docs: scaffold polisher-control foundation

2026-05-26 16:23:04 +00:00
commit fa9c43fae8
52 changed files with 2224 additions and 0 deletions
--- a/firmware/teensy/include/polisher_protocol.h
+++ b/firmware/teensy/include/polisher_protocol.h
@@ -0,0 +1,31 @@
+#pragma once
+#include <stdint.h>
+
+enum class MessageType : uint8_t {
+    HEARTBEAT = 1,
+    MANUAL_START = 2,
+    SETPOINT = 3,
+    MANUAL_STOP = 4,
+    SEGMENT_START = 5,
+    PAUSE = 6,
+    RESUME = 7,
+    ABORT = 8,
+    ESTOP = 9,
+    ACK = 100,
+    NACK = 101,
+    TELEMETRY = 102,
+    EVENT = 103,
+    SEGMENT_DONE = 104,
+    ABORT_COMPLETE = 105,
+};
+
+enum class NackReason : uint16_t {
+    NONE = 0,
+    BAD_CRC = 1,
+    BAD_VERSION = 2,
+    ILLEGAL_TRANSITION = 3,
+    GEOMETRY_NOT_VALIDATED = 4,
+    SAFETY_INTERLOCK_ACTIVE = 5,
+    UNSUPPORTED_COMMAND = 6,
+    VALUE_OUT_OF_RANGE = 7,
+};