sl-firmware
accf7fdf39
Protocol choice: implemented from spec (CRSFforArduino needs Arduino
framework; Betaflight extraction has deep scheduler dependencies).
Protocol verified against Betaflight src/main/rx/crsf.c + CRSF spec.
crsf.c:
- UART4 PA0=TX/PA1=RX (GPIO_AF8_UART4), 420000 baud 8N1, oversampling×8
APB1=54MHz → BRR=0x101 → 418604 baud (0.33% error, within spec)
- DMA1 Stream2 Channel4, circular 64-byte buffer, IDLE interrupt
DMA half/complete callbacks drain buffer; IDLE fires at frame boundary
- CRC8 DVB-S2 (polynomial 0xD5) validated on every frame
- Parser state machine: SYNC(0xC8)→LEN→DATA with length sanity check
- 11-bit channel unpack for all 16 channels from 22-byte payload
- RC channels frame (0x16): unpacks 16ch, updates last_rx_ms + armed
- Link stats frame (0x14): captures RSSI dBm, LQ%, SNR dB
crsf.h: added rssi_dbm, link_quality, snr fields to CRSFState
config.h: CRSF_ARM_THRESHOLD=1750, CRSF_STEER_MAX=400, CRSF_FAILSAFE_MS=300
main.c:
- crsf_init() called after motor_driver_init()
- RC failsafe: disarm if (now - last_rx_ms) > CRSF_FAILSAFE_MS, but only
after RC was first seen (last_rx_ms != 0) — USB-only mode unaffected
- RC arm: CH5 rising edge → safety_arm_start(); falling edge → disarm
Same ARMING_HOLD_MS interlock as USB arm command
- RC steer: CH1 → crsf_to_range() → ±CRSF_STEER_MAX → motor_driver steer
- RSSI/LQ: appended to JSON when safety_rc_alive() ("rssi","lq" fields)
ui/index.html: hidden RC RSSI row revealed on first packet with rssi/lq
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
393 lines
15 KiB
HTML
393 lines
15 KiB
HTML
<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>SaltyLab Balance Bot</title>
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<style>
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* { margin: 0; padding: 0; box-sizing: border-box; }
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body { background: #0a0a0f; color: #e0e0e0; font-family: 'SF Mono', 'Fira Code', monospace; overflow: hidden; }
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#hud { position: fixed; top: 20px; left: 20px; z-index: 10; }
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#hud h1 { font-size: 18px; color: #ff4444; margin-bottom: 8px; letter-spacing: 2px; }
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.stat { font-size: 13px; line-height: 1.8; color: #888; }
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.stat .val { color: #0ff; font-weight: bold; }
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.stat .label { color: #666; width: 80px; display: inline-block; }
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.btn {
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margin-top: 8px; margin-right: 6px; padding: 10px 20px;
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color: #fff; border: none;
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font-family: inherit; font-size: 13px; cursor: pointer;
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border-radius: 4px; letter-spacing: 1px;
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}
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#connect-btn { background: #ff4444; }
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#connect-btn:hover { background: #ff6666; }
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#connect-btn.connected { background: #00cc66; }
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#arm-btn { background: #cc8800; display: none; }
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#arm-btn:hover { background: #ddaa22; }
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#arm-btn.armed { background: #ff2222; }
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#dfu-btn { background: #555; display: none; }
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#dfu-btn:hover { background: #777; }
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#status { margin-top: 8px; font-size: 12px; color: #666; }
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#state-badge {
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display: inline-block; padding: 2px 8px; border-radius: 3px;
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font-size: 11px; font-weight: bold; margin-left: 8px;
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}
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.state-disarmed { background: #333; color: #888; }
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.state-armed { background: #442200; color: #ffaa00; }
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.state-fault { background: #440000; color: #ff4444; }
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#horizon { position: fixed; bottom: 20px; left: 20px; z-index: 10; }
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.bar-container { margin: 4px 0; }
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.bar-label { font-size: 11px; color: #666; width: 50px; display: inline-block; }
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.bar-bg { display: inline-block; width: 200px; height: 8px; background: #1a1a2e; border-radius: 4px; vertical-align: middle; }
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.bar-fill { height: 100%; border-radius: 4px; transition: width 0.05s; }
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.bar-pitch .bar-fill { background: #ff4444; }
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.bar-motor .bar-fill { background: #44ff44; }
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canvas { display: block; }
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</style>
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</head>
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<body>
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<div id="hud">
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<h1>⚡ SALTYLAB <span id="state-badge" class="state-disarmed">DISARMED</span></h1>
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<div class="stat"><span class="label">PITCH</span> <span class="val" id="v-pitch">--</span>°</div>
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<div class="stat"><span class="label">ROLL</span> <span class="val" id="v-roll">--</span>°</div>
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<div class="stat"><span class="label">YAW</span> <span class="val" id="v-yaw">--</span>°</div>
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<div class="stat"><span class="label">MOTOR</span> <span class="val" id="v-motor">--</span></div>
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<div class="stat" id="row-hdg" style="display:none"><span class="label">HEADING</span> <span class="val" id="v-hdg">--</span>°</div>
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<div class="stat" id="row-alt" style="display:none"><span class="label">ALT</span> <span class="val" id="v-alt">--</span> m</div>
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<div class="stat" id="row-rc" style="display:none">
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<span class="label">RC RSSI</span> <span class="val" id="v-rssi">--</span> dBm
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<span class="label" style="width:auto">LQ</span> <span class="val" id="v-lq">--</span>%
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</div>
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<div class="stat"><span class="label">HZ</span> <span class="val" id="v-hz">--</span></div>
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<div>
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<button class="btn" id="connect-btn" onclick="toggleSerial()">CONNECT USB</button>
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<button class="btn" id="arm-btn" onclick="toggleArm()">ARM</button>
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<button class="btn" id="dfu-btn" onclick="enterDFU()">DFU</button>
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<button class="btn" id="yaw-btn" onclick="resetYaw()" style="background:#335533;display:none">YAW RESET</button>
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</div>
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<div id="status">WebSerial ready</div>
