1_buck_chain.cir:
- RL1 creaba nodo flotante V5V_AFTER_L sin retorno
- Reemplazado por parametro Rser=0.051 en L1 (soporte nativo LTspice)
2_output_stage.cir:
- Gcoll con VALUE={} no es sintaxis valida para G-source en LTspice
→ convertido a B-source: Bcoll GATE_Q1 EMITTER I={MAX(0, 1.0*I(Dled))}
- .net V(out1) VLOAD → directiva invalida en este contexto, eliminada
- .meas V(out1) → nodo inexistente, corregido a V(drain_q1)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
All analog ports (IN-BAT, IN-WATER, IN-OILP, IN-RPM) now use R_high=100K,
R_low=27K — unified design confirmed in schematic. Updated .param values,
voltage divider netlist, verification comments, and design notes.
Vout @ 14.4V (alternator) = 3.06V — just at the ADC limit, correct.
Vout @ 15.5V = 3.30V — absolute maximum safe input voltage.
Filter fc = 747 Hz with 100K||27K and 10nF.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Simulates the full RS-485 half-duplex channel on the ESP32+CAN+RS485 board:
- SN65HVD1781 behavioral driver/receiver (3.3V native, 32 unit loads)
- Half-duplex direction control via DE/RE GPIO4
- 560Ω bias resistors keeping bus HIGH during idle (NMEA 0183 failsafe)
- 120Ω termination at both ends of a 10m T-line model (Zo=120, Td=50ns)
- Transmits ASCII 'G' (0x47) at 4800 bps — one complete NMEA character
- Second node as passive 12kΩ unit-load receiver
- .meas directives verify Vdiff > ±200mV (RS-485 spec) in both polarities
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Four .cir behavioral simulations ready to open in LTspice via File→Open:
1_buck_chain.cir — dual MP2338 12V→5V→3.3V, verifies Rfb math + soft-start
2_output_stage.cir — PC817 + IRLML6344 isolated output (inverted logic confirmed)
3_analog_input.cir — analog input conditioning; flags ADC overvoltage on IN-BAT/WATER/OILP
4_nmea2000_can.cir — MCP2562T CAN transceiver, two-node NMEA2000 bus, T-line model
CRITICAL finding in 3_analog_input.cir: R_high=10K + R_low=15K gives 4.3V
at ESP32 ADC when measuring a 12V battery — exceeds 3.3V limit. Fix: use
R_high=100K (same as IN-RPM, which is correctly designed at 3.06V @ 14.4V).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
End-to-end implementation of Sprint 1 per docs/sprint-1-plan.md.
Builds: pio run -e esp32-dev SUCCESS, RAM 6.7%, Flash 26.5% (347 KB).
Tests: pytest 110/110 green; pio test -e native deferred (needs host
C++ compiler -- none on this Windows machine).
Firmware (firmware/ar_autopilot_v1/):
- platformio.ini: 4 envs (esp32-dev release, esp32-debug, native unity
tests, check static analysis). NMEA2000-library@4.22, NMEA2000_esp32@
1.0, eModbus@1.7.4 pinned.
- main.cpp: boot in STANDBY, FreeRTOS task spawn, returns to scheduler.
- system/: ar_log.h facade, task_config.h (priorities/stacks/cores
central table), heartbeat (1 Hz LED + uptime).
- modes/: STANDBY-only state machine; non-STANDBY rejected.
- hal/: di_do.cpp (5 DI + 10 DO with debounce + last-state cache),
rudder_sensor.cpp (100 Hz ADC + 5-sample median filter, Core 1),
rudder_actuator.cpp (DO1/DO2/DO3 with three safety interlocks:
power-off, STANDBY mode, limit switch).
- safety/: TWDT @ 2 s panic-on-expire; 50 Hz safety task on Core 1
enforcing DI1 physical disengage button, DI4 external alarm,
both-limit-switch interlock.
- protocols/modbus_slave.cpp: eModbus RTU server on UART2 @ 38400 8N1,
slave ID 1. 17 inputs + 19 discretes + 5 holdings + 4 coils. Reads
pull live telemetry; writes validate range and route to handlers.
- protocols/nmea2000_consumer.cpp: stack open with CAN TX=GPIO3
RX=GPIO1, subscribed to PGN 127250 (Heading) + PGN 127251 (Rate of
Turn). 5 s staleness flag built in for Sprint 6 alarm wiring.
- filters/median.h: templated MedianFilter<T,N> (host testable).
Cross-cutting:
- modbus_registers.yaml: single source of truth for the Modbus register
map. 45 entries.
- tools/gen_modbus_registers.py: YAML -> C++ header + Python module
generator with --check for drift detection.
- arautopilot/shared/modbus_register_map.py: generated Python mirror,
imported by Studio + tools.
- arautopilot/tests/test_modbus_register_map.py: 30 tests covering
schema, address uniqueness, range, spot-checks, and drift detection
(fails if YAML edited without regenerating).
- firmware/ar_autopilot_v1/tools/modbus_client_test.py: manual Modbus
client for poking the slave from a PC with USB-RS485 dongle.
- firmware/ar_autopilot_v1/test/test_median_filter/test_median.cpp:
8 Unity tests of the median filter (host-side, no Arduino dependency).
- docs/firmware.md: full operator + integrator guide (toolchain, build,
flash, expected boot log, troubleshooting, Sprint 1 capability matrix).
Architecture note: opted for Arduino-on-ESP32 only instead of the
proposed dual Arduino-as-ESP-IDF-component setup. Rationale documented
in CHANGELOG and docs/firmware.md -- Arduino-on-ESP32 already provides
the FreeRTOS primitives we need; dual framework adds fragility without
benefit at Sprint 1 scope. Reconsider in Sprint 8 (OTA + secure boot).
NOT in Sprint 1 (intentional per brief sec. 12):
- PID loops (inner/outer)
- True Course / Track Keeping
- Full alarm catalogue beyond DI1/DI4
- Knob driver
- Studio GUI / dedicated display
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Initial commit. Delivers what the brief calls 'Sprint 0 - Foundations'
(see docs/AR_Autopilot_brief.md section 12):
- Complete repository structure (arautopilot package + firmware, display,
installer, tools placeholders + docs).
- Core data model (Pydantic v2): modes, alarms, actuator config, PID
config + gain scheduling, vessel config, knob state machine, project
config with YAML/JSON serialisation.
- Seed library: 2 actuator profiles (hydraulic & electric DC reversible)
and 2 default tunings (yacht motor planeo 30 m and 40 m). Conservative
literature values, NOT the integrator's production tuning IP.
- Firmware skeleton: only src/hal/pinout.h with the 21 I/O contract for
the AR-NMEA-IO v1.0 board. No drivers, no main loop.
- Studio stubs (real PySide6 app starts in Sprint 4).
- pytest suite (80 tests, all green): modes, alarms, actuator, PID
(incl. gain interpolation and the +/-50% adaptive bound from brief
section 6), vessel, knob state, project config, library loader,
end-to-end roundtrip.
- examples/sprint0_demo.py - the acceptance demo from the brief.
Acceptance criteria met:
- pytest green (80/80)
- demo creates, saves (YAML + JSON), reloads, and verifies a full
ProjectConfig using the seed library
- repository ready for tag `sprint-0-approved`
See CHANGELOG.md for the detailed scope.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
alro65