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>
73 lines
2.4 KiB
C
73 lines
2.4 KiB
C
#ifndef GIMBAL_H
|
||
#define GIMBAL_H
|
||
|
||
#include <stdint.h>
|
||
#include <stdbool.h>
|
||
|
||
/*
|
||
* gimbal.h — Pan/tilt gimbal controller for ST3215 bus servos (Issue #547)
|
||
*
|
||
* Manages dual ST3215 serial bus servos:
|
||
* Pan servo: ID GIMBAL_PAN_ID (config.h, default 1)
|
||
* Tilt servo: ID GIMBAL_TILT_ID (config.h, default 2)
|
||
*
|
||
* Position units: degrees x10 (int16), matching JLink protocol convention.
|
||
* e.g. 900 = 90.0°, -450 = -45.0°
|
||
*
|
||
* Limits:
|
||
* Pan: -1800..+1800 (x10 deg) = -180..+180 deg
|
||
* Tilt: -900..+900 (x10 deg) = -90..+90 deg
|
||
*
|
||
* The gimbal_tick() function polls servo feedback at GIMBAL_TLM_HZ (50 Hz).
|
||
* Alternates reading pan position on even ticks, tilt on odd ticks — each
|
||
* servo polled at 25 Hz to keep bus utilization low.
|
||
*/
|
||
|
||
typedef struct {
|
||
/* Command state */
|
||
int16_t cmd_pan_x10; /* Commanded pan (deg x10) */
|
||
int16_t cmd_tilt_x10; /* Commanded tilt (deg x10) */
|
||
uint16_t cmd_speed; /* Servo bus speed (0=max, 1-4095) */
|
||
bool torque_enabled; /* True when torques are enabled */
|
||
|
||
/* Feedback state (updated at ~25 Hz per axis) */
|
||
int16_t fb_pan_x10; /* Measured pan (deg x10) */
|
||
int16_t fb_tilt_x10; /* Measured tilt (deg x10) */
|
||
uint16_t fb_pan_speed; /* Raw speed register, pan servo */
|
||
uint16_t fb_tilt_speed; /* Raw speed register, tilt servo */
|
||
|
||
/* Diagnostics */
|
||
uint32_t rx_ok; /* Successful position reads */
|
||
uint32_t rx_err; /* Failed position reads */
|
||
|
||
uint32_t _last_tick_ms; /* Internal: last tick timestamp */
|
||
uint8_t _poll_phase; /* Internal: alternates 0=pan 1=tilt */
|
||
} gimbal_t;
|
||
|
||
/*
|
||
* gimbal_init(g) — enable torque on both servos, center them.
|
||
* servo_bus_init() must be called first.
|
||
*/
|
||
void gimbal_init(gimbal_t *g);
|
||
|
||
/*
|
||
* gimbal_set_pos(g, pan_x10, tilt_x10, speed) — command a new pan/tilt
|
||
* position. pan_x10 and tilt_x10 are degrees×10, clamped to servo limits.
|
||
* speed: 0=max servo speed, 1-4095 = scaled.
|
||
*/
|
||
void gimbal_set_pos(gimbal_t *g, int16_t pan_x10, int16_t tilt_x10,
|
||
uint16_t speed);
|
||
|
||
/*
|
||
* gimbal_torque(g, enable) — enable or disable torque on both servos.
|
||
*/
|
||
void gimbal_torque(gimbal_t *g, bool enable);
|
||
|
||
/*
|
||
* gimbal_tick(g, now_ms) — poll servo feedback at GIMBAL_TLM_HZ.
|
||
* Call every 1 ms from the main loop; function self-throttles.
|
||
*/
|
||
void gimbal_tick(gimbal_t *g, uint32_t now_ms);
|
||
|
||
#endif /* GIMBAL_H */
|