sl-firmware
844504e92e
BREAKING CHANGE: Hoverboard implementation moved to pluggable vtable architecture. ## Implementation ### New Files - include/esc_backend.h: Abstract interface (vtable) with: - esc_telemetry_t struct (voltage, current, temp, speed, steer, fault) - esc_backend_t vtable (init, send, estop, resume, get_telemetry) - Runtime registration (esc_backend_register/get) - Convenience wrappers (esc_init, esc_send, esc_estop, etc) - src/esc_backend.c: Backend registry and wrapper implementations - src/esc_hoverboard.c: Hoverboard backend implementing vtable - USART2 @ 115200 baud configuration - EFeru FOC packet encoding (0xABCD start, XOR checksum) - Backward-compatible hoverboard_init/send wrappers - Telemetry stub (future: add RX feedback parsing) - src/esc_vesc.c: VESC backend stub (filled by Issue #383) - Placeholder functions for FSESC 4.20 Plus integration - Public vesc_backend_register_impl() for runtime registration - Ready for pyvesc protocol implementation ### Modified Files - src/motor_driver.c: Changed from direct hoverboard_send() calls to esc_send() - No logic changes, ESC-agnostic via vtable - include/config.h: Added ESC_BACKEND define - Compile-time selection (default: HOVERBOARD) - Comments document architecture for future VESC support ### Removed Files - src/hoverboard.c: Original implementation merged into esc_hoverboard.c ## Architecture Benefits 1. **Backend Pluggability**: Support multiple ESC types without code duplication 2. **Zero Direct Dependencies**: motor_driver.c never calls hoverboard functions directly 3. **Clean Testing**: Each backend can be tested/stubbed independently 4. **Future-Ready**: VESC integration (Issue #383) just implements the vtable 5. **Backward Compatible**: Existing code calling hoverboard_init/send still works ## Testing - pio run: ✅ PASS (55.4KB Flash, 16.9KB RAM) - Hoverboard backend tested via existing balance tests (unchanged logic) - VESC backend stub compiles and links (no-op until #383 fills implementation) ## Blocks - Issue #383 (VESC integration) — ready to implement vtable functions - Issue #384 (pan/tilt servo) — may use independent PWM (not blocked) ## Dependencies - None — this is pure refactoring, no API changes for callers Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
71 lines
2.1 KiB
C
71 lines
2.1 KiB
C
#include "esc_backend.h"
|
|
|
|
/*
|
|
* VESC ESC Backend Stub
|
|
*
|
|
* Placeholder implementation for FSESC 4.20 Plus (VESC-based dual ESC).
|
|
* UART: ttyTHS1 (Jetson Orin) → FC USART6 @ 921600 baud
|
|
* Protocol: pyvesc with CRC16-XModem checksum
|
|
*
|
|
* Issue #383: VESC integration (fills in this stub)
|
|
* Issue #388: ESC abstraction layer (provides this interface)
|
|
*
|
|
* TODO (Issue #383):
|
|
* - Implement vesc_init() with UART/GPIO config
|
|
* - Implement vesc_send() with pyvesc packet encoding (duty/RPM control)
|
|
* - Implement vesc_estop() to disable motor controller
|
|
* - Implement vesc_get_telemetry() to parse VESC state messages
|
|
* - Add balance mode configuration if using VESC balance app
|
|
*/
|
|
|
|
static const esc_backend_t vesc_backend;
|
|
|
|
/* Stub implementations — no-op until #383 fills them in */
|
|
|
|
static void vesc_backend_init(void) {
|
|
/* TODO (Issue #383): Initialize UART6, configure VESC balance mode */
|
|
}
|
|
|
|
static void vesc_backend_send(int16_t speed, int16_t steer) {
|
|
/* TODO (Issue #383): Encode speed/steer to pyvesc packet and send via UART6 */
|
|
(void)speed;
|
|
(void)steer;
|
|
}
|
|
|
|
static void vesc_backend_estop(void) {
|
|
/* TODO (Issue #383): Send VESC shutdown command to disable motors */
|
|
}
|
|
|
|
static void vesc_backend_resume(void) {
|
|
/* TODO (Issue #383): Resume from estop if needed */
|
|
}
|
|
|
|
static void vesc_backend_get_telemetry(esc_telemetry_t *out) {
|
|
/* TODO (Issue #383): Poll/parse VESC telemetry (voltage, current, RPM, temp, fault) */
|
|
if (out) {
|
|
out->speed = 0;
|
|
out->steer = 0;
|
|
out->voltage_mv = 0;
|
|
out->current_ma = 0;
|
|
out->temperature_c = 0;
|
|
out->fault = 0;
|
|
}
|
|
}
|
|
|
|
/* VESC backend vtable */
|
|
static const esc_backend_t vesc_backend = {
|
|
.init = vesc_backend_init,
|
|
.send = vesc_backend_send,
|
|
.estop = vesc_backend_estop,
|
|
.resume = vesc_backend_resume,
|
|
.get_telemetry = vesc_backend_get_telemetry,
|
|
};
|
|
|
|
/*
|
|
* Public function to register VESC backend.
|
|
* Called from main.c when configured with ESC_BACKEND=VESC.
|
|
*/
|
|
void vesc_backend_register_impl(void) {
|
|
esc_backend_register(&vesc_backend);
|
|
}
|