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>
30 lines
1.6 KiB
YAML
30 lines
1.6 KiB
YAML
# saltybot_bridge parameters
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# Used by both serial_bridge_node (RX-only) and saltybot_cmd_node (bidirectional)
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# ── Serial ─────────────────────────────────────────────────────────────────────
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# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied.
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serial_port: /dev/ttyACM0
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baud_rate: 921600
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timeout: 0.05 # serial readline timeout (seconds)
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reconnect_delay: 2.0 # seconds between reconnect attempts on serial disconnect
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# ── saltybot_cmd_node (bidirectional) only ─────────────────────────────────────
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# Heartbeat: H\n sent every heartbeat_period seconds.
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<<<<<<< HEAD
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# ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
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=======
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# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
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heartbeat_period: 0.2 # seconds (= 200ms)
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# Twist → ESC command scaling
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# speed = clamp(linear.x * speed_scale, -1000, 1000) [m/s → ESC units]
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# steer = clamp(angular.z * steer_scale, -1000, 1000) [rad/s → ESC units]
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#
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# Tune speed_scale for max desired forward speed (1 m/s → 1000 ESC units at default).
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# steer_scale is negative because ROS2 +angular.z = CCW but ESC positive steer
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# may mean right-turn — verify on hardware and flip sign if needed.
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speed_scale: 1000.0
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steer_scale: -500.0
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