Skip to content

architecture.md

Latest commit

 

History

History
46 lines (36 loc) · 1.86 KB

architecture.md

File metadata and controls

46 lines (36 loc) · 1.86 KB
Raw

Architecture

→ index

Hardware topology

Phone (Android)
  │  BLE / Nordic UART Service (NUS)
  ▼
ESP32 "VESC Express"   ← BLE bridge, runs VESC Express firmware v6.05
  │  CAN bus
  ▼
STM32 VESC             ← motor controller, runs Refloat VESC package

The ESP32 handles only a few commands itself (COMM_FW_VERSION, COMM_PING_CAN). Everything else must be wrapped with COMM_FORWARD_CAN so the ESP32 relays it over CAN.

BLE profile

Service: 6e400001-b5a3-f393-e0a9-e50e24dcca9e (Nordic UART)

Characteristic UUID Role
NUS TX 6e400002 Phone writes here; ADV2 also notifies here
NUS RX 6e400003 Present in GATT but ADV2 does not notify on it

Key quirk: ADV2 firmware (comm_ble.c) sets notify_conn_id inside the write handler for 6e400002. So both writes and notifications travel on 6e400002 — non-standard NUS but that's what the firmware does.

Code layout

modules/vescape-core/          custom Expo native module (Android)
modules/vescape-core/android/.../VescapeCoreModule.kt
                           Expo module bridge — scan and live-state API
modules/vescape-core/android/.../CoreForegroundService.kt
                           native board BLE + GPS runtime owner
src/modules/board/store/bleStore.ts      Zustand store — mirrors native live state
src/vesc/commands.ts       COMM_* enum + request builders
src/vesc/packet.ts         VESC packet framing (encode/decode)
src/vesc/reassembler.ts    reassemble multi-chunk BLE→VESC packets
src/vesc/refloat.ts        Refloat GET_ALLDATA builder + parser
src/vesc/types.ts          TypeScript types (VescValues, RefloatValues)
app/device/[id].tsx        telemetry screen