN_STATS - jlink_tlm_can_stats_t (16 bytes), sent at CAN_TLM_HZ + CAN_STATS_GET (Issue #597)
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* 0x8A STEERING - jlink_tlm_steering_t (8 bytes), sent at STEER_TLM_HZ (Issue #616)
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* 0x8B LVC - jlink_tlm_lvc_t (4 bytes), sent at LVC_TLM_HZ (Issue #613)
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* 0x8C ODOM - jlink_tlm_odom_t (16 bytes), sent at ENC_TLM_HZ (Issue #632)
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*
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* Priority: CRSF RC always takes precedence. Jetson steer/speed only applied
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* when mode_manager_active() == MODE_AUTONOMOUS (CH6 high). In RC_MANUAL and
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* RC_ASSISTED modes the Jetson speed offset and steer are injected via
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* mode_manager_set_auto_cmd() and blended per the existing blend ramp.
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*
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* Heartbeat: if no valid frame arrives within JLINK_HB_TIMEOUT_MS (1000ms),
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* jlink_is_active() returns false and the main loop clears the auto command.
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*/
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/* ---- Frame constants ---- */
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#define JLINK_STX 0x02u
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#define JLINK_ETX 0x03u
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/* ---- Command IDs (Jetson to STM32) ---- */
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#define JLINK_CMD_HEARTBEAT 0x01u
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#define JLINK_CMD_DRIVE 0x02u
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#define JLINK_CMD_ARM 0x03u
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#define JLINK_CMD_DISARM 0x04u
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#define JLINK_CMD_PID_SET 0x05u
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#define JLINK_CMD_DFU_ENTER 0x06u
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#define JLINK_CMD_ESTOP 0x07u
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#define JLINK_CMD_AUDIO 0x08u /* PCM audio chunk: int16 samples, up to 126 */
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#define JLINK_CMD_SLEEP 0x09u /* no payload; request STOP-mode sleep */
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#define JLINK_CMD_PID_SAVE 0x0Au /* no payload; save Kp/Ki/Kd to flash (Issue #531) */
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#define JLINK_CMD_GIMBAL_POS 0x0Bu /* int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547) */
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#define JLINK_CMD_SCHED_GET 0x0Cu /* no payload; reply TLM_SCHED (Issue #550) */
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#define JLINK_CMD_SCHED_SET 0x0Du /* uint8 num_bands + N*16-byte entries (Issue #550) */
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#define JLINK_CMD_SCHED_SAVE 0x0Eu /* float kp,ki,kd; save sched+single to flash (Issue #550) */
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#define JLINK_CMD_FAULT_LOG_GET 0x0Fu /* no payload; reply TLM_FAULT_LOG (Issue #565) */
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#define JLINK_CMD_CAN_STATS_GET 0x10u /* no payload; reply TLM_CAN_STATS (Issue #597) */
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/* ---- Telemetry IDs (STM32 to Jetson) ---- */
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#define JLINK_TLM_STATUS 0x80u
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#define JLINK_TLM_POWER 0x81u /* jlink_tlm_power_t (11 bytes) */
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#define JLINK_TLM_BATTERY 0x82u /* jlink_tlm_battery_t (10 bytes, Issue #533) */
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#define JLINK_TLM_PID_RESULT 0x83u /* jlink_tlm_pid_result_t (13 bytes, Issue #531) */
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#define JLINK_TLM_GIMBAL_STATE 0x84u /* jlink_tlm_gimbal_state_t (10 bytes, Issue #547) */
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#define JLINK_TLM_SCHED 0x85u /* jlink_tlm_sched_t (1+N*16 bytes, Issue #550) */
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#define JLINK_TLM_MOTOR_CURRENT 0x86u /* jlink_tlm_motor_current_t (8 bytes, Issue #584) */
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#define JLINK_TLM_FAULT_LOG 0x87u /* jlink_tlm_fault_log_t (20 bytes, Issue #565) */
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#define JLINK_TLM_SLOPE 0x88u /* jlink_tlm_slope_t (4 bytes, Issue #600) */
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#define JLINK_TLM_CAN_STATS 0x89u /* jlink_tlm_can_stats_t (16 bytes, Issue #597) */
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#define JLINK_TLM_STEERING 0x8Au /* jlink_tlm_steering_t (8 bytes, Issue #616) */
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#define JLINK_TLM_LVC 0x8Bu /* jlink_tlm_lvc_t (4 bytes, Issue #613) */
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#define JLINK_TLM_ODOM 0x8Cu /* jlink_tlm_odom_t (16 bytes, Issue #632) */
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/* ---- Telemetry STATUS payload (20 bytes, packed) ---- */
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typedef struct __attribute__((packed)) {
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int16_t pitch_x10; /* pitch degrees x10 */
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int16_t roll_x10; /* roll degrees x10 */
