From bb35ddd56dadccd54328dcc8b28c1c5f7a9aa27e Mon Sep 17 00:00:00 2001 From: sl-uwb Date: Sat, 4 Apr 2026 09:11:24 -0400 Subject: [PATCH] =?UTF-8?q?chore:=20resolve=20git=20conflict=20markers=20a?= =?UTF-8?q?nd=20complete=20legacy=20STM32/Mamba=20=E2=86=92=20ESP32-S3=20r?= =?UTF-8?q?ename?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side) - Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_* - Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py - Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem, decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node - Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py - Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived - Update can_bridge_params.yaml: mamba_can_id → balance_can_id - Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture - Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py - No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md Co-Authored-By: Claude Sonnet 4.6 --- AUTONOMOUS_ARMING.md | 21 +--- CLAUDE.md | 21 ---- TEAM.md | 32 +---- chassis/ASSEMBLY.md | 11 +- chassis/BOM.md | 18 +-- chassis/ip54_BOM.md | 7 +- docs/AGENTS.md | 58 ++-------- docs/FACE_LCD_ANIMATION.md | 12 +- docs/SALTYLAB.md | 3 - docs/wiring-diagram.md | 83 +------------ jetson/README.md | 12 +- jetson/config/RECOVERY_BEHAVIORS.md | 5 - jetson/config/nav2_params.yaml | 5 - jetson/docker-compose.yml | 15 +-- jetson/docs/pinout.md | 68 +---------- jetson/docs/power-budget.md | 14 +-- .../saltybot_bridge/config/bridge_params.yaml | 7 +- .../config/cmd_vel_bridge_params.yaml | 21 +--- .../config/esp32_cmd_params.yaml | 21 +--- .../saltybot_bridge/launch/bridge.launch.py | 12 +- .../launch/cmd_vel_bridge.launch.py | 26 +---- .../launch/esp32_cmd.launch.py | 17 +-- .../launch/uart_bridge.launch.py | 12 +- .../saltybot_bridge/battery_node.py | 14 +-- .../saltybot_bridge/cmd_vel_bridge_node.py | 58 +--------- .../saltybot_bridge/esp32_cmd_node.py | 64 +--------- .../saltybot_bridge/remote_estop_node.py | 8 -- .../saltybot_bridge/saltybot_can_node.py | 29 ++--- .../saltybot_bridge/saltybot_cmd_node.py | 52 +-------- .../saltybot_bridge/serial_bridge_node.py | 49 +------- jetson/ros2_ws/src/saltybot_bridge/setup.py | 15 +-- .../src/saltybot_bridge/test/test_cmd.py | 7 +- .../test/test_esp32_cmd_node.py | 2 +- .../src/saltybot_bridge/test/test_parse.py | 7 +- .../saltybot_bringup/config/nav2_params.yaml | 5 - .../config/saltybot_params.yaml | 7 +- .../launch/full_stack.launch.py | 60 ++-------- .../launch/saltybot_bringup.launch.py | 35 +----- .../saltybot_bringup/_wheel_odom.py | 7 +- .../saltybot_bringup/launch_profiles.py | 12 +- .../saltybot_bringup/wheel_odom_node.py | 7 +- .../test/README_INTEGRATION_TESTS.md | 14 +-- .../config/can_bridge_params.yaml | 2 +- .../saltybot_can_bridge/balance_protocol.py | 34 +++--- .../saltybot_can_bridge/can_bridge_node.py | 84 +++++++------- .../ros2_ws/src/saltybot_can_bridge/setup.py | 7 +- .../test/test_can_bridge.py | 20 ++-- .../saltybot_can_e2e_test/protocol_defs.py | 109 ++++++++---------- .../test/test_drive_command.py | 58 +++++----- .../saltybot_can_e2e_test/test/test_estop.py | 86 +++++++------- .../test/test_fc_vesc_broadcast.py | 76 ++++++------ .../test/test_heartbeat_timeout.py | 32 ++--- .../test/test_mode_switching.py | 26 ++--- .../config/saltybot_properties.yaml | 7 +- .../src/saltybot_diagnostics/README.md | 7 +- .../saltybot_diagnostics/diagnostics_node.py | 5 - .../config/person_follower_params.yaml | 14 +-- .../saltybot_follower/person_follower_node.py | 7 +- .../saltybot_gimbal/config/gimbal_params.yaml | 7 +- .../saltybot_gimbal/launch/gimbal.launch.py | 7 +- .../saltybot_gimbal/gimbal_node.py | 7 +- .../saltybot_gimbal/jlink_gimbal.py | 22 +--- .../config/mode_switch_params.yaml | 7 +- .../saltybot_mode_switch/cmd_vel_mux_node.py | 5 - .../saltybot_mode_switch/mode_logic.py | 9 +- .../saltybot_mode_switch/mode_switch_node.py | 5 - .../config/vesc_odometry_params.yaml | 6 - .../saltybot_outdoor/config/ekf_outdoor.yaml | 7 +- .../param_server_node.py | 7 +- .../pid_autotune_node.py | 7 +- .../saltybot_routes/config/route_params.yaml | 7 +- .../launch/route_system.launch.py | 7 +- .../rover_driver_node.py | 5 - .../config/safety_zone_params.yaml | 8 +- .../social_enrollment_node.py | 62 +--------- .../config/speed_profiles.yaml | 16 +-- .../launch/outdoor_speed.launch.py | 5 - .../saltybot_tank_driver/tank_driver_node.py | 5 - .../test/test_audio_monitoring.py | 12 +- .../config/vesc_telemetry_params.yaml | 5 - projects/saltybot/SLAM-SETUP-PLAN.md | 10 -- test/test_bno055_data.py | 7 +- test/test_jlink_frames.py | 7 +- test/test_ota.py | 27 ++--- 84 files changed, 392 insertions(+), 1414 deletions(-) diff --git a/AUTONOMOUS_ARMING.md b/AUTONOMOUS_ARMING.md index 00904cf..9f0eec1 100644 --- a/AUTONOMOUS_ARMING.md +++ b/AUTONOMOUS_ARMING.md @@ -7,12 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req ### Jetson Autonomous Arming - Command: `A\n` (single byte 'A' followed by newline) -<<<<<<< HEAD -- Sent via USB CDC to the ESP32 BALANCE firmware -======= -- Sent via USB Serial (CH343) to the ESP32-S3 firmware ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period +- Sent via USB Serial (CH343) to the ESP32-S3 firmware- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period - Works even when RC is not connected or not armed ### RC Arming (Optional Override) @@ -46,12 +41,7 @@ The robot can now be armed and operated autonomously from the Jetson without req ## Command Protocol -<<<<<<< HEAD -### From Jetson to ESP32 BALANCE (USB CDC) -======= -### From Jetson to ESP32-S3 (USB Serial (CH343)) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -``` +### From Jetson to ESP32-S3 (USB Serial (CH343))``` A — Request arm (triggers safety hold, then motors enable) D — Request disarm (immediate motor stop) E — Emergency stop (immediate motor cutoff, latched) @@ -60,12 +50,7 @@ H — Heartbeat (refresh timeout timer, every 500ms) C, — Drive command: speed, steer (also refreshes heartbeat) ``` -<<<<<<< HEAD -### From ESP32 BALANCE to Jetson (USB CDC) -======= -### From ESP32-S3 to Jetson (USB Serial (CH343)) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -Motor commands are gated by `bal.state == BALANCE_ARMED`: +### From ESP32-S3 to Jetson (USB Serial (CH343))Motor commands are gated by `bal.state == BALANCE_ARMED`: - When ARMED: Motor commands sent every 20ms (50 Hz) - When DISARMED: Zero sent every 20ms (prevents ESC timeout) diff --git a/CLAUDE.md b/CLAUDE.md index 16d6c44..2922777 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -1,34 +1,13 @@ # SaltyLab Firmware — Agent Playbook ## Project -<<<<<<< HEAD -**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg). -Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` - -| Board | Role | -|-------|------| -| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) | -| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 | -| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 | - -> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`. -======= Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ## Team | Agent | Role | Focus | |-------|------|-------| -<<<<<<< HEAD -| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 | -| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety | -| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 | -======= | **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader | | **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems | | **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ## Status USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix). diff --git a/TEAM.md b/TEAM.md index a6c1fa8..0c06c08 100644 --- a/TEAM.md +++ b/TEAM.md @@ -1,54 +1,29 @@ # SaltyLab — Ideal Team ## Project -<<<<<<< HEAD -**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg). -Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`. - -## Current Status -- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB) -- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived -- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56) -======= Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM. ## Current Status - **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand - **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug - **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see `legacy/stm32/USB_CDC_BUG.md` for historical context ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - --- ## Roles Needed ### 1. Embedded Firmware Engineer (Lead) **Must-have:** -<<<<<<< HEAD -- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience -- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts) -- SPI + UART + USB coexistence on ESP32 -- PlatformIO or bare-metal ESP32 toolchain -- DFU bootloader implementation -======= - Deep ESP-IDF experience (ESP32-S3 specifically) - USB Serial (CH343) / UART debugging on ESP32-S3 - SPI + UART + USB coexistence on ESP32-S3 - ESP-IDF / Arduino-ESP32 toolchain - OTA firmware update implementation ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - **Nice-to-have:** - ESP32-S3 peripheral coexistence (SPI + UART + USB) - PID control loop tuning for balance robots - FOC motor control (hoverboard ESC protocol) -<<<<<<< HEAD -**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch. -======= **Why:** The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ### 2. Control Systems / Robotics Engineer **Must-have:** - PID tuning for inverted pendulum / self-balancing systems @@ -83,12 +58,7 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove ## Hardware Reference | Component | Details | |-----------|---------| -<<<<<<< HEAD -| FC | ESP32 BALANCE (ESP32RET6, MPU6000) | -======= -| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| Motors | 2x 8" pneumatic hoverboard hub motors | +| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) || Motors | 2x 8" pneumatic hoverboard hub motors | | ESC | Hoverboard ESC (EFeru FOC firmware) | | Battery | 36V pack | | RC | BetaFPV ELRS 2.4GHz TX + RX | diff --git a/chassis/ASSEMBLY.md b/chassis/ASSEMBLY.md index 9f6acf5..f7ca097 100644 --- a/chassis/ASSEMBLY.md +++ b/chassis/ASSEMBLY.md @@ -56,16 +56,7 @@ 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m. 4. Insert battery pack; route Velcro straps through slots and cinch. -<<<<<<< HEAD -### 7 MCU mount (ESP32 BALANCE + ESP32 IO) - -> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE retired. Two ESP32 boards replace it. -> Board dimensions and hole patterns TBD — await spec from max before machining mount plate. - -======= -### 7 FC mount (ESP32-S3 BALANCE) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -1. Place silicone anti-vibration grommets onto nylon M3 standoffs. +### 7 FC mount (ESP32-S3 BALANCE)1. Place silicone anti-vibration grommets onto nylon M3 standoffs. 2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only. 3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions. 4. Orient USB connectors toward front of robot for cable access. diff --git a/chassis/BOM.md b/chassis/BOM.md index 2c76314..0ef0e5a 100644 --- a/chassis/BOM.md +++ b/chassis/BOM.md @@ -41,12 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th | 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` | | 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` | | 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative | -<<<<<<< HEAD -| 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) | -======= -| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment | +| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation || 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment | ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B @@ -97,19 +92,10 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th | # | Part | Qty | Spec | Notes | |---|------|-----|------|-------| -<<<<<<< HEAD -| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE | -| 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O | -| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation | -| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads | -| 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | -======= | 13 | ESP32-S3 ESP32-S3 BALANCE FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front | | 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation | | 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads | -| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs | +| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern || 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs | --- diff --git a/chassis/ip54_BOM.md b/chassis/ip54_BOM.md index c3a68fa..f228099 100644 --- a/chassis/ip54_BOM.md +++ b/chassis/ip54_BOM.md @@ -104,12 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio | Component | Thermal