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</div>
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<div id="horizon">
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<div class="bar-container bar-pitch">
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<span class="bar-label">PITCH</span>
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<span class="bar-bg"><span class="bar-fill" id="bar-pitch" style="width:50%"></span></span>
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</div>
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<div class="bar-container bar-motor">
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<span class="bar-label">MOTOR</span>
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<span class="bar-bg"><span class="bar-fill" id="bar-motor" style="width:50%"></span></span>
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</div>
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</div>
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<script type="importmap">
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{ "imports": { "three": "https://cdn.jsdelivr.net/npm/three@0.170.0/build/three.module.js" } }
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</script>
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<script type="module">
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import * as THREE from 'three';
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// --- Three.js scene ---
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const scene = new THREE.Scene();
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const camera = new THREE.PerspectiveCamera(50, window.innerWidth / window.innerHeight, 0.1, 100);
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camera.position.set(0, 2, 5);
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camera.lookAt(0, 0, 0);
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const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
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renderer.setSize(window.innerWidth, window.innerHeight);
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renderer.setPixelRatio(window.devicePixelRatio);
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renderer.setClearColor(0x0a0a0f);
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document.body.appendChild(renderer.domElement);
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// Lighting
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scene.add(new THREE.AmbientLight(0x404040, 2));
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const dirLight = new THREE.DirectionalLight(0xffffff, 3);
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dirLight.position.set(5, 10, 7);
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scene.add(dirLight);
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const pointLight = new THREE.PointLight(0xff4444, 2, 20);
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pointLight.position.set(-3, 3, 3);
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scene.add(pointLight);
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// Grid
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scene.add(new THREE.GridHelper(10, 20, 0x222244, 0x111122));
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// FC Board model
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const boardGroup = new THREE.Group();
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// PCB
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boardGroup.add(new THREE.Mesh(
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new THREE.BoxGeometry(1.6, 0.08, 1.6),
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new THREE.MeshPhongMaterial({ color: 0x1a1a1a, specular: 0x333333 })
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));
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// Copper traces
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const traceMat = new THREE.MeshPhongMaterial({ color: 0xcc8833, specular: 0xffaa44 });
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for (let i = -0.6; i <= 0.6; i += 0.3) {
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const trace = new THREE.Mesh(new THREE.BoxGeometry(1.4, 0.005, 0.02), traceMat);
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trace.position.set(0, 0.043, i);
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boardGroup.add(trace);
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}
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// MCU chip
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const mcu = new THREE.Mesh(
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new THREE.BoxGeometry(0.5, 0.06, 0.5),
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new THREE.MeshPhongMaterial({ color: 0x222222, specular: 0x444444 })
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);
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mcu.position.set(0, 0.07, 0);
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boardGroup.add(mcu);
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// IMU chip
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const imuChip = new THREE.Mesh(
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new THREE.BoxGeometry(0.2, 0.04, 0.2),
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new THREE.MeshPhongMaterial({ color: 0x331111, specular: 0x442222 })
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);
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imuChip.position.set(-0.4, 0.06, -0.3);
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boardGroup.add(imuChip);
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// USB connector
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const usb = new THREE.Mesh(
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new THREE.BoxGeometry(0.35, 0.1, 0.15),
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new THREE.MeshPhongMaterial({ color: 0x888888, specular: 0xaaaaaa })
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);
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usb.position.set(0, 0.06, -0.85);
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boardGroup.add(usb);
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// Status LED
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const ledMat = new THREE.MeshBasicMaterial({ color: 0xff0000 });
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const led = new THREE.Mesh(new THREE.SphereGeometry(0.03, 8, 8), ledMat);
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led.position.set(0.5, 0.06, 0.5);
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boardGroup.add(led);
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// Mounting holes
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const holeMat = new THREE.MeshPhongMaterial({ color: 0x444444 });
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[[-0.55, -0.55], [-0.55, 0.55], [0.55, -0.55], [0.55, 0.55]].forEach(([x, z]) => {
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const ring = new THREE.Mesh(new THREE.TorusGeometry(0.06, 0.015, 8, 16), holeMat);
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ring.rotation.x = Math.PI / 2;
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ring.position.set(x, 0.05, z);
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boardGroup.add(ring);
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});
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// Forward arrow
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const arrow = new THREE.Mesh(
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new THREE.ConeGeometry(0.08, 0.2, 8),
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new THREE.MeshBasicMaterial({ color: 0xff4444, transparent: true, opacity: 0.8 })
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);
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arrow.rotation.x = -Math.PI / 2;
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arrow.position.set(0, 0.06, -0.65);
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boardGroup.add(arrow);
