fa75c442a7
feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only
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Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md
Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
stm32_cmd.launch.py → esp32_cmd.launch.py,
test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node
Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF
docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md
TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF
No new functionality — cleanup only.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 09:00:38 -04:00
f71dad5344
feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
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Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 08:25:24 -04:00
19a30a1c4f
feat: PID auto-tune for balance mode (Issue #531 )
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Implement Ziegler-Nichols relay feedback auto-tuning with flash persistence:
Firmware (STM32F722):
- pid_flash.c/h: erase+write Kp/Ki/Kd to flash sector 7 (0x0807FFC0),
magic-validated; load on boot to restore saved tune
- jlink.h: add JLINK_CMD_PID_SAVE (0x0A) and JLINK_TLM_PID_RESULT (0x83)
with jlink_tlm_pid_result_t struct and pid_save_req flag in JLinkState
- jlink.c: dispatch JLINK_CMD_PID_SAVE -> pid_save_req; add
jlink_send_pid_result() to confirm flash write outcome over USART1
- main.c: load saved PID from flash after balance_init(); handle
pid_save_req in main loop (disarmed-only, erase stalls CPU ~1s)
Jetson ROS2 (saltybot_pid_autotune):
- pid_autotune_node.py: add Ki to Ziegler-Nichols formula (ZN PID:
Kp=0.6Ku, Ki=1.2Ku/Tu, Kd=0.075KuTu); add JLink serial client that
sends JLINK_CMD_PID_SET + JLINK_CMD_PID_SAVE after tuning completes
- autotune_config.yaml: add jlink_serial_port and jlink_baud_rate params
Trigger: ros2 service call /saltybot/autotune_pid std_srvs/srv/Trigger
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 09:56:19 -05:00
fd7eddd44d
feat: Add Issue #213 - PID auto-tuner (Astrom-Hagglund relay oscillation)
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Implements PID auto-tuning ROS2 node using relay feedback (Astrom-Hagglund) method.
Service-triggered relay oscillation measures ultimate gain (Ku) and ultimate period
(Tu), then computes Ziegler-Nichols PD gains. Safety abort on >25deg tilt.
Features:
- Service /saltybot/autotune_pid (std_srvs/Trigger) starts tuning
- Relay oscillation method for accurate gain measurement
- Measures Ku (ultimate gain) and Tu (ultimate period)
- Computes Z-N PD gains: Kp=0.6*Ku, Kd=0.075*Ku*Tu
- Real-time safety abort >25° tilt angle
- JSON telemetry on /saltybot/autotune_info
- Relay commands on /saltybot/autotune_cmd_vel
Tuning Process:
1. Settle phase: zero command, allow oscillations to die
2. Relay oscillation: apply +/-relay_magnitude commands
3. Measure peaks: detect zero crossings, record extrema
4. Analysis: calculate Ku from peak amplitude, Tu from period
5. Gain computation: Ziegler-Nichols formulas
6. Publish results: Ku, Tu, Kp, Kd
Safety Features:
- IMU tilt monitoring (abort >25°)
- Max tuning duration timeout
- Configurable settle time and oscillation cycles
Published Topics:
- /saltybot/autotune_info (std_msgs/String) - JSON with Ku, Tu, Kp, Kd
- /saltybot/autotune_cmd_vel (geometry_msgs/Twist) - Relay control
Subscribed Topics:
- /imu/data (sensor_msgs/Imu) - IMU tilt safety check
- /saltybot/balance_feedback (std_msgs/Float32) - Balance feedback
Package: saltybot_pid_autotune
Entry point: pid_autotune_node
Service: /saltybot/autotune_pid
Tests: 20+ unit tests covering:
- IMU tilt extraction
- Relay oscillation analysis
- Ku/Tu measurement
- Ziegler-Nichols gain computation
- Peak detection and averaging
- Safety limits (tilt, timeout)
- State machine transitions
- JSON telemetry format
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
2026-03-02 11:47:05 -05:00
