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code/Core/Inc/crc.h

@@ -0,0 +1,26 @@
+/*
+ * crc.h
+ *
+ *  Created on: 19 Dec 2025
+ *      Author: janik
+ */
+
+#ifndef INC_CRC_H_
+#define INC_CRC_H_
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct {
+    uint32_t crc;
+} CRC8_107;
+
+static inline void CRC8_107_init(CRC8_107 *ctx)
+{
+    ctx->crc = 0x0u;
+}
+
+void     CRC8_107_add(CRC8_107 *ctx, uint8_t data);
+uint8_t  CRC8_107_getChecksum(const CRC8_107 *ctx);
+
+#endif /* INC_CRC_H_ */

code/Core/Inc/photon_protocol.h

@@ -0,0 +1,140 @@
+/*
+ * photon_protocol.h
+ *
+ *  Created on: 19 Dec 2025
+ *      Author: janik
+ */
+
+#ifndef INC_PHOTON_PROTOCOL_H_
+#define INC_PHOTON_PROTOCOL_H_
+
+#define UUID_LENGTH 12 // 12 8bit values
+#define PHOTON_NETWORK_CONTROLLER_ADDRESS 0x00
+#define PHOTON_NETWORK_BROADCAST_ADDRESS 0xFF
+#define VENDOR_SPECIFIC_OPTIONS_LENGTH 16
+
+
+typedef enum {
+    STATUS_OK = 0x00,
+    STATUS_WRONG_FEEDER_ID = 0x01,
+    STATUS_COULDNT_REACH = 0x02,
+    STATUS_UNINITIALIZED_FEEDER = 0x03,
+    STATUS_FEEDING_IN_PROGRESS = 0x04,
+    STATUS_FAIL = 0x05,
+
+    STATUS_TIMEOUT = 0xFE,
+    STATUS_UNKNOWN_ERROR = 0xFF
+} FeederStatus;
+
+typedef enum {
+    // Unicast Commands
+    GET_FEEDER_ID = 0x01,
+    INITIALIZE_FEEDER = 0x02,
+    GET_VERSION = 0x03,
+    MOVE_FEED_FORWARD = 0x04,
+    MOVE_FEED_BACKWARD = 0x05,
+    MOVE_FEED_STATUS = 0x06,
+
+    VENDOR_OPTIONS = 0xbf,
+
+    // Broadcast Commands
+    GET_FEEDER_ADDRESS = 0xc0,
+    IDENTIFY_FEEDER = 0xc1,
+    PROGRAM_FEEDER_FLOOR = 0xc2,
+    UNINITIALIZED_FEEDERS_RESPOND = 0xc3
+    // EXTENDED_COMMAND = 0xff, Unused, reserved for future use
+} FeederCommand;
+
+
+
+/* ---------- Packet Header ---------- */
+
+typedef struct __attribute__((packed)) {
+    uint8_t toAddress;
+    uint8_t fromAddress;
+    uint8_t packetId;
+    uint8_t payloadLength;
+    uint8_t crc;
+} PhotonPacketHeader;
+
+/* ---------- Command Payloads ---------- */
+
+typedef struct __attribute__((packed)) {
+    uint8_t distance;
+} MoveCommand;
+
+typedef struct __attribute__((packed)) {
+    uint8_t uuid[UUID_LENGTH];
+} GetFeederAddressCommand;
+
+typedef struct __attribute__((packed)) {
+    uint8_t uuid[UUID_LENGTH];
+} InitializeFeederCommand;
+
+typedef struct __attribute__((packed)) {
+    uint8_t options[VENDOR_SPECIFIC_OPTIONS_LENGTH];
+} VendorOptionsCommand;
+
+typedef struct __attribute__((packed)) {
+    uint8_t uuid[UUID_LENGTH];
+    uint8_t address;
+} ProgramFeederFloorAddressCommand;
+
+typedef struct __attribute__((packed)) {
+    uint8_t uuid[UUID_LENGTH];
+} IdentifyFeederCommand;
+
+/* ---------- Full Command Packet ---------- */
+
+typedef struct __attribute__((packed)) {
+    PhotonPacketHeader header;
+    uint8_t commandId;
+    union {
+        MoveCommand                          move;
+        GetFeederAddressCommand              getFeederAddress;
+        InitializeFeederCommand              initializeFeeder;
+        VendorOptionsCommand                 vendorOptions;
+        ProgramFeederFloorAddressCommand     programFeederFloorAddress;
+        IdentifyFeederCommand                identifyFeeder;
+    } payload;
+} PhotonCommand;
+
+/* ---------- Response Payloads ---------- */
+
+typedef struct __attribute__((packed)) {
+    uint8_t uuid[UUID_LENGTH];
+} GetFeederIdResponse;
+
+typedef struct __attribute__((packed)) {
+    uint8_t uuid[UUID_LENGTH];
+} InitializeFeederResponse;
+
+typedef struct __attribute__((packed)) {
+    uint8_t version;
+} GetProtocolVersionResponse;
+
+typedef struct __attribute__((packed)) {
+    uint16_t expectedFeedTime;
+} FeedDistanceResponse;
+
+typedef struct __attribute__((packed)) {
+    uint8_t options[VENDOR_SPECIFIC_OPTIONS_LENGTH];
+} VendorOptionsResponse;
+
+/* ---------- Full Response Packet ---------- */
+
+typedef struct __attribute__((packed)) {
+    PhotonPacketHeader header;
+    uint8_t status;
+    union {
+        GetFeederIdResponse         getFeederId;
+        InitializeFeederResponse    initializeFeeder;
+        GetProtocolVersionResponse  protocolVersion;
+        FeedDistanceResponse        expectedTimeToFeed;
+        VendorOptionsResponse       vendorOptions;
+    } payload;
+} PhotonResponse;
+
+
+
+#endif /* INC_PHOTON_PROTOCOL_H_ */