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scene.add(boardGroup);
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// --- State ---
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let targetPitch = 0, targetRoll = 0, targetYaw = 0;
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let currentPitch = 0, currentRoll = 0, currentYaw = 0;
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let yawOffset = 0; // subtracted from firmware yaw for reset-to-zero
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const stateNames = ['DISARMED', 'ARMED', 'TILT FAULT'];
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const stateClasses = ['state-disarmed', 'state-armed', 'state-fault'];
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window.updateIMU = function(data) {
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// Firmware sends: p=pitch×10, r=roll×10, y=yaw×10, m=motor, s=state
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const pitch = (data.p !== undefined) ? data.p / 10.0 : 0;
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const roll = (data.r !== undefined) ? data.r / 10.0 : 0;
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const yawRaw = (data.y !== undefined) ? data.y / 10.0 : 0;
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const yaw = yawRaw - yawOffset;
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const motorCmd = data.m || 0;
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const state = data.s || 0;
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// Three.js rotation targets (radians) — CW270 IMU mount on MAMBA F722S:
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// pitch → rotation.x positive = nose up (Three.js +x rotates -Z end upward ✓)
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// roll → -rotation.z positive = right bank (Three.js +z is CCW from camera = left bank,
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// so negate to match right-bank-positive convention)
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// yaw → -rotation.y positive = CW from above (Three.js +y is CCW, sensor Z points down
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// so gz+ = CW physical; negate so model spins correctly)
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targetPitch = pitch * Math.PI / 180;
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targetRoll = -roll * Math.PI / 180; // negate: Three.js +z = left bank, we want right bank+
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targetYaw = -yaw * Math.PI / 180; // negate: Three.js +y = CCW, sensor gz+ = CW
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document.getElementById('v-pitch').textContent = pitch.toFixed(1);
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document.getElementById('v-roll').textContent = roll.toFixed(1);
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document.getElementById('v-yaw').textContent = yaw.toFixed(1);
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document.getElementById('v-motor').textContent = motorCmd;
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// Optional sensors — show row only when data is present
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if (data.hd !== undefined && data.hd >= 0) {
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document.getElementById('row-hdg').style.display = '';
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document.getElementById('v-hdg').textContent = (data.hd / 10.0).toFixed(1);
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}
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if (data.alt !== undefined) {
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document.getElementById('row-alt').style.display = '';
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document.getElementById('v-alt').textContent = (data.alt / 100.0).toFixed(1);
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}
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if (data.rssi !== undefined) {
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document.getElementById('row-rc').style.display = '';
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document.getElementById('v-rssi').textContent = data.rssi;
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document.getElementById('v-lq').textContent = (data.lq !== undefined) ? data.lq : '--';
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}
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// Pitch bar: center at 50%, ±90°
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document.getElementById('bar-pitch').style.width = ((pitch + 90) / 180 * 100) + '%';
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// Motor bar: center at 50%, ±1000
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document.getElementById('bar-motor').style.width = ((motorCmd + 1000) / 2000 * 100) + '%';
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// State badge
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const badge = document.getElementById('state-badge');
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badge.textContent = stateNames[state] || 'UNKNOWN';
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badge.className = stateClasses[state] || 'state-disarmed';
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// Arm button state
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const armBtn = document.getElementById('arm-btn');
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if (state === 1) {
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armBtn.textContent = 'DISARM';
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armBtn.classList.add('armed');
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} else {
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armBtn.textContent = 'ARM';
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armBtn.classList.remove('armed');
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}
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// LED color based on state
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if (state === 1) {
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ledMat.color.setRGB(0, 1, 0); // green when armed
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} else if (state === 2) {
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const blink = Math.sin(Date.now() / 100) > 0 ? 1 : 0;
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ledMat.color.setRGB(blink, 0, 0); // fast red blink on fault
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} else {
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const intensity = 0.5 + 0.5 * Math.sin(Date.now() / 500);
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ledMat.color.setRGB(intensity, 0, 0); // slow red pulse disarmed
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}
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};
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// Animation
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function animate() {
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requestAnimationFrame(animate);
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currentPitch += (targetPitch - currentPitch) * 0.15;
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currentRoll += (targetRoll - currentRoll) * 0.15;
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currentYaw += (targetYaw - currentYaw) * 0.15;
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boardGroup.rotation.x = currentPitch;
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boardGroup.rotation.z = currentRoll;
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boardGroup.rotation.y = currentYaw;
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renderer.render(scene, camera);
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}
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animate();
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window.resetYaw = function() {
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// Capture current raw firmware yaw (before negate) as new zero reference.
