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>
52 lines
2.0 KiB
C
52 lines
2.0 KiB
C
#ifndef IMU_CAL_FLASH_H
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#define IMU_CAL_FLASH_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* IMU mount angle calibration flash storage (Issue #680).
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*
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* Sector 7 (128 KB at 0x08060000) layout:
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* 0x0807FF00 imu_cal_flash_t (64 bytes) ← this module
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* 0x0807FF40 pid_sched_flash_t (128 bytes) ← pid_flash.c
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* 0x0807FFC0 pid_flash_t (64 bytes) ← pid_flash.c
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*
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* Calibration flow:
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* 1. Mount robot at its installed angle, power on, let IMU converge (~5s).
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* 2. Send 'O' via USB CDC (dev-only path).
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* 3. Firmware captures current pitch + roll as mount offsets, saves to flash.
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* 4. mpu6000_read() subtracts offsets from output on every subsequent read.
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*
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* The sector erase preserves existing PID data by reading it first.
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*/
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#define IMU_CAL_FLASH_ADDR 0x0807FF00UL
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#define IMU_CAL_FLASH_MAGIC 0x534C5403UL /* 'SLT\x03' — version 3 */
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typedef struct __attribute__((packed)) {
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uint32_t magic; /* IMU_CAL_FLASH_MAGIC when valid */
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float pitch_offset; /* degrees subtracted from IMU pitch output */
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float roll_offset; /* degrees subtracted from IMU roll output */
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uint8_t _pad[52]; /* padding to 64 bytes */
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} imu_cal_flash_t; /* 64 bytes total */
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/*
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* imu_cal_flash_load() — read saved mount offsets from flash.
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* Returns true and fills *pitch_offset / *roll_offset if magic is valid.
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* Returns false if no valid calibration stored (caller keeps 0.0f defaults).
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*/
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bool imu_cal_flash_load(float *pitch_offset, float *roll_offset);
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/*
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* imu_cal_flash_save() — erase sector 7 and write all three records atomically:
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* imu_cal_flash_t at 0x0807FF00
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* pid_sched_flash_t at 0x0807FF40 (preserved from existing flash)
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* pid_flash_t at 0x0807FFC0 (preserved from existing flash)
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* Must be called while disarmed — sector erase stalls CPU ~1s.
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* Returns true on success.
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*/
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bool imu_cal_flash_save(float pitch_offset, float roll_offset);
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#endif /* IMU_CAL_FLASH_H */
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