code/Core/Inc/pid.h

@@ -0,0 +1,137 @@
+/*
+ * pid.h
+ *
+ *  Created on: 19 Dec 2025
+ *      Author: janik
+ */
+
+#ifndef INC_PID_H_
+#define INC_PID_H_
+
+// pid_motor_wrap_i32.h
+typedef struct
+{
+    // Gains
+    int32_t kp;
+    int32_t ki;
+    int32_t kd;
+
+    // State
+    int32_t integrator;
+    int32_t prev_error;
+
+    // Limits
+    int32_t integrator_min;
+    int32_t integrator_max;
+    int32_t out_max;         // max |u|, e.g. 2400
+
+    // Slew limit
+    int32_t max_output_step; // max |u(k) - u(k-1)| per control step
+    int32_t last_output;     // u(k-1)
+} pid_i32_t;
+
+typedef struct
+{
+    uint16_t pwm;  // 0..out_max
+    uint8_t  dir;  // 0 or 1
+} pid_motor_cmd_t;
+
+static inline int32_t clamp_i32(int32_t x, int32_t lo, int32_t hi)
+{
+    if (x < lo) return lo;
+    if (x > hi) return hi;
+    return x;
+}
+
+static inline void pid_init(pid_i32_t *pid,
+                            int32_t kp,
+                            int32_t ki,
+                            int32_t kd,
+                            int32_t integrator_min,
+                            int32_t integrator_max,
+                            int32_t out_max,
+                            int32_t max_output_step)
+{
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+
+    pid->integrator = 0;
+    pid->prev_error = 0;
+
+    pid->integrator_min = integrator_min;
+    pid->integrator_max = integrator_max;
+    pid->out_max        = out_max;
+
+    pid->max_output_step = max_output_step;
+    pid->last_output     = 0;
+}
+
+static inline void pid_reset(pid_i32_t *pid)
+{
+    pid->integrator = 0;
+    pid->prev_error = 0;
+    pid->last_output = 0;
+}
+
+static inline pid_motor_cmd_t pid_update_motor(pid_i32_t *pid,
+                                               int32_t setpoint,
+                                               int32_t position)
+{
+    pid_motor_cmd_t cmd;
+
+    // Basic PID (no overflow protection, as requested)
+    int32_t error = setpoint - position;
+
+    int32_t p = pid->kp * error;
+
+    int32_t i = pid->integrator + pid->ki * error;
+    i = clamp_i32(i, pid->integrator_min, pid->integrator_max);
+    pid->integrator = i;
+
+    int32_t d_error = error - pid->prev_error;
+    int32_t d = pid->kd * d_error;
+    pid->prev_error = error;
+
+    // Raw control effort
+    int32_t u_raw = p + i + d;
+
+    // Clamp to [-out_max, +out_max]
+    if (u_raw >  pid->out_max) u_raw =  pid->out_max;
+    if (u_raw < -pid->out_max) u_raw = -pid->out_max;
+
+    // ---------- Slew limit: avoid instant full reverse ----------
+    int32_t u_prev = pid->last_output;
+    int32_t u = u_raw;
+
+    int32_t max_step = pid->max_output_step;
+    if (max_step > 0) {
+        int32_t du = u_raw - u_prev;
+
+        if (du > max_step) {
+            u = u_prev + max_step;
+        } else if (du < -max_step) {
+            u = u_prev - max_step;
+        } else {
+            u = u_raw;
+        }
+    }
+
+    // Save for next time
+    pid->last_output = u;
+
+    // Map signed u to dir + pwm
+    if (u >= 0) {
+        cmd.dir = 1;
+        cmd.pwm = (uint16_t)u;
+    } else {
+        cmd.dir = 0;
+        cmd.pwm = (uint16_t)(-u);
+    }
+
+    if (cmd.pwm > pid->out_max)
+        cmd.pwm = (uint16_t)pid->out_max;
+
+    return cmd;
+}
+#endif /* INC_PID_H_ */

code/Core/Inc/stm32c0xx_it.h

@@ -53,6 +53,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void EXTI4_15_IRQHandler(void);
 void DMA1_Channel1_IRQHandler(void);
+void DMA1_Channel2_3_IRQHandler(void);
 void TIM14_IRQHandler(void);
 void TIM16_IRQHandler(void);
 void TIM17_IRQHandler(void);