a05de8d49a
Prevents boot loop when ESP32 has no CAN transceiver connected. CAN tasks only start if g_twai_bus_off is false after init. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
179 lines
6.4 KiB
C
179 lines
6.4 KiB
C
/* main.c — ESP32-S3 BALANCE app_main (bd-66hx)
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*
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* Initializes Orin serial and VESC CAN TWAI, creates tasks:
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* orin_rx — parse incoming Orin commands
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* orin_tx — transmit queued serial frames
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* vesc_rx — receive VESC CAN telemetry, proxy to Orin
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* telem — periodic TELEM_STATUS to Orin @ 10 Hz
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* drive — apply Orin drive commands to VESCs via CAN
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*/
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#include "orin_serial.h"
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#include "vesc_can.h"
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#include "gc9a01.h"
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#include "config.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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static const char *TAG = "main";
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static QueueHandle_t s_orin_tx_q;
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/* ── HUD task: SAULT brand + battery voltage on GC9A01 display ── */
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static void hud_task(void *arg)
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{
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/* Draw static "SAULT" header in orange — scale=3: each char 15×21 px */
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const int hs = 3;
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int hx = (240 - 5 * 6 * hs) / 2;
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display_draw_string_s(hx, 16, "SAULT", COL_ORANGE, COL_BG, hs);
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char prev[16] = "";
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for (;;) {
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vTaskDelay(pdMS_TO_TICKS(1000));
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int16_t v10 = g_vesc[0].voltage_x10;
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char vstr[16];
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if (v10 <= 0) {
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snprintf(vstr, sizeof(vstr), " --.-V");
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} else {
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snprintf(vstr, sizeof(vstr), "%2d.%dV", v10 / 10, abs(v10 % 10));
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}
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if (strcmp(vstr, prev) != 0) {
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const int vs = 4; /* scale=4: each char 20×28 px */
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int nch = (int)strlen(vstr);
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int vx = (240 - nch * 6 * vs) / 2;
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display_fill_rect(0, 95, 240, 7 * vs + 2, COL_BG);
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display_draw_string_s(vx, 97, vstr, COL_WHITE, COL_BG, vs);
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strncpy(prev, vstr, sizeof(prev) - 1);
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}
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}
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}
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/* ── Telemetry task: sends TELEM_STATUS to Orin at 10 Hz ── */
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static void telem_task(void *arg)
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{
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for (;;) {
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vTaskDelay(pdMS_TO_TICKS(TELEM_STATUS_PERIOD_MS));
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uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
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bool hb_timeout = (now_ms - g_orin_ctrl.hb_last_ms) > HB_TIMEOUT_MS;
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/* Determine balance state for telemetry */
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bal_state_t state;
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if (g_orin_ctrl.estop) {
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state = BAL_ESTOP;
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} else if (!g_orin_ctrl.armed) {
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state = BAL_DISARMED;
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} else {
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state = BAL_ARMED;
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}
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/* flags: bit0=estop_active, bit1=heartbeat_timeout, bit2=twai_bus_off */
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uint8_t flags = (g_orin_ctrl.estop ? 0x01u : 0x00u) |
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(hb_timeout ? 0x02u : 0x00u) |
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(g_twai_bus_off ? 0x04u : 0x00u);
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/* Battery voltage from VESC_ID_A STATUS_5 (V×10 → mV) */
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uint16_t vbat_mv = (uint16_t)((int32_t)g_vesc[0].voltage_x10 * 100);
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orin_send_status(s_orin_tx_q,
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0, /* pitch_x10: stub — full IMU in future bead */
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0, /* motor_cmd: stub */
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vbat_mv,
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state,
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flags);
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}
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}
