<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml
# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge)
# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud.
# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]
# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5

# ── Serial port ────────────────────────────────────────────────────────────────
# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md).
# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed.
serial_port:      /dev/esp32-io
baud_rate:        460800
reconnect_delay:  2.0        # seconds between reconnect attempts

# ── Heartbeat ─────────────────────────────────────────────────────────────────
# HEARTBEAT (0x20) sent every heartbeat_period.
# ESP32 IO watchdog fires if no heartbeat for ~500 ms.
heartbeat_period: 0.2        # 200 ms → well within 500 ms watchdog
=======
# esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119)
# Binary-framed Jetson↔ESP32-S3 bridge at 921600 baud.

# ── Serial port ────────────────────────────────────────────────────────────────
# Use /dev/esp32-bridge if the udev rule is applied:
#   SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",
#   SYMLINK+="esp32-bridge", MODE="0660", GROUP="dialout"
serial_port:      /dev/ttyACM0
baud_rate:        921600
reconnect_delay:  2.0        # seconds between USB reconnect attempts

# ── Heartbeat ─────────────────────────────────────────────────────────────────
# HEARTBEAT frame sent every heartbeat_period seconds.
# ESP32-S3 fires watchdog and reverts to safe state if no frame received for 500ms.
heartbeat_period: 0.2        # 200ms → well within 500ms ESP32-S3 watchdog

# ── Watchdog (Jetson-side) ────────────────────────────────────────────────────
# If no /cmd_vel message received for watchdog_timeout seconds,
# send SPEED_STEER(0,0) to stop the robot.
watchdog_timeout: 0.5        # 500ms

# ── Twist velocity scaling ────────────────────────────────────────────────────
# speed = clamp(linear.x  * speed_scale, -1000, 1000)  (m/s → ESC units)
# steer = clamp(angular.z * steer_scale, -1000, 1000)  (rad/s → ESC units)
#
# Default: 1 m/s → 1000 ESC units, ±2 rad/s → ±1000 steer.
# Negative steer_scale flips ROS2 CCW+ convention to match ESC steer direction.
# Tune speed_scale to set the physical top speed.
speed_scale:  1000.0
steer_scale:  -500.0
>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml
