alro65
65860948b4
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>
69 lines
3.2 KiB
C
69 lines
3.2 KiB
C
// =============================================================================
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// task_config.h -- FreeRTOS task layout for AR-Autopilot
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// =============================================================================
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//
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// Single source of truth for stack sizes, priorities, and core pinning of
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// every long-running task in the firmware. Centralising this here makes the
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// real-time profile of the system reviewable at a glance.
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//
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// Pinning policy (brief section 6, rule #11 -- "deterministic latency"):
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//
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// Core 1 (APP_CPU) -- safety-critical real-time:
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// AR_TASK_CORE_REALTIME = 1
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// - PID inner loop (Sprint 2; stub in Sprint 1)
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// - PID outer loop (Sprint 3; stub in Sprint 1)
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// - Rudder sensor (Sprint 1: 100 Hz median filter)
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// - Safety monitor (Sprint 1: limit switches, watchdog feed)
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//
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// Core 0 (PRO_CPU) -- communications + housekeeping:
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// AR_TASK_CORE_COMMS = 0
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// - NMEA 2000 RX (Sprint 1: PGN 127250 / 127251)
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// - Modbus slave (Sprint 1: eModbus internals already async)
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// - Health reporter (Sprint 1: 1 Hz log)
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//
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// This split guarantees the real-time control loops cannot be starved or
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// jittered by bus traffic, even if NMEA 2000 saturates or the Modbus client
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// bursts.
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//
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// Priorities use the standard ESP32 FreeRTOS scale (0 idle .. 24 max).
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// configMAX_PRIORITIES is 25 on default ESP32 Arduino builds.
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// =============================================================================
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#pragma once
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// Core assignment
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#define AR_TASK_CORE_REALTIME 1
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#define AR_TASK_CORE_COMMS 0
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// Priorities (higher = more priority)
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#define AR_TASK_PRIO_PID_INNER 24 // hard real-time, 50 Hz
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#define AR_TASK_PRIO_RUDDER_SENSOR 23 // 100 Hz ADC, must feed PID fresh data
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#define AR_TASK_PRIO_PID_OUTER 22 // 10 Hz heading control
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#define AR_TASK_PRIO_SAFETY 21 // limit switches, watchdog feed
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#define AR_TASK_PRIO_N2K_RX 15 // CAN polling, event-driven
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#define AR_TASK_PRIO_MODBUS 14 // eModbus internal tasks (delegated)
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#define AR_TASK_PRIO_HEARTBEAT 10 // LED blink + uptime log
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#define AR_TASK_PRIO_HEALTH 5 // periodic stats, low priority
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// Stack sizes (bytes). Tune these once we see real high-water marks via
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// uxTaskGetStackHighWaterMark() in the health reporter.
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#define AR_TASK_STACK_PID_INNER 4096
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#define AR_TASK_STACK_PID_OUTER 4096
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#define AR_TASK_STACK_RUDDER_SENSOR 3072
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#define AR_TASK_STACK_SAFETY 3072
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#define AR_TASK_STACK_N2K_RX 6144 // NMEA2000 parsing is heap-heavy
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#define AR_TASK_STACK_MODBUS 4096
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#define AR_TASK_STACK_HEARTBEAT 2048
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#define AR_TASK_STACK_HEALTH 3072
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// Loop periods (ms). Convert with pdMS_TO_TICKS() at the use site.
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#define AR_PERIOD_MS_PID_INNER 20 // 50 Hz
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#define AR_PERIOD_MS_PID_OUTER 100 // 10 Hz
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#define AR_PERIOD_MS_RUDDER_SENSOR 10 // 100 Hz
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#define AR_PERIOD_MS_SAFETY 20 // 50 Hz
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#define AR_PERIOD_MS_HEARTBEAT 1000 // 1 Hz LED blink
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#define AR_PERIOD_MS_HEALTH 5000 // every 5 s
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// Watchdog (brief section 7)
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#define AR_WATCHDOG_TIMEOUT_S 2
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