sl-firmware
d4e7d5b233
Adds VESC motor control over USART6 for the SaltyBot self-balancing robot. Motor1 driven directly via COMM_SET_CURRENT; Motor2 bridged via COMM_FORWARD_CAN (cmd 34) to CAN ID 68. balance_update() now sends current commands to both VESCs on every PID tick — 0 A on disarm/fault, scaled ±10 A when armed (configurable via VESC_CURRENT_MAX_A). - include/vesc_comm.h: common interface (init, send_current, send_duty) - src/vesc_uart.c: USART6 @ 115200, CRC16-CCITT, VESC FW 6.6 framing - src/vesc_can.c: phase-2 stub (TODO: bxCAN + SN65HVD230) - src/balance.c: wire vesc_comm_send_current() into PID output path Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
32 lines
978 B
C
32 lines
978 B
C
#ifndef VESC_COMM_H
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#define VESC_COMM_H
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/*
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* VESC Communication Interface — Dual FSESC 6.7 Pro (FW 6.6)
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*
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* Motor1: connected directly to USART6 (PC6=TX, PC7=RX) @ 115200
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* Motor2: bridged via COMM_FORWARD_CAN (cmd 34) to CAN ID 68 on motor1
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*
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* Transport implementations:
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* src/vesc_uart.c — USART6 UART (active)
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* src/vesc_can.c — STM32 CAN + SN65HVD230 (phase 2, stub)
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*/
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/* Initialise the VESC transport (USART6 GPIO + peripheral) */
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void vesc_comm_init(void);
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/*
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* Send a current command to both VESCs.
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* current_motor1/2 in Amperes (positive = forward, negative = reverse).
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* Range limited by VESC motor configuration; typical max ±30 A for FSESC 6.7 Pro.
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*/
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void vesc_comm_send_current(float current_motor1, float current_motor2);
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/*
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* Send a duty-cycle command to both VESCs.
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* duty_motor1/2 in range -1.0 .. +1.0 (full reverse / full forward).
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*/
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void vesc_comm_send_duty(float duty_motor1, float duty_motor2);
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#endif /* VESC_COMM_H */
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