sl-firmware
fa75c442a7
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>
73 lines
2.1 KiB
C
73 lines
2.1 KiB
C
/*
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* safety.c — SaltyLab Safety Systems
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*
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* IWDG: 40kHz LSI, prescaler 32 → tick = 0.8ms.
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* WATCHDOG_TIMEOUT_MS from config.h (default 50ms → reload = 62).
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* Formula: reload = (timeout_ms / (prescaler / 40000)) - 1
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* reload = (50 * 40000 / 32) - 1 = 62499 → clamp to 4095 (12-bit max)
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* At PSC=256: tick = 6.4ms, reload = ceil(50/6.4)-1 = 7 → ~57.6ms
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* Using PSC=32: tick = 0.8ms, reload = ceil(50/0.8)-1 = 62 → 50ms ✓
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*/
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#include "safety.h"
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#include "config.h"
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#include "crsf.h"
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#include "watchdog.h"
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#include "stm32f7xx_hal.h"
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/* Arm interlock */
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static uint32_t s_arm_start_ms = 0;
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static bool s_arm_pending = false;
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/* Tilt fault alert state — edge-detect to fire buzzer once */
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static bool s_was_faulted = false;
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static EstopSource s_estop_source = ESTOP_CLEAR;
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void safety_init(void) {
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/* Initialize IWDG via watchdog module (Issue #300) with ~2s timeout */
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watchdog_init(2000);
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}
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void safety_refresh(void) {
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/* Feed the watchdog timer */
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watchdog_kick();
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}
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bool safety_rc_alive(uint32_t now) {
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/* If crsf_state has never received a frame, last_rx_ms == 0 */
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if (crsf_state.last_rx_ms == 0) return false;
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return (now - crsf_state.last_rx_ms) < RC_TIMEOUT_MS;
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}
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void safety_alert_tilt_fault(bool faulted) {
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if (faulted && !s_was_faulted) {
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/* Rising edge: single buzzer burst to alert rider */
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_SET);
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HAL_Delay(200);
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HAL_GPIO_WritePin(BEEPER_PORT, BEEPER_PIN, GPIO_PIN_RESET);
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}
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s_was_faulted = faulted;
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}
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void safety_arm_start(uint32_t now) {
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if (!s_arm_pending) {
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s_arm_start_ms = now;
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s_arm_pending = true;
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}
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}
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bool safety_arm_ready(uint32_t now) {
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if (!s_arm_pending) return false;
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return (now - s_arm_start_ms) >= ARMING_HOLD_MS;
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}
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void safety_arm_cancel(void) {
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s_arm_pending = false;
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}
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void safety_remote_estop(EstopSource src) { s_estop_source = src; }
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void safety_remote_estop_clear(void) { s_estop_source = ESTOP_CLEAR; }
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EstopSource safety_get_estop(void) { return s_estop_source; }
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bool safety_remote_estop_active(void) { return s_estop_source >= ESTOP_REMOTE; }
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