sl-firmware
9ed678ca35
Issue #680 — IMU mount angle calibration: - imu_cal_flash.h/.c: store pitch/roll offsets in flash sector 7 (0x0807FF00, 64 bytes; preserves PID records across sector erase) - mpu6000_set_mount_offset(): subtracts offsets from pitch/roll output - mpu6000_has_mount_offset(): reports cal_status=2 to Orin - 'O' CDC command: capture current pitch/roll → save to flash → ACK JSON - Load offsets on boot; report in printf log CAN telemetry correction (Tee: production has no USB to Orin): - FC_IMU (0x402): pitch/roll/yaw/cal_status/balance_state at 50 Hz - orin_can_broadcast_imu() rate-limited to ORIN_IMU_TLM_HZ (50 Hz) - FC_BARO (0x403): pressure_pa/temp_x10/alt_cm at 1 Hz (Issue #672) - orin_can_broadcast_baro() rate-limited to ORIN_BARO_TLM_HZ (1 Hz) Issue #685 — LED CAN override: - ORIN_CAN_ID_LED_CMD (0x304): pattern/brightness/duration_ms from Orin - orin_can_led_override volatile state + orin_can_led_updated flag - main.c: apply pattern to LED state machine on each LED_CMD received Orin side: - saltybot_can_node.py: production SocketCAN bridge — reads 0x400-0x403, publishes /saltybot/imu, /saltybot/balance_state, /saltybot/barometer; subscribes /cmd_vel → 0x301 DRIVE; /saltybot/leds → 0x304 LED_CMD; sends 0x300 HEARTBEAT at 5 Hz; sends 0x303 ESTOP on shutdown - setup.py: register saltybot_can_node entry point + uart_bridge launch Fix: re-apply --defsym __stack_end=_estack-0x1000 linker fix to branch Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
20 lines
504 B
INI
20 lines
504 B
INI
[env:f722]
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platform = ststm32
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board = nucleo_f722ze
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framework = stm32cube
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upload_protocol = dfu
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upload_command = /opt/homebrew/bin/dfu-util -a 0 -s 0x08000000:leave -D $SOURCE
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monitor_speed = 115200
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board_build.mcu = stm32f722ret6
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board_build.f_cpu = 216000000L
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build_flags =
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-DSTM32F722xx
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-DUSE_HAL_DRIVER
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-DHSE_VALUE=8000000U
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-DUSE_USB_FS
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-I include
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-Os
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-Wl,--defsym,_Min_Heap_Size=0x2000
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-Wl,--defsym,_Min_Stack_Size=0x1000
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-Wl,--defsym,__stack_end=_estack-0x1000
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