sl-firmware
fa75c442a7
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>
115 lines
3.0 KiB
C
115 lines
3.0 KiB
C
#ifndef SERVO_H
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#define SERVO_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* servo.h — Pan-tilt servo driver for camera head (Issue #206)
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*
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* Hardware: TIM4 PWM at 50 Hz (20 ms period)
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* - CH1 (PB6): Pan servo (0-180°)
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* - CH2 (PB7): Tilt servo (0-180°)
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*
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* Servo pulse mapping:
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* - 500 µs → 0° (full left/down)
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* - 1500 µs → 90° (center)
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* - 2500 µs → 180° (full right/up)
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*
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* Smooth sweeping via servo_sweep() for camera motion.
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*/
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/* Servo channels */
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typedef enum {
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SERVO_PAN = 0, /* CH1 (PB6) */
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SERVO_TILT = 1, /* CH2 (PB7) */
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SERVO_COUNT
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} ServoChannel;
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/* Servo state */
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typedef struct {
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uint16_t current_angle_deg[SERVO_COUNT]; /* Current angle in degrees (0-180) */
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uint16_t target_angle_deg[SERVO_COUNT]; /* Target angle in degrees */
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uint16_t pulse_us[SERVO_COUNT]; /* Pulse width in microseconds (500-2500) */
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/* Sweep state (per-servo) */
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uint32_t sweep_start_ms[SERVO_COUNT];
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uint32_t sweep_duration_ms[SERVO_COUNT];
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uint16_t sweep_start_deg[SERVO_COUNT];
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uint16_t sweep_end_deg[SERVO_COUNT];
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bool is_sweeping[SERVO_COUNT];
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} ServoState;
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/*
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* servo_init()
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*
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* Initialize TIM4 PWM on PB6 (CH1, pan) and PB7 (CH2, tilt) at 50 Hz.
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* Centers both servos at 90° (1500 µs). Call once at startup.
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*/
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void servo_init(void);
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/*
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* servo_set_angle(channel, degrees)
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*
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* Set target angle for a servo (0-180°).
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* Immediately updates PWM without motion ramping.
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* Valid channels: SERVO_PAN, SERVO_TILT
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*
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* Examples:
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* servo_set_angle(SERVO_PAN, 0); // Pan left
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* servo_set_angle(SERVO_PAN, 90); // Pan center
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* servo_set_angle(SERVO_TILT, 180); // Tilt up
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*/
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void servo_set_angle(ServoChannel channel, uint16_t degrees);
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/*
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* servo_get_angle(channel)
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*
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* Return current servo angle in degrees (0-180).
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*/
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uint16_t servo_get_angle(ServoChannel channel);
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/*
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* servo_set_pulse_us(channel, pulse_us)
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*
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* Set servo pulse width directly in microseconds (500-2500).
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* Used for fine-tuning or direct control.
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*/
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void servo_set_pulse_us(ServoChannel channel, uint16_t pulse_us);
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/*
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* servo_sweep(channel, start_deg, end_deg, duration_ms)
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*
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* Smooth linear sweep from start to end angle over duration_ms.
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* Non-blocking: must call servo_tick() every ~10 ms to update PWM.
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*
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* Examples:
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* servo_sweep(SERVO_PAN, 0, 180, 2000); // Pan left-to-right in 2 seconds
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* servo_sweep(SERVO_TILT, 45, 135, 1000); // Tilt up-down in 1 second
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*/
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void servo_sweep(ServoChannel channel, uint16_t start_deg, uint16_t end_deg, uint32_t duration_ms);
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/*
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* servo_tick(now_ms)
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*
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* Update servo sweep animation (if active). Call every ~10 ms from main loop.
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* No-op if not currently sweeping.
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*/
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void servo_tick(uint32_t now_ms);
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/*
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* servo_is_sweeping()
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*
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* Returns true if any servo is currently sweeping.
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*/
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bool servo_is_sweeping(void);
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/*
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* servo_stop_sweep(channel)
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*
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* Stop sweep immediately, hold current position.
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*/
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void servo_stop_sweep(ServoChannel channel);
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#endif /* SERVO_H */
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