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Pan/tilt gimbal servo driver for ST3215 bus servos #547

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opened 2026-03-14 09:57:06 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 09:57:06 -04:00
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Implement STM32 driver for ST3215 serial bus servos controlling the pan/tilt camera gimbal.

Requirements:

  • Half-duplex UART protocol for ST3215 (STS3215 compatible)
  • Position read/write, speed control, torque enable/disable
  • Dual servo support (pan servo ID 1, tilt servo ID 2)
  • Command interface over JLINK serial from Jetson
  • Smooth trajectory interpolation
  • Position feedback at 50Hz

Deliverables:

  • src/servo_bus.c/h — ST3215 serial bus protocol driver
  • src/gimbal.c/h — pan/tilt gimbal abstraction
  • JLINK command integration (CMD_GIMBAL_POS, TLM_GIMBAL_STATE)

Assigned to: sl-firmware

Implement STM32 driver for ST3215 serial bus servos controlling the pan/tilt camera gimbal. **Requirements:** - Half-duplex UART protocol for ST3215 (STS3215 compatible) - Position read/write, speed control, torque enable/disable - Dual servo support (pan servo ID 1, tilt servo ID 2) - Command interface over JLINK serial from Jetson - Smooth trajectory interpolation - Position feedback at 50Hz **Deliverables:** - src/servo_bus.c/h — ST3215 serial bus protocol driver - src/gimbal.c/h — pan/tilt gimbal abstraction - JLINK command integration (CMD_GIMBAL_POS, TLM_GIMBAL_STATE) Assigned to: sl-firmware
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#547
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