Turret

Command-line tool for STorM32 gimbal controllers. Uses the RC Commands protocol.

Features

• Auto-detects STorM32 devices
• Set gimbal angles, pan modes, standby
• Query status and firmware info
• Structured logging with verbosity levels

Installation

Download Binary

Download the latest release from Releases for your platform.

Build from Source

# Install Rust (if needed)
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh

# Clone and build
git clone https://github.com/luofang34/turret
cd turret
cargo build --release

Usage

# Basic commands (auto-detects device)
turret status
turret set 10.0 0.0 -15.0
turret set -10,0,15          # comma-separated
turret set 1.5:-2.3:0        # colon-separated
turret center
turret version

# Manual device specification
turret --device /dev/ttyUSB0 status

# Verbose output for debugging
turret -v status          # info
turret -vv status         # debug
turret -vvv status        # trace (shows raw protocol)

# Individual axis control
turret pitch 1500         # RC values 700-2300, 0 to recenter
turret roll 0             # recenter roll

# Pan mode and standby
turret pan-mode 3         # PANPANPAN mode
turret standby true

Protocol

Uses STorM32 RC Commands protocol over serial (115200 baud).

Message format: [0xFA][len][cmd][payload][crc16]

Supports: version query, angle setting, status reading, pan modes.

Device Detection

Auto-detects STM32 Virtual COM Port (VID:0x0483, PID:0x5740). Falls back to common patterns: /dev/ttyACM*, /dev/ttyUSB*, COM*

Troubleshooting

• No device found: Check USB connection and power
• Permission denied: Add user to dialout group or use sudo
• Communication errors: Verify 115200 baud rate and cable quality