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cea3eaff97
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cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers
- can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE)
- test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions
- All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced:
* Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO
* Device paths: /dev/stm32-bridge → /dev/esp32-io
* Node names: stm32_serial_bridge → esp32_io_serial_bridge
* hardware_id: stm32f722 → esp32s3-balance/esp32s3-io
- C/C++ src/include/lib/test files: added DEPRECATED header comment
- Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test,
saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all
chassis, docs, scripts, and project files
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:56:09 -04:00 |
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8592361095
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feat: PID gain scheduling for speed-dependent balance (Issue #550)
Implements a speed-dependent PID gain scheduler that interpolates Kp/Ki/Kd
across a configurable table of velocity breakpoints, replacing the fixed
single-gain PID used previously.
Changes:
- include/pid_flash.h: add pid_sched_entry_t (16-byte entry), pid_sched_flash_t
(128-byte record at 0x0807FF40), pid_flash_load_schedule(), pid_flash_save_all()
(atomic single-sector erase for both schedule and single-PID records)
- src/pid_flash.c: implement load_schedule and save_all; single erase covers
both records at 0x0807FF40 (schedule) and 0x0807FFC0 (single PID)
- include/pid_schedule.h: API header -- init, get_gains, apply, set/get table,
flash_save, active_band_idx, get_default_table
- src/pid_schedule.c: linear interpolation between sorted speed-band entries;
integrator reset on band transition; default 3-band table (0/0.3/0.8 m/s)
- include/jlink.h: add SCHED_GET (0x0C), SCHED_SET (0x0D), SCHED_SAVE (0x0E)
commands; TLM_SCHED (0x85); jlink_tlm_sched_t; JLinkSchedSetBuf;
sched_get_req, sched_save_req fields in JLinkState; include pid_flash.h
- src/jlink.c: dispatch SCHED_GET/SET/SAVE; implement jlink_send_sched_telemetry,
jlink_get_sched_set; add JLinkSchedSetBuf static buffer
- test/test_pid_schedule.c: 48 unit tests -- all passing (gcc host build)
Flash layout (sector 7):
0x0807FF40 pid_sched_flash_t (128 bytes) -- schedule
0x0807FFC0 pid_flash_t ( 64 bytes) -- single PID (existing)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-14 11:51:11 -04:00 |
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