sl-firmware
19a30a1c4f
Implement Ziegler-Nichols relay feedback auto-tuning with flash persistence: Firmware (STM32F722): - pid_flash.c/h: erase+write Kp/Ki/Kd to flash sector 7 (0x0807FFC0), magic-validated; load on boot to restore saved tune - jlink.h: add JLINK_CMD_PID_SAVE (0x0A) and JLINK_TLM_PID_RESULT (0x83) with jlink_tlm_pid_result_t struct and pid_save_req flag in JLinkState - jlink.c: dispatch JLINK_CMD_PID_SAVE -> pid_save_req; add jlink_send_pid_result() to confirm flash write outcome over USART1 - main.c: load saved PID from flash after balance_init(); handle pid_save_req in main loop (disarmed-only, erase stalls CPU ~1s) Jetson ROS2 (saltybot_pid_autotune): - pid_autotune_node.py: add Ki to Ziegler-Nichols formula (ZN PID: Kp=0.6Ku, Ki=1.2Ku/Tu, Kd=0.075KuTu); add JLink serial client that sends JLINK_CMD_PID_SET + JLINK_CMD_PID_SAVE after tuning completes - autotune_config.yaml: add jlink_serial_port and jlink_baud_rate params Trigger: ros2 service call /saltybot/autotune_pid std_srvs/srv/Trigger Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
49 lines
1.6 KiB
C
49 lines
1.6 KiB
C
#ifndef PID_FLASH_H
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#define PID_FLASH_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* pid_flash — persistent PID storage for Issue #531 (auto-tune).
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*
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* Stores Kp, Ki, Kd in the last 64 bytes of STM32F722 flash sector 7
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* (0x0807FFC0). Magic word validates presence of saved params.
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* Sector 7 is 128KB starting at 0x08060000; firmware never exceeds sector 6.
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*
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* Flash writes require an erase of the full sector (128KB) before re-writing.
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* The store address is the very last 64-byte block so future expansion can
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* grow toward lower addresses within sector 7 without conflict.
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*/
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#define PID_FLASH_SECTOR FLASH_SECTOR_7
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#define PID_FLASH_SECTOR_VOLTAGE VOLTAGE_RANGE_3 /* 2.7V-3.6V, 32-bit parallelism */
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/* Sector 7: 128KB at 0x08060000; store in last 64 bytes */
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#define PID_FLASH_STORE_ADDR 0x0807FFC0UL
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#define PID_FLASH_MAGIC 0x534C5401UL /* 'SLT\x01' — version 1 */
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typedef struct __attribute__((packed)) {
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uint32_t magic; /* PID_FLASH_MAGIC when valid */
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float kp;
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float ki;
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float kd;
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uint8_t _pad[48]; /* padding to 64 bytes */
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} pid_flash_t;
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/*
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* pid_flash_load() — read saved PID from flash.
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* Returns true and fills *kp/*ki/*kd if magic is valid.
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* Returns false if no valid params stored (caller keeps defaults).
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*/
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bool pid_flash_load(float *kp, float *ki, float *kd);
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/*
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* pid_flash_save() — erase sector 7 and write Kp/Ki/Kd.
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* Must not be called while armed (flash erase takes ~1s and stalls the CPU).
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* Returns true on success.
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*/
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bool pid_flash_save(float kp, float ki, float kd);
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#endif /* PID_FLASH_H */
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