feat: update CAN integration and T2G seat firmware
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vee
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@@ -8,14 +8,25 @@
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#define MOTOR_API_FAILURE (1u)
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#define MOTOR_PHYSICAL_VALUE_SCALE (100ul)
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#define MOTOR_MODE0_DEFAULT_MAX_HALL_COUNT (480ul)
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#define MOTOR_MODE0_MAX_POSITION_MM_X100 (10200ul)
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#define MOTOR_MODE1_DEFAULT_MAX_HALL_COUNT (790ul)
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#define MOTOR_MODE1_MAX_ANGLE_DEG_X100 (8500ul)
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#define MOTOR_MODE2_DEFAULT_MAX_HALL_COUNT (1590ul)
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#define MOTOR_MODE2_MAX_ANGLE_DEG_X100 (9000ul)
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#define MOTOR_MODE3_DEFAULT_MAX_HALL_COUNT (960ul)
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#define MOTOR_MODE3_MAX_POSITION_MM_X100 (24000ul)
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/*
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* 2026-07-30 endpoint-to-endpoint range calibration. Bench verification
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* established identity mapping: logical M0..M3 use physical mode 0..3.
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*/
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#define MOTOR_MODE0_DEFAULT_MAX_HALL_COUNT (480ul) /* horizontal */
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#define MOTOR_MODE0_MAX_POSITION_MM_X100 (21500ul)
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#define MOTOR_MODE1_DEFAULT_MAX_HALL_COUNT (374ul) /* seat pan */
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#define MOTOR_MODE1_MAX_VERTICAL_MM_X100 (5600ul)
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#define MOTOR_MODE1_MAX_HORIZONTAL_MM_X100 (5100ul)
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/* Compatibility name used by the generic scalar position API. */
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#define MOTOR_MODE1_MAX_ANGLE_DEG_X100 \
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MOTOR_MODE1_MAX_VERTICAL_MM_X100
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#define MOTOR_MODE2_DEFAULT_MAX_HALL_COUNT (917ul) /* backrest */
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#define MOTOR_MODE2_MAX_ANGLE_DEG_X100 (6800ul)
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#define MOTOR_MODE3_DEFAULT_MAX_HALL_COUNT (647ul) /* legrest */
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#define MOTOR_MODE3_MAX_ANGLE_DEG_X100 (7200ul)
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/* Compatibility name used by the generic scalar position API. */
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#define MOTOR_MODE3_MAX_POSITION_MM_X100 \
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MOTOR_MODE3_MAX_ANGLE_DEG_X100
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#define MOTOR_SPEED_VALUE_SCALE (100ul)
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#define MOTOR_SPEED_MIN_DUTY_PERCENT (50u)
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@@ -73,6 +84,8 @@ typedef struct
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uint32_t valueX100;
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uint32_t maxValueX100;
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uint32_t positionMmX100;
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uint32_t horizontalMmX100;
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uint32_t verticalMmX100;
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uint32_t angleDegX100;
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uint32_t percentX100;
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} motor_position_info_t;
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@@ -103,6 +116,21 @@ typedef struct
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uint8_t currentDutyPercent;
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} motor_speed_info_t;
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typedef struct
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{
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motor_mode_t mode;
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bool sampleValid;
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bool baselineValid;
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bool highCurrent;
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bool hallActivityLow;
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bool calibrating;
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uint16_t raw;
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uint16_t baselineRaw;
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uint16_t deltaRaw;
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uint16_t stallThresholdRaw;
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uint32_t sampleAgeMs;
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} motor_current_info_t;
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typedef struct
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{
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uint32_t positionHallCount;
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@@ -122,9 +150,9 @@ uint32_t Motor_GetTimeMs(void);
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void Motor_SetWatchdogServiceEnabled(bool enabled);
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/*
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* Physical values use fixed point x100: 102.00 mm is 10200 and
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* 85.25 degrees is 8525. positionValid is false until an endpoint has
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* been found after power-up.
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* Physical values use fixed point x100: 215.00 mm is 21500 and
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* 68.00 degrees is 6800. positionValid is restored from a verified clean
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* record or becomes true after a known endpoint has been found.
