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Record the firmware half of the config handshake

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pgdalmeida 2026-09-18 16:42:57 +02:00
parent 522ba072ec
commit a554a3fd9c
Signed by: pedro.almeida
GPG Key ID: D4A6C394DF13F1D7
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docs/hardware-config-plan.md
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@ -439,6 +439,7 @@ Branch `worktree-hardware-config` (worktree at `.claude/worktrees/hardware-confi
| 11 | `test hardware` | **done**, 11 tests. Five leaves (`axes` / `motor` / `imu` / `env` / `camera`) under a new `hardware` subsystem; included in a bare `test`, and deliberately not gated on a homed gimbal. Nothing declared reports SKIP, never PASS |
| 5 | Delete the `Application.cpp` speed literals | **done**, 13 tests. Decision 2 answered: speed is declared as `[Motor.<axis>] scan_speed_deg_s` (default **8.0 deg/s**) and converted per tower through `counts_per_deg` (`AxisSpeed.h`). The literals sent 36.4 deg/s against an intended 21.8 |
| 6 | Config handshake — **host half** | **done**, 13 tests. `FirmwareConfig.h` parses `NEED` and plans the `SET` lines; unanswered keys and unknown keys are reported separately. `[Features] mock_needcfg` makes the simulated controller run the handshake, so the host half is verified with no firmware. **The firmware half is not written** |
| 6 | Config handshake — **firmware half** | **written, NOT compile-verified.** `NEEDCFG` state (`ST` code `C`), `NEED` emitted with the banner, `SET <axis> <key> <value>`, `USE DEFAULTS`, and the init block split so the residual-motion stop still runs at boot. Parser verified locally (30 native tests, g++); the rest type-checks against stubs on both board branches but has never been built by PlatformIO or run on hardware |
Presence reconciliation (§10) changes nothing on a tower without a `hardware.ini`: absent is
silent and `hardware.declared` stays false. Verified by running the binary both ways.