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>
59 lines
1.3 KiB
C
59 lines
1.3 KiB
C
#include "esc_backend.h"
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#include <stddef.h>
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/* Global active backend (selected at runtime or compile-time) */
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static const esc_backend_t *g_active_backend = NULL;
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void esc_backend_register(const esc_backend_t *backend) {
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g_active_backend = backend;
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if (backend && backend->init) {
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backend->init();
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}
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}
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const esc_backend_t *esc_backend_get(void) {
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return g_active_backend;
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}
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/* High-level convenience wrappers — call through vtable */
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void esc_init(void) {
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if (g_active_backend && g_active_backend->init) {
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g_active_backend->init();
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}
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}
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void esc_send(int16_t speed, int16_t steer) {
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if (g_active_backend && g_active_backend->send) {
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g_active_backend->send(speed, steer);
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}
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}
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void esc_estop(void) {
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if (g_active_backend && g_active_backend->estop) {
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g_active_backend->estop();
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}
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}
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void esc_resume(void) {
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if (g_active_backend && g_active_backend->resume) {
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g_active_backend->resume();
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}
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}
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void esc_get_telemetry(esc_telemetry_t *out) {
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if (out) {
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/* Zero-fill by default */
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out->speed = 0;
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out->steer = 0;
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out->voltage_mv = 0;
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out->current_ma = 0;
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out->temperature_c = 0;
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out->fault = 0;
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if (g_active_backend && g_active_backend->get_telemetry) {
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g_active_backend->get_telemetry(out);
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}
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}
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}
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