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*
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* Ownership contract: call all control APIs and Motor_ServiceAll from one
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* main-loop/owner context. They are not ISR-safe, thread-safe, or reentrant.
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@@ -132,6 +160,7 @@ void Motor_SetWatchdogServiceEnabled(bool enabled);
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* start calls from that owner.
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*/
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uint8_t Motor_GetPositionInfo(motor_mode_t mode, motor_position_info_t *info);
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uint8_t Motor_GetCurrentInfo(motor_mode_t mode, motor_current_info_t *info);
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/* Each mode has independent endpoint and stall reverse switches. */
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uint8_t Motor_SetSafetyOptions(motor_mode_t mode,
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@@ -146,6 +175,8 @@ bool Motor_IsMoving(motor_mode_t mode);
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* Restore/store Hall-domain state. These calls are accepted only while the
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* selected motor is stopped. max speed uses Hall rising edges/s x100.
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*/
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uint8_t Motor_ValidatePersistentState(motor_mode_t mode,
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const motor_persistent_state_t *state);
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uint8_t Motor_ApplyPersistentState(motor_mode_t mode,
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const motor_persistent_state_t *state);
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uint8_t Motor_GetPersistentState(motor_mode_t mode,
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@@ -199,11 +230,17 @@ uint8_t Motor_GetSpeedInfo(motor_mode_t mode, motor_speed_info_t *info);
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* range, preserves observed motion, and invalidates absolute position because
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* physical travel cannot be rolled back. Each leg requires Hall coast
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* tracking to settle before/after travel; quiet wait is bounded to five seconds.
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* legTimeoutMs is the independent motion timeout applied to each endpoint leg.
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*/
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uint8_t Motor_Calibrate(motor_mode_t mode,
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motor_calibration_action_t action,
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uint32_t legTimeoutMs,
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motor_calibration_result_t *result);
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/* Application override used to keep CAN/status/safety services alive while
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* the selected motor executes the blocking endpoint-calibration primitive. */
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void Motor_CalibrationServiceHook(void);
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/* Call continuously from the main loop; the ISR still kills PWM immediately. */
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void Motor_ServiceAll(void);
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@@ -218,16 +255,16 @@ void Motor_StopAll(void);
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bool Motor_IsDriverFaultLatched(void);
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uint8_t Motor0_GetPosition(motor_position_info_t *info);
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uint8_t Motor1_GetAngle(motor_position_info_t *info);
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uint8_t Motor1_GetPosition(motor_position_info_t *info);
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uint8_t Motor2_GetAngle(motor_position_info_t *info);
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uint8_t Motor3_GetPosition(motor_position_info_t *info);
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uint8_t Motor3_GetAngle(motor_position_info_t *info);
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uint8_t Motor0_MoveToPositionMmX100(uint32_t positionMmX100);
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uint8_t Motor1_MoveToAngleDegX100(uint32_t angleDegX100);
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uint8_t Motor1_MoveToVerticalMmX100(uint32_t verticalMmX100);
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uint8_t Motor2_MoveToAngleDegX100(uint32_t angleDegX100);
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uint8_t Motor3_MoveToPositionMmX100(uint32_t positionMmX100);
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uint8_t Motor3_MoveToAngleDegX100(uint32_t angleDegX100);
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uint8_t Motor0_SetSpeedPlan(uint32_t durationMs, uint32_t distanceMmX100);
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uint8_t Motor1_SetSpeedPlan(uint32_t durationMs, uint32_t angleDegX100);
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uint8_t Motor1_SetSpeedPlan(uint32_t durationMs, uint32_t verticalMmX100);
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uint8_t Motor2_SetSpeedPlan(uint32_t durationMs, uint32_t angleDegX100);
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uint8_t Motor3_SetSpeedPlan(uint32_t durationMs, uint32_t distanceMmX100);
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uint8_t Motor3_SetSpeedPlan(uint32_t durationMs, uint32_t angleDegX100);
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#endif /* MOTOR_CONTROL_H */
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