sl-firmware
291dd689f8
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>
30 lines
842 B
YAML
30 lines
842 B
YAML
gimbal_node:
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ros__parameters:
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# Serial port connecting to ESP32-S3 over JLINK protocol
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serial_port: "/dev/ttyTHS1"
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baud_rate: 921600
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# Soft angle limits (degrees, ± from center)
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pan_limit_deg: 150.0
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tilt_limit_deg: 45.0
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# Home position (degrees from center)
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home_pan_deg: 0.0
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home_tilt_deg: 0.0
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# Motion profile
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max_speed_deg_s: 90.0 # maximum pan/tilt speed (°/s)
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accel_deg_s2: 180.0 # trapezoidal acceleration (°/s²)
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# Update rates
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update_rate_hz: 20.0 # motion tick + JLINK TX rate
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state_publish_hz: 10.0 # /saltybot/gimbal/state publish rate
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# Serial reconnect
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reconnect_delay_s: 2.0
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# D435i camera parameters (for look_at 3D→pan/tilt projection)
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camera_focal_length_px: 600.0
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image_width_px: 848
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image_height_px: 480
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