Yamshik (vibe implementation)

Firmware for Zubax CF1 "Babel" implementing the ACTBAC (AmpDrive Control and Telemetry Bridge for Analog Controllers) concept from the Zubax Forum.

Discovers Zubax Telega ESCs on CAN bus, auto-configures registers, and outputs telemetry as PWM signals.

Features

• PnP Node Allocation — assigns CAN node IDs to anonymous devices
• Auto-Discovery — detects Telega controllers via heartbeat
• Auto-Configuration — writes and verifies register settings
• Telemetry Output — force, velocity, voltage, current as PWM
• LED Status — visual feedback through blink patterns

State Machine

┌───────────────────────────────────────────────────────────────────────────────┐
│                              DISCOVERY                                        │
│                                                                               │
│    ┌──────────┐  heartbeat    ┌───────┐  tick     ┌──────────┐               │
│    │ Discover │ ────────────► │ Found │ ────────► │ PreCheck │               │
│    └──────────┘               └───────┘           └──────────┘               │
│          ▲                                              │                     │
│          │ timeout/blacklist                            │ read register       │
│          │                                              ▼                     │
│    ┌─────────────┐  tick      ┌───────────────────────────────────┐          │
│    │ WrongDevice │ ◄───────── │         WaitPreCheckAck           │          │
│    └─────────────┘  mismatch  └───────────────────────────────────┘          │
│                                         │                                     │
│                          ack ok ────────┴──────── all checked                 │
│                          (next reg)                    │                      │
│                               │                        │                      │
│                               ▼                        ▼                      │
│                         ┌──────────┐           needs_config=false             │
│                         │ PreCheck │                   │                      │
│                         └──────────┘                   │                      │
└────────────────────────────────┬──────────────────────┬───────────────────────┘
                                 │ needs_config=true    │
                                 ▼                      │
┌────────────────────────────────────────────────────┐  │
│                    CONFIGURATION                   │  │
│                                                    │  │
│  ┌───────────┐  write reg   ┌──────────────────┐  │  │
│  │ Configure │ ───────────► │ WaitConfigureAck │  │  │
│  └───────────┘              └──────────────────┘  │  │
│        ▲                            │             │  │
│        │ ack ok (next)              │ all done    │  │
│        └────────────────────────────┤             │  │
│                                     ▼             │  │
│                            ┌───────────────┐      │  │
│                            │ ConfigureDone │      │  │
│                            └───────────────┘      │  │
│                                     │ restart     │  │
└─────────────────────────────────────┼─────────────┘  │
                                      ▼                │
┌─────────────────────────────────────────────────┐    │
│                 REBOOT & VERIFY                 │    │
│                                                 │    │
│  ┌────────────┐  3 heartbeats  ┌────────┐      │    │
│  │ WaitReboot │ ─────────────► │ Ensure │      │    │
│  └────────────┘                └────────┘      │    │
│                                     │          │    │
│                          read reg   │          │    │
│                                     ▼          │    │
│                          ┌───────────────┐     │    │
│                          │ WaitEnsureAck │     │    │
│                          └───────────────┘     │    │
│                                  │             │    │
│                    ack ok (next) │ all ok      │    │
│                          ┌───────┴───────┐     │    │
│                          ▼               │     │    │
│                    ┌────────┐            │     │    │
│                    │ Ensure │            │     │    │
│                    └────────┘            │     │    │
└──────────────────────────────────────────┼─────┘    │
                                           │          │
                                           ▼          ▼
┌─────────────────────────────────────────────────────────────────┐
│                          OPERATIONAL                            │
│                                                                 │
│  ┌───────┐  control high   ┌─────────┐  60s elapsed  ┌──────┐  │
│  │ Ready │ ──────────────► │ Control │ ────────────► │ Done │  │
│  └───────┘                 └─────────┘               └──────┘  │
│      ▲                          │                        │      │
│      │    control released      │    control released    │      │
│      └──────────────────────────┴────────────────────────┘      │
└─────────────────────────────────────────────────────────────────┘

Note: Heartbeat timeout in any state (except Discover, WrongDevice, WaitReboot)
      returns to Discover. ACK timeout returns to Discover.

LED Patterns

State	Bootloader LED	Traffic LED
Discover	Fast alternating (200ms)	Alternating
WrongDevice	Fast sync (100ms)	Synced
Configuring	Double-blink (150ms)	Off
Ready	Slow heartbeat (1s)	Pulse on telemetry
Control	Very fast (50ms)	Pulse on telemetry
Done	Very fast (50ms)	Constant on

Configuration

Timeouts (in state.rs)

Parameter	Value	Description
HEARTBEAT_TIMEOUT_US	5s	Node considered lost if no heartbeat
ACK_TIMEOUT_US	2s	Register read/write response timeout
BLACKLIST_TIMEOUT_US	5s	Ignore wrong device for this duration
REBOOT_TIMEOUT_US	30s	Max wait for node to reboot
REBOOT_HEARTBEAT_COUNT	3	Heartbeats to confirm reboot complete
CONTROL_DURATION_US	60s	Torque ramp duration before Done
CONTROL_TICK_INTERVAL_US	100ms	Rate limit for torque commands

CAN / Cyphal

Parameter	Value	Description
NODE_ID	42	This device's CAN node ID
PNP_BASE_NODE_ID	125	Starting ID for PnP allocation

Subscriptions

Port ID	Name	Purpose
7509	Heartbeat	Device discovery & liveness
384	Register Access	Config read/write responses
100	Dynamics	Motor force/velocity telemetry
111	Compact Feedback	Voltage/current telemetry
8166	PnP Allocation	Node ID requests

Publications

Port ID	Name	Purpose
2001	Setpoint Rat Torque	Motor torque commands
435	Execute Command	Node restart
8166	PnP Allocation	Node ID responses

Building

Development (with RTT logging)

# Build with defmt logging via RTT
make dev

# Build and flash with RTT output
make run-dev

Production (optimized, no RTT)

# Build optimized binary without RTT
make prod

# Build and flash production binary
make flash-prod

# Check binary sizes
make size

Make Targets

Target	Description
make dev	Build development firmware with RTT logging
make run-dev	Build and flash dev firmware, show RTT output
make prod	Build production firmware (optimized, no RTT)
make flash-prod	Build and flash production firmware
make size	Show binary sizes for dev and prod builds
make clean	Clean build artifacts

Build Profiles

Profile	Features	Use Case
dev	RTT logging, defmt, probe-panic	Development & debugging
production	No RTT, halt-on-panic	Field deployment

Requirements

• Rust nightly with thumbv7em-none-eabihf target
• probe-rs for flashing
• arm-none-eabi-ld linker
• make for build commands