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/* ── Drive task: applies Orin drive commands to VESCs @ 50 Hz ── */
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static void drive_task(void *arg)
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{
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uint32_t log_tick = 0;
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bool was_driving = false;
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for (;;) {
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vTaskDelay(pdMS_TO_TICKS(20)); /* 50 Hz */
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uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
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bool hb_timeout = (now_ms - g_orin_ctrl.hb_last_ms) > HB_TIMEOUT_MS;
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bool drive_stale = (now_ms - g_orin_drive.updated_ms) > DRIVE_TIMEOUT_MS;
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bool gates_ok = g_orin_ctrl.armed && !g_orin_ctrl.estop &&
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!hb_timeout && !drive_stale;
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int32_t left_erpm = 0;
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int32_t right_erpm = 0;
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if (gates_ok) {
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int32_t spd = (int32_t)g_orin_drive.speed * RPM_PER_SPEED_UNIT;
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int32_t str = (int32_t)g_orin_drive.steer * RPM_PER_STEER_UNIT;
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left_erpm = spd + str;
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right_erpm = spd - str;
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if (!was_driving) {
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ESP_LOGI(TAG, "drive ENABLED: spd=%d str=%d L=%ld R=%ld",
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g_orin_drive.speed, g_orin_drive.steer,
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(long)left_erpm, (long)right_erpm);
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was_driving = true;
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}
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} else if (was_driving) {
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ESP_LOGW(TAG, "drive BLOCKED: armed=%d estop=%d hb_timeout=%d drive_stale=%d",
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g_orin_ctrl.armed, g_orin_ctrl.estop, hb_timeout, drive_stale);
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was_driving = false;
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}
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/* 1 Hz gate-state diagnostic */
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if ((now_ms - log_tick) >= 1000u) {
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log_tick = now_ms;
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ESP_LOGI(TAG, "gate: armed=%d estop=%d hb_age=%lums drv_age=%lums twai_off=%d L=%ld R=%ld",
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g_orin_ctrl.armed, g_orin_ctrl.estop,
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(unsigned long)(now_ms - g_orin_ctrl.hb_last_ms),
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(unsigned long)(now_ms - g_orin_drive.updated_ms),
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(int)g_twai_bus_off,
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(long)left_erpm, (long)right_erpm);
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}
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/* VESC_ID_A (56) = LEFT, VESC_ID_B (68) = RIGHT per bd-wim1 protocol */
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vesc_can_send_rpm(VESC_ID_A, left_erpm);
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vesc_can_send_rpm(VESC_ID_B, right_erpm);
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}
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "ESP32-S3 BALANCE bd-66hx starting");
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orin_serial_init();
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vesc_can_init();
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gc9a01_init();
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/* TX queue for outbound serial frames */
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s_orin_tx_q = xQueueCreate(ORIN_TX_QUEUE_DEPTH, sizeof(orin_tx_frame_t));
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configASSERT(s_orin_tx_q);
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/* Seed timers so we don't immediately trip hb_timeout or drive_stale */
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g_orin_ctrl.hb_last_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
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g_orin_drive.updated_ms = g_orin_ctrl.hb_last_ms;
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g_orin_ctrl.armed = true; /* bypass for motor testing */
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/* Create tasks */
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xTaskCreate(orin_serial_rx_task, "orin_rx", 4096, s_orin_tx_q, 10, NULL);
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xTaskCreate(orin_serial_tx_task, "orin_tx", 2048, s_orin_tx_q, 9, NULL);
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if (!g_twai_bus_off) {
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xTaskCreate(vesc_can_rx_task, "vesc_rx", 4096, s_orin_tx_q, 10, NULL);
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xTaskCreate(drive_task, "drive", 2048, NULL, 8, NULL);
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} else {
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ESP_LOGW(TAG, "CAN disabled — vesc_rx and drive tasks not started");
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}
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xTaskCreate(telem_task, "telem", 2048, NULL, 5, NULL);
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xTaskCreate(hud_task, "hud", 4096, NULL, 3, NULL);
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ESP_LOGI(TAG, "all tasks started");
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/* app_main returns — FreeRTOS scheduler continues */
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}
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