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int16_t yaw_x10; /* yaw degrees x10 (gyro-integrated) */
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int16_t motor_cmd; /* ESC output -1000..+1000 */
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uint16_t vbat_mv; /* battery millivolts */
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int8_t rssi_dbm; /* CRSF RSSI (dBm, negative) */
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uint8_t link_quality; /* CRSF LQ 0-100 */
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uint8_t balance_state; /* 0=DISARMED, 1=ARMED, 2=TILT_FAULT */
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uint8_t rc_armed; /* crsf_state.armed (1=armed) */
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uint8_t mode; /* robot_mode_t: 0=RC_MANUAL,1=ASSISTED,2=AUTONOMOUS */
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uint8_t estop; /* EstopSource value */
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uint8_t soc_pct; /* state-of-charge 0-100, 255=unknown */
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uint8_t fw_major;
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uint8_t fw_minor;
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uint8_t fw_patch;
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} jlink_tlm_status_t; /* 20 bytes */
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/* ---- Telemetry POWER payload (11 bytes, packed) ---- */
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typedef struct __attribute__((packed)) {
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uint8_t power_state; /* PowerState: 0=ACTIVE,1=SLEEP_PENDING,2=SLEEPING,3=WAKING */
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uint16_t est_total_ma; /* estimated total current draw (mA) */
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uint16_t est_audio_ma; /* estimated I2S3+amp current (mA); 0 if gated */
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uint16_t est_osd_ma; /* estimated OSD SPI2 current (mA); 0 if gated */
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uint32_t idle_ms; /* ms since last cmd_vel activity */
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} jlink_tlm_power_t; /* 11 bytes */
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/* ---- Telemetry BATTERY payload (10 bytes, packed) Issue #533 ---- */
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typedef struct __attribute__((packed)) {
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uint16_t vbat_mv; /* DMA-sampled LPF-filtered Vbat (mV) */
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int16_t ibat_ma; /* DMA-sampled LPF-filtered Ibat (mA, + = discharge) */
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uint16_t vbat_raw_mv; /* unfiltered last-tick average (mV) */
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uint8_t flags; /* bit0=low, bit1=critical, bit2=4S, bit3=adc_ready */
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int8_t cal_offset; /* vbat_offset_mv / 4 (+-127 -> +-508 mV) */
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uint8_t lpf_shift; /* IIR shift factor (alpha = 1/2^lpf_shift) */
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uint8_t soc_pct; /* voltage-based SoC 0-100, 255 = unknown */
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} jlink_tlm_battery_t; /* 10 bytes */
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/* ---- Telemetry PID_RESULT payload (13 bytes, packed) Issue #531 ---- */
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/* Sent after JLINK_CMD_PID_SAVE is processed; confirms gains written to flash. */
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typedef struct __attribute__((packed)) {
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float kp; /* Kp saved */
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float ki; /* Ki saved */
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float kd; /* Kd saved */
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uint8_t saved_ok; /* 1 = flash write verified, 0 = write failed */
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} jlink_tlm_pid_result_t; /* 13 bytes */
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/* ---- Telemetry GIMBAL_STATE payload (10 bytes, packed) Issue #547 ---- */
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/* Sent at GIMBAL_TLM_HZ (50 Hz); reports measured pan/tilt and speed. */
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typedef struct __attribute__((packed)) {
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int16_t pan_x10; /* Measured pan angle, deg x10 */
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int16_t tilt_x10; /* Measured tilt angle, deg x10 */
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uint16_t pan_speed_raw; /* Present speed register, pan servo */
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uint16_t tilt_speed_raw; /* Present speed register, tilt servo */
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uint8_t torque_en; /* 1 = torque enabled */
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uint8_t rx_err_pct; /* bus error rate 0-100% (rx_err*100/(rx_ok+rx_err)) */
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} jlink_tlm_gimbal_state_t; /* 10 bytes */
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/* ---- Telemetry SCHED payload (1 + N*16 bytes, packed) Issue #550 ---- */
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/* Sent in response to JLINK_CMD_SCHED_GET; N = num_bands (1..PID_SCHED_MAX_BANDS). */
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typedef struct __attribute__((packed)) {
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uint8_t num_bands; /* number of valid entries */
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pid_sched_entry_t bands[PID_SCHED_MAX_BANDS]; /* up to 6 x 16 = 96 bytes */
