18 lines
541 B
Markdown
18 lines
541 B
Markdown
# 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.
|