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// targetYaw = -(yawRaw - yawOffset) * pi/180, so yawRaw = yawOffset - targetYaw*180/pi
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const currentFirmwareYaw = yawOffset - targetYaw * 180 / Math.PI;
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yawOffset = currentFirmwareYaw;
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targetYaw = 0;
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};
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window.addEventListener('resize', () => {
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camera.aspect = window.innerWidth / window.innerHeight;
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camera.updateProjectionMatrix();
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renderer.setSize(window.innerWidth, window.innerHeight);
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});
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// --- WebSerial ---
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let port = null, reader = null, writer = null, lineBuffer = '', opening = false;
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let msgCount = 0, lastHzTime = Date.now();
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let currentState = 0;
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async function sendCmd(cmd) {
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if (!port?.writable) return;
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try {
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const w = port.writable.getWriter();
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await w.write(new TextEncoder().encode(cmd));
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w.releaseLock();
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} catch(e) {
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console.error('Send failed:', e);
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}
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}
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window.toggleSerial = async function() {
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if (opening) return;
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if (port) {
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try { await sendCmd('S'); } catch(e) {} // Stop streaming before disconnect
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try { reader?.cancel(); } catch(e) {}
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try { await port.close(); } catch(e) {}
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port = null; reader = null;
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document.getElementById('connect-btn').textContent = 'CONNECT USB';
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document.getElementById('connect-btn').classList.remove('connected');
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document.getElementById('arm-btn').style.display = 'none';
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document.getElementById('dfu-btn').style.display = 'none';
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document.getElementById('yaw-btn').style.display = 'none';
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document.getElementById('status').textContent = 'Disconnected';
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return;
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}
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try {
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opening = true;
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port = await navigator.serial.requestPort();
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await port.open({ baudRate: 115200 });
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opening = false;
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document.getElementById('connect-btn').textContent = 'DISCONNECT';
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document.getElementById('connect-btn').classList.add('connected');
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document.getElementById('arm-btn').style.display = 'inline-block';
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document.getElementById('dfu-btn').style.display = 'inline-block';
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document.getElementById('yaw-btn').style.display = 'inline-block';
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document.getElementById('status').textContent = 'Connected — streaming';
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readLoop();
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} catch (e) {
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opening = false;
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port = null; writer = null;
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document.getElementById('status').textContent = 'Error: ' + e.message;
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}
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};
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window.toggleArm = async function() {
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if (currentState === 1) {
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await sendCmd('D');
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} else {
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await sendCmd('A');
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}
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};
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window.enterDFU = async function() {
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if (!confirm('Reboot to DFU mode? You will lose connection.')) return;
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await sendCmd('R');
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document.getElementById('status').textContent = 'Rebooting to DFU...';
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};
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async function readLoop() {
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const decoder = new TextDecoderStream();
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port.readable.pipeTo(decoder.writable);
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reader = decoder.readable.getReader();
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try {
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while (true) {
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const { value, done } = await reader.read();
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if (done) break;
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lineBuffer += value;
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const lines = lineBuffer.split('\n');
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lineBuffer = lines.pop();
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for (const line of lines) {
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if (!line.trim()) continue;
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try {
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const data = JSON.parse(line);
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if (data.init) {
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document.getElementById('status').textContent =
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`Connected — IMU:${data.imu === 0 ? 'OK' : 'ERR'} WHO:0x${(data.who||0).toString(16)}`;
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continue;
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}
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if (data.err !== undefined) {
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document.getElementById('status').textContent = `IMU error: ${data.err}`;
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continue;
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}
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currentState = data.s || 0;
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window.updateIMU(data);
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msgCount++;
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const now = Date.now();
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if (now - lastHzTime >= 1000) {
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document.getElementById('v-hz').textContent = msgCount;
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msgCount = 0;
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lastHzTime = now;
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}
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} catch(e) {}
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}
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}
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} catch (e) {
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document.getElementById('status').textContent = 'Read error: ' + e.message;
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}
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}
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</script>
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</body>
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</html>
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