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} jlink_tlm_sched_t; /* 1 + 96 = 97 bytes max */
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/* ---- Telemetry MOTOR_CURRENT payload (8 bytes, packed) Issue #584 ---- */
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/* Published at MOTOR_CURR_TLM_HZ; reports measured current and protection state. */
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typedef struct __attribute__((packed)) {
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int32_t current_ma; /* filtered battery/motor current (mA, + = discharge) */
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uint8_t limit_pct; /* soft-limit reduction applied: 0=none, 100=full cutoff */
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uint8_t state; /* MotorCurrentState: 0=NORMAL,1=SOFT_LIMIT,2=COOLDOWN */
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uint8_t fault_count; /* lifetime hard-cutoff trips (saturates at 255) */
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uint8_t _pad; /* reserved */
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} jlink_tlm_motor_current_t; /* 8 bytes */
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/* ---- Telemetry SLOPE payload (4 bytes, packed) Issue #600 ---- */
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/* Sent at SLOPE_TLM_HZ (1 Hz) by slope_estimator_send_tlm(). */
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typedef struct __attribute__((packed)) {
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int16_t slope_x100; /* terrain slope estimate (degrees x100; + = nose-up) */
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uint8_t active; /* 1 = slope estimation enabled */
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uint8_t _pad;
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} jlink_tlm_slope_t; /* 4 bytes */
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/* ---- Telemetry FAULT_LOG payload (20 bytes, packed) Issue #565 ---- */
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/* Sent on boot (if last fault != NONE) and in response to FAULT_LOG_GET. */
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typedef struct __attribute__((packed)) {
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uint8_t fault_type; /* FaultType of most recent entry */
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uint8_t entry_count; /* number of valid entries in flash log (0-8) */
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uint8_t reset_count; /* lifetime reset counter */
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uint8_t _pad;
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uint32_t timestamp_ms; /* HAL_GetTick() at fault */
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uint32_t pc; /* faulting PC */
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uint32_t lr; /* link register at fault */
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uint32_t cfsr; /* SCB->CFSR */
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uint32_t hfsr; /* SCB->HFSR */
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} jlink_tlm_fault_log_t; /* 20 bytes */
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/* ---- Telemetry CAN_STATS payload (16 bytes, packed) Issue #597 ---- */
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/* Sent at CAN_TLM_HZ (1 Hz) and in response to CAN_STATS_GET. */
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typedef struct __attribute__((packed)) {
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uint32_t tx_count; /* total VELOCITY_CMD frames sent */
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uint32_t rx_count; /* total valid FEEDBACK frames received */
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uint16_t err_count; /* CAN error frame count */
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uint8_t bus_off; /* 1 = bus-off state */
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uint8_t node_faults; /* bit0 = node 0 fault active, bit1 = node 1 */
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int16_t vel0_rpm; /* node 0 current velocity (RPM) */
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int16_t vel1_rpm; /* node 1 current velocity (RPM) */
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} jlink_tlm_can_stats_t; /* 16 bytes */
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/* ---- Telemetry STEERING payload (8 bytes, packed) Issue #616 ---- */
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/* Published at STEER_TLM_HZ (10 Hz); reports yaw-rate PID state. */
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typedef struct __attribute__((packed)) {
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int16_t target_x10; /* target yaw rate, deg/s × 10 (0.1 deg/s resolution) */
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int16_t actual_x10; /* measured yaw rate, deg/s × 10 */
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int16_t output; /* differential motor output (-STEER_OUTPUT_MAX..+MAX) */
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uint8_t enabled; /* 1 = PID active */
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uint8_t _pad; /* reserved */
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} jlink_tlm_steering_t; /* 8 bytes */
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/* ---- Telemetry LVC payload (4 bytes, packed) Issue #613 ---- */
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/* Sent at LVC_TLM_HZ (1 Hz); reports battery voltage and LVC protection state. */
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typedef struct __attribute__((packed)) {
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uint16_t voltage_mv; /* battery voltage (mV) */
