Teensy Firmware Scaffold
Suggested starting point: Teensy 4.1 using PlatformIO/Arduino framework.
Core modules to implement:
- protocol framing + CRC;
- message decode/encode;
- state machine mirror / safety state;
- KWR75B-CAN decoder via isolated CAN transceiver;
- table and arm encoder readers;
- force PID and actuator output;
- ODrive command/telemetry path;
- telemetry packet builder;
- fast interlocks and watchdogs.
The included src/main.cpp is intentionally minimal. Replace with real modules as hardware decisions close.