strategy | Max junction | Enclosure budget | |-----------|-----------------|-------------|-----------------| | Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case | -<<<<<<< HEAD -| FC (ESP32 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK | -======= -| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C | +| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK || ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C | | D435i | Passive; housing vent gap on rear cap | 45 °C surface | — | Fan spec: 40 mm, 12 V, ≥10 CFM at 0.1" H₂O static pressure. diff --git a/docs/AGENTS.md b/docs/AGENTS.md index a99697a..16b2629 100644 --- a/docs/AGENTS.md +++ b/docs/AGENTS.md @@ -4,24 +4,6 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read ## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04) -<<<<<<< HEAD -Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.** - -| Board | Role | -|-------|------| -| **ESP32-S3 BALANCE** | Waveshare Touch LCD 1.28 (CH343 USB). QMI8658 IMU, PID loop, CAN→VESC L(68)/R(56), GC9A01 LCD | -| **ESP32-S3 IO** | Bare devkit (JTAG USB). TBS Crossfire RC (UART0), ELRS failover (UART2), BTS7960 motors, NFC/baro/ToF, WS2812, buzzer/horn/headlight/fan | -| **Jetson Orin** | CANable2 USB→CAN. Cmds on 0x300–0x303, telemetry on 0x400–0x401 | - -``` -Jetson Orin ──CANable2──► CAN 500kbps ◄───────────────────────┐ - │ │ - ESP32-S3 BALANCE ←─UART 460800─► ESP32-S3 IO - (QMI8658, PID loop) (BTS7960, RC, sensors) - │ CAN 500kbps - ┌─────────┴──────────┐ - VESC Left (ID 68) VESC Right (ID 56) -======= A hoverboard-based balancing robot with two compute layers: 1. **ESP32-S3 BALANCE** — ESP32-S3 BALANCE (ESP32-S3RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer. 2. **Jetson Orin Nano Super** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently. @@ -33,9 +15,7 @@ Jetson (speed+steer via UART1) ←→ ELRS RC (UART3, kill switch) ESP32-S3 BALANCE (MPU6000 IMU, PID balance) │ ▼ UART2 - Hoverboard ESC (FOC) → 2× 8" hub motors ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -``` + Hoverboard ESC (FOC) → 2× 8" hub motors``` Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]` Legacy `src/` STM32 HAL code is **archived — do not extend.** @@ -57,12 +37,7 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an ## Repository Layout ``` -<<<<<<< HEAD -firmware/ # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived) -======= -firmware/ # ESP-IDF firmware (PlatformIO) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -├── src/ +firmware/ # ESP-IDF firmware (PlatformIO)├── src/ │ ├── main.c # Entry point, clock config, main loop │ ├── icm42688.c # QMI8658-P SPI driver (backup IMU — currently broken) │ ├── bmp280.c # Barometer driver (disabled) @@ -108,25 +83,16 @@ PLATFORM.md # Hardware platform reference ## Hardware Quick Reference -<<<<<<< HEAD -### ESP32 BALANCE Flight Controller - -| Spec | Value | -|------|-------| -| MCU | ESP32RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) | -======= ### ESP32-S3 BALANCE Flight Controller | Spec | Value | |------|-------| -| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| Primary IMU | MPU6000 (WHO_AM_I = 0x68) | +| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) || Primary IMU | MPU6000 (WHO_AM_I = 0x68) | | IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 | | IMU EXTI | PC4 (data ready interrupt) | | IMU Orientation | CW270 (Betaflight convention) | | Secondary IMU | QMI8658-P (on same SPI1, CS unknown — currently non-functional) | -| Betaflight Target | DIAT-MAMBAF722_2022B | +| Board Name | Waveshare ESP32-S3 Touch LCD 1.28 | | USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 | | VID/PID | 0x0483/0x5740 | | LEDs | PC15 (LED1), PC14 (LED2), active low | @@ -194,12 +160,7 @@ PLATFORM.md # Hardware platform reference ### Critical Lessons Learned (DON'T REPEAT THESE) 1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times. -<<<<<<< HEAD -2. **DCache breaks SPI on ESP32** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it. -======= -2. **DCache breaks SPI on ESP32-S3** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes. +2. **DCache breaks SPI on ESP32-S3** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes. 4. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first. 