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uint8_t percent; /* 0-100: fuel gauge within CUTOFF..WARNING; 255=unknown */
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uint8_t protection_state; /* LvcState: 0=NORMAL,1=WARNING,2=CRITICAL,3=CUTOFF */
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} jlink_tlm_lvc_t; /* 4 bytes */
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/* ---- Telemetry ODOM payload (16 bytes, packed) Issue #632 ---- */
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/* Sent at ENC_TLM_HZ (50 Hz); wheel RPM, pose, and linear speed. */
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typedef struct __attribute__((packed)) {
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int16_t rpm_left; /* left wheel RPM (signed; + = forward) */
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int16_t rpm_right; /* right wheel RPM (signed) */
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int32_t x_mm; /* forward displacement (mm, int32) */
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int32_t y_mm; /* lateral displacement (mm, int32) */
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int16_t theta_cdeg; /* heading in centidegrees (0.01 deg steps) */
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int16_t speed_mmps; /* linear speed of centre point (mm/s) */
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} jlink_tlm_odom_t; /* 16 bytes */
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/* ---- Volatile state (read from main loop) ---- */
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typedef struct {
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/* Drive command - updated on JLINK_CMD_DRIVE */
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volatile int16_t speed; /* -1000..+1000 */
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volatile int16_t steer; /* -1000..+1000 */
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/* Heartbeat timer - updated on any valid frame */
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volatile uint32_t last_rx_ms; /* HAL_GetTick() of last valid frame; 0=none */
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/* One-shot request flags - set by parser, cleared by main loop */
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volatile uint8_t arm_req;
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volatile uint8_t disarm_req;
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volatile uint8_t estop_req;
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/* PID update - set by parser, cleared by main loop */
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volatile uint8_t pid_updated;
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volatile float pid_kp;
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volatile float pid_ki;
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volatile float pid_kd;
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/* DFU reboot request - set by parser, cleared by main loop */
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volatile uint8_t dfu_req;
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/* Sleep request - set by JLINK_CMD_SLEEP, cleared by main loop */
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volatile uint8_t sleep_req;
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/* PID save request - set by JLINK_CMD_PID_SAVE, cleared by main loop (Issue #531) */
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volatile uint8_t pid_save_req;
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/* Gimbal position command - set by JLINK_CMD_GIMBAL_POS (Issue #547) */
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volatile uint8_t gimbal_updated; /* set by parser, cleared by main loop */
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volatile int16_t gimbal_pan_x10; /* pan angle deg x10 */
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volatile int16_t gimbal_tilt_x10; /* tilt angle deg x10 */
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volatile uint16_t gimbal_speed; /* servo speed 0-4095 (0=max) */
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/* PID schedule commands (Issue #550) - set by parser, cleared by main loop */
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volatile uint8_t sched_get_req; /* SCHED_GET: main loop calls jlink_send_sched_telemetry() */
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volatile uint8_t sched_save_req; /* SCHED_SAVE: main loop calls pid_schedule_flash_save() */
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volatile float sched_save_kp; /* kp for single-PID record in SCHED_SAVE */
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volatile float sched_save_ki;
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volatile float sched_save_kd;
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/* Fault log request (Issue #565) - set by JLINK_CMD_FAULT_LOG_GET, cleared by main loop */
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volatile uint8_t fault_log_req;
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/* CAN stats request (Issue #597) - set by JLINK_CMD_CAN_STATS_GET, cleared by main loop */
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volatile uint8_t can_stats_req;
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} JLinkState;
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extern volatile JLinkState jlink_state;
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/* ---- SCHED_SET receive buffer -- Issue #550 ---- */
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/*
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* Populated by the parser on JLINK_CMD_SCHED_SET. Main loop reads via
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* jlink_get_sched_set() and calls pid_schedule_set_table() before clearing.
