sl-controls 71b46f51d5 feat: PID tuning interface via CAN/ROS2 (Issue #693) ...

- Mamba (STM32): add ORIN_CAN_ID_PID_SET (0x305) handler in orin_can.c.
  Receives kp/ki/kd as uint16*100 (BE), applies to running balance loop,
  replies with FC_PID_ACK (0x405) echoing clamped gains. Gains persist in
  RAM until reboot; not saved to flash.
- Jetson: expose pid/kp, pid/ki, pid/kd as ROS2 parameters in
  can_bridge_node. Parameter changes trigger encode_pid_set_cmd() and
  send CAN frame 0x305 immediately. ACK frame 0x405 logged at DEBUG.
- mamba_protocol.py: add ORIN_CAN_ID_PID_SET / FC_PID_ACK IDs,
  PidGains dataclass, encode_pid_set_cmd(), decode_pid_ack().

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-20 16:38:09 -04:00

..

audio.h

feat(audio): I2S3 audio amplifier driver — Issue #143

2026-03-02 10:34:35 -05:00

balance.h

feat: Hardware button park/disarm/re-arm (Issue #682)

2026-03-18 08:10:10 -04:00

baro.h

feat: BME280 baro pressure & ambient temp driver (Issue #672)

2026-03-18 08:25:07 -04:00

battery_adc.h

feat: Battery voltage ADC driver with DMA sampling (Issue #533)

2026-03-07 10:01:02 -05:00

battery.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

bmp280.h

feat: BME280 full readout — temp, humidity, pressure telemetry (#30)

2026-02-28 19:43:48 -05:00

bno055.h

feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135)

2026-03-02 09:40:18 -05:00

buzzer.h

feat: Add piezo buzzer melody driver (Issue #253)

2026-03-02 12:51:42 -05:00

can_driver.h

feat: bxCAN integration for VESC motor control and Orin comms (Issue #674)

2026-03-17 21:41:19 -04:00

config.h

feat: Hardware button park/disarm/re-arm (Issue #682)

2026-03-18 08:10:10 -04:00

coulomb_counter.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

crsf.h

feat: battery coulomb counter (Issue #325)

2026-03-03 17:35:34 -05:00

encoder_odom.h

feat: Encoder odometry and wheel speed feedback (Issue #632)

2026-03-15 16:34:38 -04:00

esc_backend.h

refactor: ESC abstraction layer with pluggable backends (Issue #388)

2026-03-04 10:36:35 -05:00

face_animation.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_lcd.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

face_uart.h

feat: Add Issue #507 - Face display animations on STM32 LCD

2026-03-06 10:27:36 -05:00

fan.h

feat: Add cooling fan PWM speed controller (Issue #263)

2026-03-02 13:29:18 -05:00

fault_handler.h

feat: STM32 watchdog and fault recovery handler (Issue #565)

2026-03-14 13:37:14 -04:00

gimbal.h

feat: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

hoverboard.h

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

hw_button.h

feat: Hardware button park/disarm/re-arm (Issue #682)

2026-03-18 08:10:10 -04:00

i2c1.h

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

icm42688.h

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

imu_cal_flash.h

feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685)

2026-03-17 22:49:21 -04:00

ina219.h

feat: Add INA219 dual motor current monitor driver (Issue #214)

2026-03-02 11:51:26 -05:00

jetson_cmd.h

feat: Jetson→STM32 command protocol — /cmd_vel to serial (Phase 2)

2026-02-28 21:07:15 -05:00

jetson_uart.h

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

jlink.h

feat: BME280 baro pressure & ambient temp driver (Issue #672)

2026-03-18 08:25:07 -04:00

led.h

feat(firmware): WS2812B NeoPixel LED status indicator driver (Issue #193)

2026-03-02 11:06:13 -05:00

lvc.h

feat: Battery voltage telemetry and LVC (Issue #613)

2026-03-15 11:04:38 -04:00

mag.h

feat: Auto-detect magnetometer + barometer (#24)

2026-02-28 17:48:53 -05:00

mode_manager.h

feat: RC/autonomous mode manager with smooth handoff

2026-02-28 21:06:26 -05:00

motor_current.h

feat: Motor current monitoring and overload protection (Issue #584)

2026-03-14 12:25:29 -04:00

motor_driver.h

feat: motor driver layer — differential drive, steer ramp, estop

2026-02-28 17:15:40 -05:00

mpu6000.h

feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685)

2026-03-17 22:49:21 -04:00

orin_can.h

feat: PID tuning interface via CAN/ROS2 (Issue #693)

2026-03-20 16:38:09 -04:00

ota.h

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

pid_flash.h

feat: Motor current monitoring and overload protection (Issue #584)

2026-03-14 12:25:29 -04:00

pid_schedule.h

feat: PID gain scheduling for speed-dependent balance (Issue #550)

2026-03-14 11:51:11 -04:00

power_mgmt.h

feat: Battery voltage ADC driver with DMA sampling (Issue #533)

2026-03-07 10:01:02 -05:00

rgb_fsm.h

feat: Add RGB status LED state machine (Issue #290)

2026-03-02 20:49:26 -05:00

safety.h

feat(safety): remote e-stop over 4G MQTT (Issue #63)

2026-03-01 04:55:54 -05:00

servo_bus.h

feat: Pan/tilt gimbal servo driver for ST3215 bus servos (Issue #547)

2026-03-14 10:38:06 -04:00

servo.h

fix: Resolve all compile and linker errors (Issue #337)

2026-03-03 19:00:12 -05:00

slope_estimator.h

feat: Tilt compensation for slopes (Issue #600)

2026-03-14 15:04:58 -04:00

status.h

feat(safety): remote e-stop over 4G MQTT (Issue #63)

2026-03-01 04:55:54 -05:00

steering_pid.h

feat: Steering PID for differential drive (Issue #616)

2026-03-15 10:11:05 -04:00

uart_protocol.h

feat: UART command protocol for Jetson-STM32 (Issue #629)

2026-03-15 14:41:00 -04:00

ultrasonic.h

feat: Add HC-SR04 ultrasonic distance sensor driver (Issue #243)

2026-03-02 12:22:09 -05:00

vesc_can.h

feat: bxCAN integration for VESC motor control and Orin comms (Issue #674)

2026-03-17 21:41:19 -04:00

watchdog.h

feat(webui): motor current live graph (Issue #297)

2026-03-02 21:09:17 -05:00