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>
70 lines
2.4 KiB
C
70 lines
2.4 KiB
C
#include "stm32f7xx_hal.h"
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#include "config.h"
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#include "status.h"
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void status_init(void) {
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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GPIO_InitTypeDef gpio = {0};
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gpio.Mode = GPIO_MODE_OUTPUT_PP;
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gpio.Pull = GPIO_NOPULL;
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gpio.Speed = GPIO_SPEED_FREQ_LOW;
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/* LED1 - PC15 */
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gpio.Pin = LED1_PIN;
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HAL_GPIO_Init(LED1_PORT, &gpio);
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/* LED2 - PC14 */
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gpio.Pin = LED2_PIN;
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HAL_GPIO_Init(LED2_PORT, &gpio);
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/* Buzzer - PB2 (inverted: HIGH = off) */
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gpio.Pin = BEEPER_PIN;
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HAL_GPIO_Init(BEEPER_PORT, &gpio);
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/* Start with both LEDs ON (active low) */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
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/* Buzzer off */
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
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}
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void status_boot_beep(void) {
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/* Two quick beeps */
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_SET);
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HAL_Delay(80);
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
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HAL_Delay(80);
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_SET);
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HAL_Delay(80);
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
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}
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void status_update(uint32_t tick, int imu_ok, int armed, int tilt_fault, int remote_estop) {
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GPIO_PinState fast_blink = ((tick / 200) % 2) ? GPIO_PIN_RESET : GPIO_PIN_SET;
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GPIO_PinState blink = ((tick / 500) % 2) ? GPIO_PIN_RESET /* ON half */
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: GPIO_PIN_SET; /* OFF half */
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if (remote_estop) {
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, fast_blink);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, fast_blink);
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} else if (!imu_ok) {
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/* IMU error: LED1 blinking (attention), LED2 solid ON */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, blink);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
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} else if (tilt_fault) {
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/* Tilt fault: both LEDs slow blink */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, blink);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, blink);
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} else if (armed) {
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/* Armed: both LEDs solid ON */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_RESET);
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} else {
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/* Normal disarmed: LED1 solid ON, LED2 off */
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HAL_GPIO_WritePin(LED1_PORT, LED1_PIN, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED2_PORT, LED2_PIN, GPIO_PIN_SET);
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}
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}
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