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*/
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typedef struct {
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volatile uint8_t ready; /* set by parser, cleared by main loop */
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volatile uint8_t num_bands;
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pid_sched_entry_t bands[PID_SCHED_MAX_BANDS]; /* copied from frame */
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} JLinkSchedSetBuf;
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/* ---- API ---- */
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void jlink_init(void);
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bool jlink_is_active(uint32_t now_ms);
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void jlink_process(void);
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void jlink_send_telemetry(const jlink_tlm_status_t *status);
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void jlink_send_power_telemetry(const jlink_tlm_power_t *power);
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void jlink_send_battery_telemetry(const jlink_tlm_battery_t *batt);
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void jlink_send_pid_result(const jlink_tlm_pid_result_t *result);
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/*
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* jlink_send_gimbal_state(state) - transmit JLINK_TLM_GIMBAL_STATE (0x84)
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* frame (16 bytes) at GIMBAL_TLM_HZ (50 Hz). Issue #547.
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*/
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void jlink_send_gimbal_state(const jlink_tlm_gimbal_state_t *state);
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/*
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* jlink_send_sched_telemetry(tlm) - transmit JLINK_TLM_SCHED (0x85) in
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* response to SCHED_GET. tlm->num_bands determines actual frame size.
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* Issue #550.
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*/
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void jlink_send_sched_telemetry(const jlink_tlm_sched_t *tlm);
|
||
|
||
/*
|
||
* jlink_get_sched_set() - return pointer to the most-recently received
|
||
* SCHED_SET payload buffer (static storage in jlink.c). Main loop calls
|
||
* pid_schedule_set_table() from this buffer, then clears ready. Issue #550.
|
||
*/
|
||
JLinkSchedSetBuf *jlink_get_sched_set(void);
|
||
|
||
/*
|
||
* jlink_send_motor_current_tlm(tlm) - transmit JLINK_TLM_MOTOR_CURRENT (0x86)
|
||
* frame (14 bytes total) to Jetson. Issue #584.
|
||
* Rate-limiting is handled by motor_current_send_tlm(); call from there only.
|
||
*/
|
||
void jlink_send_motor_current_tlm(const jlink_tlm_motor_current_t *tlm);
|
||
|
||
/*
|
||
* jlink_send_fault_log(fl) - transmit JLINK_TLM_FAULT_LOG (0x87) frame
|
||
* (26 bytes) on boot (if fault log non-empty) and in response to
|
||
* FAULT_LOG_GET. Issue #565.
|
||
*/
|
||
void jlink_send_fault_log(const jlink_tlm_fault_log_t *fl);
|
||
|
||
/*
|
||
* jlink_send_slope_tlm(tlm) - transmit JLINK_TLM_SLOPE (0x88) frame
|
||
* (10 bytes) at SLOPE_TLM_HZ (1 Hz). Called from slope_estimator_send_tlm().
|
||
* Issue #600.
|
||
*/
|
||
void jlink_send_slope_tlm(const jlink_tlm_slope_t *tlm);
|
||
|
||
/*
|
||
* jlink_send_can_stats(tlm) - transmit JLINK_TLM_CAN_STATS (0x89) frame
|
||
* (22 bytes) at CAN_TLM_HZ (1 Hz) and in response to CAN_STATS_GET.
|
||
* Issue #597.
|
||
*/
|
||
void jlink_send_can_stats(const jlink_tlm_can_stats_t *tlm);
|
||
|
||
/*
|
||
* jlink_send_steering_tlm(tlm) - transmit JLINK_TLM_STEERING (0x8A) frame
|
||
* (14 bytes total) to Jetson. Issue #616.
|
||
* Rate-limiting is handled by steering_pid_send_tlm(); call from there only.
|
||
*/
|
||
void jlink_send_steering_tlm(const jlink_tlm_steering_t *tlm);
|
||
|
||
/*
|
||
* jlink_send_lvc_tlm(tlm) - transmit JLINK_TLM_LVC (0x8B) frame
|
||
* (10 bytes total) at LVC_TLM_HZ (1 Hz). Issue #613.
|
||
*/
|
||
void jlink_send_lvc_tlm(const jlink_tlm_lvc_t *tlm);
|
||
|
||
/*
|
||
* jlink_send_odom_tlm(tlm) - transmit JLINK_TLM_ODOM (0x8C) frame
|
||
* (22 bytes total) at ENC_TLM_HZ (50 Hz). Issue #632.
|
||
* Rate-limiting handled by encoder_odom_send_tlm(); call from there only.
|
||
*/
|
||
void jlink_send_odom_tlm(const jlink_tlm_odom_t *tlm);
|
||
|
||
#endif /* JLINK_H */
|