sl-firmware
532edb835b
Implements TIM4 PWM driver for 2-servo camera mount with: - 50 Hz PWM frequency (standard servo control) - CH1 (PB6) pan servo, CH2 (PB7) tilt servo - 0-180° angle range → 500-2500 µs pulse width mapping - Non-blocking servo_set_angle() for immediate positioning - servo_sweep() for smooth pan-tilt animation (linear interpolation) - Independent sweep control per servo (pan and tilt move simultaneously) - 15 comprehensive unit tests covering all scenarios Integration: - servo_init() called at startup after power_mgmt_init() - servo_tick(now_ms) called every 1ms in main loop - Ready for camera/gimbal control automation Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>