sl-controls
64de6667b6
Implements a speed-dependent PID gain scheduler that interpolates Kp/Ki/Kd across a configurable table of velocity breakpoints, replacing the fixed single-gain PID used previously. Changes: - include/pid_flash.h: add pid_sched_entry_t (16-byte entry), pid_sched_flash_t (128-byte record at 0x0807FF40), pid_flash_load_schedule(), pid_flash_save_all() (atomic single-sector erase for both schedule and single-PID records) - src/pid_flash.c: implement load_schedule and save_all; single erase covers both records at 0x0807FF40 (schedule) and 0x0807FFC0 (single PID) - include/pid_schedule.h: API header -- init, get_gains, apply, set/get table, flash_save, active_band_idx, get_default_table - src/pid_schedule.c: linear interpolation between sorted speed-band entries; integrator reset on band transition; default 3-band table (0/0.3/0.8 m/s) - include/jlink.h: add SCHED_GET (0x0C), SCHED_SET (0x0D), SCHED_SAVE (0x0E) commands; TLM_SCHED (0x85); jlink_tlm_sched_t; JLinkSchedSetBuf; sched_get_req, sched_save_req fields in JLinkState; include pid_flash.h - src/jlink.c: dispatch SCHED_GET/SET/SAVE; implement jlink_send_sched_telemetry, jlink_get_sched_set; add JLinkSchedSetBuf static buffer - test/test_pid_schedule.c: 48 unit tests -- all passing (gcc host build) Flash layout (sector 7): 0x0807FF40 pid_sched_flash_t (128 bytes) -- schedule 0x0807FFC0 pid_flash_t ( 64 bytes) -- single PID (existing) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>