sl-firmware
36643dd652
- servo_bus.c/h: half-duplex USART3 driver for Feetech ST3215 servos at 1 Mbps; blocking TX/RX with CRC checksum; read/write position, torque enable, speed; deg<->raw conversion (center=2048, 4096 counts/360°) - gimbal.c/h: gimbal_t controller; 50 Hz feedback poll alternating pan/tilt at 25 Hz each; clamps to ±GIMBAL_PAN/TILT_LIMIT_DEG soft limits - jlink.c: dispatch JLINK_CMD_GIMBAL_POS (0x0B, 6-byte payload int16+int16+ uint16); jlink_send_gimbal_state() for JLINK_TLM_GIMBAL_STATE (0x84) - main.c: servo_bus_init() + gimbal_init() on boot; gimbal_tick() in main loop; gimbal_updated flag handler; GIMBAL_STATE telemetry at 50 Hz - config.h: SERVO_BUS_UART/PORT/PIN/BAUD, GIMBAL_PAN/TILT_ID, GIMBAL_TLM_HZ, GIMBAL_PAN/TILT_LIMIT_DEG - jlink.h: CMD_GIMBAL_POS, TLM_GIMBAL_STATE, jlink_tlm_gimbal_state_t (10 B), gimbal_updated/pan_x10/tilt_x10/speed volatile fields in JLinkState Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
73 lines
2.4 KiB
C
73 lines
2.4 KiB
C
#ifndef GIMBAL_H
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#define GIMBAL_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* gimbal.h — Pan/tilt gimbal controller for ST3215 bus servos (Issue #547)
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*
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* Manages dual ST3215 serial bus servos:
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* Pan servo: ID GIMBAL_PAN_ID (config.h, default 1)
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* Tilt servo: ID GIMBAL_TILT_ID (config.h, default 2)
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*
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* Position units: degrees x10 (int16), matching JLink protocol convention.
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* e.g. 900 = 90.0°, -450 = -45.0°
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*
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* Limits:
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* Pan: -1800..+1800 (x10 deg) = -180..+180 deg
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* Tilt: -900..+900 (x10 deg) = -90..+90 deg
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*
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* The gimbal_tick() function polls servo feedback at GIMBAL_TLM_HZ (50 Hz).
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* Alternates reading pan position on even ticks, tilt on odd ticks — each
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* servo polled at 25 Hz to keep bus utilization low.
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*/
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typedef struct {
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/* Command state */
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int16_t cmd_pan_x10; /* Commanded pan (deg x10) */
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int16_t cmd_tilt_x10; /* Commanded tilt (deg x10) */
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uint16_t cmd_speed; /* Servo bus speed (0=max, 1-4095) */
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bool torque_enabled; /* True when torques are enabled */
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/* Feedback state (updated at ~25 Hz per axis) */
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int16_t fb_pan_x10; /* Measured pan (deg x10) */
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int16_t fb_tilt_x10; /* Measured tilt (deg x10) */
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uint16_t fb_pan_speed; /* Raw speed register, pan servo */
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uint16_t fb_tilt_speed; /* Raw speed register, tilt servo */
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/* Diagnostics */
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uint32_t rx_ok; /* Successful position reads */
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uint32_t rx_err; /* Failed position reads */
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uint32_t _last_tick_ms; /* Internal: last tick timestamp */
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uint8_t _poll_phase; /* Internal: alternates 0=pan 1=tilt */
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} gimbal_t;
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/*
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* gimbal_init(g) — enable torque on both servos, center them.
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* servo_bus_init() must be called first.
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*/
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void gimbal_init(gimbal_t *g);
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/*
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* gimbal_set_pos(g, pan_x10, tilt_x10, speed) — command a new pan/tilt
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* position. pan_x10 and tilt_x10 are degrees×10, clamped to servo limits.
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* speed: 0=max servo speed, 1-4095 = scaled.
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*/
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void gimbal_set_pos(gimbal_t *g, int16_t pan_x10, int16_t tilt_x10,
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uint16_t speed);
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/*
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* gimbal_torque(g, enable) — enable or disable torque on both servos.
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*/
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void gimbal_torque(gimbal_t *g, bool enable);
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/*
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* gimbal_tick(g, now_ms) — poll servo feedback at GIMBAL_TLM_HZ.
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* Call every 1 ms from the main loop; function self-throttles.
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*/
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void gimbal_tick(gimbal_t *g, uint32_t now_ms);
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#endif /* GIMBAL_H */
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