feat(firmware): Mini firmware as mini/ variant on the root stewart-core - #30
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…root stewart-core Fold the standalone Mini-6DOF firmware into this repo as a second build-time firmware variant alongside `Controller/`, both sharing the single root `stewart-core` submodule. Source files copied in (not a subtree/submodule of Mini-6DOF). Part of the firmware-unification effort (6dof/FIRMWARE_UNIFICATION.md, DECISIONS 2026-07-18). Variant map - `Controller/` = normal (full system): MCPWM step/dir -> AASD-15A; PCBv1 ESP32 / PCBv2 ESP32-S3; W5500 Ethernet. - `mini/` = mini (desktop): LEDC PWM -> hobby servos; analog 50 Hz, runtime-switchable to digital 250 Hz via SERVO:RATE. - Both point at ../stewart-core (single source of truth = atan2f). Changes - Copy Mini-6DOF `Controller/` tree into `mini/` (main/, include/, CMakeLists.txt, partitions.csv, sdkconfig.defaults, embedded demo .m6p). Excludes .git, build/, generated sdkconfig, and the mini's own components/stewart-core submodule. - Rewire `mini/CMakeLists.txt` to the root submodule via `set(EXTRA_COMPONENT_DIRS ".../stewart-core")`, mirroring Controller/. The mini's `main/CMakeLists.txt` already PRIV_REQUIRES stewart-core; it now resolves to the root component. No `components/stewart-core` reference remains. - Advance the root `stewart-core` submodule e5ef989 -> a820e74 (origin/main head: "feat(mca): add output-stage intensity + per-axis gain/invert, schema v6"). Required: the mini Phase-3 firmware calls mcaGetIntensity / mcaSetAxisGain / mcaApplyOutputStage and MotionCueingConfig.axis_gain/axis_invert, which the old pin predates. Per the locked decision these cue params live in the SHARED core. - Copy mini 3D parts into `cad/mini/` (servo mount, seat rails, pcb mount). - Add `firmware/README.md` (variant map + build) and rewrite `mini/README.md` (variant framing, hardware/pinout/geometry, servo-rate profile, commands). Both document the config-follows-flashed-features direction (FINGERPRINT advertises caps; app/bridge derive config) and the deferred Controller/->normal/ + firmware/common/ refactor. Build-verified on ESP-IDF v5.5 (both reach "Project build complete" with fresh bins): - mini -> esp32 -> mini_6dof.bin - Controller -> esp32s3 -> stewart_platform.bin (unchanged by the submodule bump) Not done here (deliberately): Mini-6DOF not archived; no hardware flashed; no handshake re-architecture; no Controller/->normal/ + firmware/common/ move. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
… job + close trigger gaps
Address coordinator review on the firmware-unification PR:
- Move firmware/README.md -> repo-root FIRMWARE.md (variant map lives next to
mini/ and Controller/); remove the lonely firmware/ directory. Fix all
relative links (../ prefixes) now that it sits at the root.
- Drop mini/build-esp-idf.ps1 (redundant with the 6dof-esp-build skill);
mini/README.md now points at the skill for headless builds.
- CI (.github/workflows/ci.yml): add a "Build Mini Firmware (ESP-IDF)" job that
builds mini/ for esp32 (mirrors the ESP32-S3 Controller job: recursive
submodules, esp-idf-ci-action v5.5.2, uploads mini_6dof.* artifacts).
- Broaden path triggers so a shared-core bump can't slip past CI:
* ci.yml (firmware + SIL): add mini/**, stewart-core (submodule gitlink),
and the workflow file itself.
* unit_tests.yml (C math tests): add stewart-core — the math under test now
lives in the submodule, so a bump must retrigger the tests. This is the
exact gap that let the e5ef989->a820e74 bump go unverified.
Re-verified: mini esp32 build still reaches "Project build complete" with a fresh
mini_6dof.bin. App/SIL tests confirmed 47/47 against a820e74 by the coordinator.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Firmware unification — step 1
Folds the standalone Mini-6DOF firmware into this repo as a second build-time variant alongside
Controller/, both sharing the single rootstewart-coresubmodule. Source files were copied in (not a subtree/submodule of Mini-6DOF). Per6dof/FIRMWARE_UNIFICATION.md+ DECISIONS 2026-07-18.Variant map
Controller/mini/SERVO:RATE)Both point at
../stewart-coreviaEXTRA_COMPONENT_DIRS+PRIV_REQUIRES stewart-core.Changes
Controller/→mini/(excludes.git,build/, generatedsdkconfig, its owncomponents/stewart-core).mini/CMakeLists.txtto the root submodule (mirrorsController/). Nocomponents/stewart-corereference remains.stewart-coree5ef989 → a820e74 (origin/main head: "add output-stage intensity + per-axis gain/invert, schema v6"). Required — the mini Phase-3 firmware usesmcaGetIntensity/mcaSetAxisGain/mcaApplyOutputStage+axis_gain/axis_invert, which live in the shared core per the locked decision.cad/mini/.firmware/README.md(variant map) + rewrittenmini/README.md(hardware/pinout/geometry/commands). Both note the config-follows-flashed-features direction and the deferredController/→normal/+firmware/common/refactor.Build-verified (ESP-IDF v5.5, both "Project build complete" + fresh bin)
mini→ esp32 →mini_6dof.binController→ esp32s3 →stewart_platform.bin(unaffected by the submodule bump)Deliberately NOT done
Mini-6DOF not archived · no hardware flashed · no handshake re-architecture · no
Controller/→normal/move · draft, not merged.🤖 Generated with Claude Code