sl-firmware
3c895ae37b
Replaces Orin↔ESP32-S3 BALANCE CAN comms (0x300-0x303 / 0x400-0x401)
with binary serial framing over CH343 USB-CDC at 460800 baud.
Protocol matches bd-wim1 (sl-perception) exactly:
Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8-SMBUS]
CRC covers LEN+TYPE+PAYLOAD, big-endian multi-byte fields.
Commands (Orin→ESP32): HEARTBEAT/DRIVE/ESTOP/ARM/PID
Telemetry (ESP32→Orin): TELEM_STATUS, TELEM_VESC_LEFT (ID 56),
TELEM_VESC_RIGHT (ID 68), ACK/NACK
VESC CAN TWAI kept for motor control; drive commands from Orin
forwarded to VESCs via SET_RPM. Hardware note: SN65HVD230
rewired from IO43/44 to IO2/IO1 to free IO43/44 for CH343.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
112 lines
3.8 KiB
C
112 lines
3.8 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 "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 <string.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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/* ── 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 */
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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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/* 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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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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int32_t left_erpm = 0;
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int32_t right_erpm = 0;
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if (g_orin_ctrl.armed && !g_orin_ctrl.estop &&
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!hb_timeout && !drive_stale) {
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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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}
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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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/* Init peripherals */
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orin_serial_init();
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vesc_can_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 heartbeat timer so we don't immediately timeout */
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g_orin_ctrl.hb_last_ms = (uint32_t)(esp_timer_get_time() / 1000LL);
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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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xTaskCreate(vesc_can_rx_task, "vesc_rx", 4096, s_orin_tx_q, 10, NULL);
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xTaskCreate(telem_task, "telem", 2048, NULL, 5, NULL);
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xTaskCreate(drive_task, "drive", 2048, NULL, 8, 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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