sl-firmware
291dd689f8
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>
55 lines
2.2 KiB
C
55 lines
2.2 KiB
C
#ifndef CAN_DRIVER_H
|
|
#define CAN_DRIVER_H
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
#define CAN_NUM_MOTORS 2u
|
|
#define CAN_NODE_LEFT 0u
|
|
#define CAN_NODE_RIGHT 1u
|
|
#define CAN_ID_VEL_CMD_BASE 0x100u
|
|
#define CAN_ID_ENABLE_CMD_BASE 0x110u
|
|
#define CAN_ID_FEEDBACK_BASE 0x200u
|
|
#define CAN_FILTER_STDID 0x200u
|
|
#define CAN_FILTER_MASK 0x7E0u
|
|
#define CAN_PRESCALER 6u
|
|
#define CAN_TX_RATE_HZ 100u
|
|
#define CAN_NODE_TIMEOUT_MS 100u
|
|
#define CAN_WDOG_RESTART_MS 200u
|
|
typedef struct { int16_t velocity_rpm; int16_t torque_x100; } can_cmd_t;
|
|
typedef struct {
|
|
int16_t velocity_rpm; int16_t current_ma; int16_t position_x100;
|
|
int8_t temperature_c; uint8_t fault; uint32_t last_rx_ms;
|
|
} can_feedback_t;
|
|
typedef struct {
|
|
uint32_t tx_count; uint32_t rx_count; uint16_t err_count;
|
|
uint8_t bus_off; uint8_t _pad;
|
|
} can_stats_t;
|
|
typedef enum {
|
|
CAN_ERR_NOMINAL = 0u, CAN_ERR_WARNING = 1u,
|
|
CAN_ERR_ERROR_PASSIVE = 2u, CAN_ERR_BUS_OFF = 3u,
|
|
} can_error_state_t;
|
|
typedef struct {
|
|
uint32_t restart_count; uint32_t busoff_count;
|
|
uint16_t errpassive_count; uint16_t errwarn_count;
|
|
can_error_state_t error_state; uint8_t tec; uint8_t rec; uint8_t busoff_pending;
|
|
uint32_t busoff_ms;
|
|
} can_wdog_t;
|
|
void can_driver_init(void);
|
|
void can_driver_send_cmd(uint8_t node_id, const can_cmd_t *cmd);
|
|
void can_driver_send_enable(uint8_t node_id, bool enable);
|
|
bool can_driver_get_feedback(uint8_t node_id, can_feedback_t *out);
|
|
bool can_driver_is_alive(uint8_t node_id, uint32_t now_ms);
|
|
void can_driver_get_stats(can_stats_t *out);
|
|
void can_driver_process(void);
|
|
can_error_state_t can_driver_watchdog_tick(uint32_t now_ms);
|
|
void can_driver_get_wdog(can_wdog_t *out);
|
|
#ifdef TEST_HOST
|
|
void can_driver_inject_esr(uint32_t esr_val);
|
|
#endif
|
|
typedef void (*can_ext_frame_cb_t)(uint32_t ext_id, const uint8_t *data, uint8_t len);
|
|
typedef void (*can_std_frame_cb_t)(uint16_t std_id, const uint8_t *data, uint8_t len);
|
|
void can_driver_set_ext_cb(can_ext_frame_cb_t cb);
|
|
void can_driver_set_std_cb(can_std_frame_cb_t cb);
|
|
void can_driver_send_ext(uint32_t ext_id, const uint8_t *data, uint8_t len);
|
|
void can_driver_send_std(uint16_t std_id, const uint8_t *data, uint8_t len);
|
|
#endif /* CAN_DRIVER_H */
|