5. **USB Serial (CH343) needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception. @@ -210,19 +171,14 @@ The firmware supports reboot-to-DFU via USB command: 2. Firmware writes `0xDEADBEEF` to RTC backup register 0 3. `NVIC_SystemReset()` — clean hardware reset 4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic -<<<<<<< HEAD -5. If magic found: clears it, remaps system memory, jumps to ESP32 BALANCE bootloader at `0x1FF00000` -======= -5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000` ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -6. Board appears as DFU device, ready for `dfu-util` flash +5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000`6. Board appears as DFU device, ready for `dfu-util` flash ### Build & Flash ```bash cd firmware/ python3 -m platformio run # Build -dfu-util -a 0 -s 0x08000000:leave -D .pio/build/f722/firmware.bin # Flash +esptool.py --port /dev/esp32-balance write_flash 0x0 firmware.bin # Flash ``` Dev machine: mbpm4 (seb@192.168.87.40), PlatformIO project at `~/Projects/saltylab-firmware/` diff --git a/docs/FACE_LCD_ANIMATION.md b/docs/FACE_LCD_ANIMATION.md index 68956f6..1c7fa36 100644 --- a/docs/FACE_LCD_ANIMATION.md +++ b/docs/FACE_LCD_ANIMATION.md @@ -1,11 +1,6 @@ # Face LCD Animation System (Issue #507) -<<<<<<< HEAD -Implements expressive face animations on an ESP32 LCD display with 5 core emotions and smooth transitions. -======= Implements expressive face animations on an ESP32-S3 LCD display with 5 core emotions and smooth transitions. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ## Features ### Emotions @@ -86,12 +81,7 @@ STATUS → Echo current emotion + idle state - Colors: Monochrome (1-bit) or RGB565 ### Microcontroller -<<<<<<< HEAD -- ESP32xx (ESP32 BALANCE) -======= -- ESP32-S3xx (ESP32-S3 BALANCE) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -- Available UART: USART3 (PB10=TX, PB11=RX) +- ESP32-S3xx (ESP32-S3 BALANCE)- Available UART: USART3 (PB10=TX, PB11=RX) - Clock: 216 MHz ## Animation Timing diff --git a/docs/SALTYLAB.md b/docs/SALTYLAB.md index b8c3a42..8eb3863 100644 --- a/docs/SALTYLAB.md +++ b/docs/SALTYLAB.md @@ -102,11 +102,8 @@ balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super sends velocity commands over UART1. ELRS receiver on UART3 provides RC override and kill-switch capability. -The legacy STM32 firmware (Mamba F722S era) has been archived to -======= The legacy STM32 firmware (STM32 era) has been archived to `legacy/stm32/` and is no longer built or deployed. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) ## LED Subsystem (ESP32-C3) diff --git a/docs/wiring-diagram.md b/docs/wiring-diagram.md index c1076dc..414433b 100644 --- a/docs/wiring-diagram.md +++ b/docs/wiring-diagram.md @@ -14,13 +14,7 @@ │ ORIN NANO SUPER │ │ (Top Plate — 25W) │ │ │ -<<<<<<< HEAD -│ USB-A ──── CANable2 USB-CAN adapter (slcan0, 500 kbps) │ -│ USB-A ──── ESP32-S3 IO (/dev/esp32-io, 460800 baud) │ -======= -│ USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud) │ ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -│ USB-A1 ─── RealSense D435i (USB 3.1) │ +│ USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud) ││ USB-A1 ─── RealSense D435i (USB 3.1) │ │ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │ │ USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP) │ │ USB ─────── Leap Motion Controller (hand/gesture tracking) │ @@ -38,14 +32,8 @@ │ 500 kbps │ ▼ ▼ ┌─────────────────────────────────────────────────────────────────────┐ -<<<<<<< HEAD -│ ESP32-S3 BALANCE │ -│ (Waveshare Touch LCD 1.28, Middle Plate) │ -======= │ ESP32-S3 BALANCE (FC) │ -│ (Middle Plate — foam mounted) │ ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -│ │ +│ (Middle Plate — foam mounted) ││ │ │ CAN bus ──── CANable2 → Orin (primary link, ISO 11898) │ │ UART0 ──── Orin UART fallback (460800 baud, 3.3V) │ │ UART1 ──── VESC Left (CAN ID 56) via UART/CAN bridge │ @@ -77,29 +65,16 @@ ## Wire-by-Wire Connections -<<<<<<< HEAD -### 1. Orin <-> ESP32-S3 BALANCE (Primary: CAN Bus via CANable2) -======= ### 1. Orin ↔ FC (Primary: USB Serial (CH343)) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - | From | To | Wire | Notes | |------|----|------|-------| | Orin USB-A | CANable2 USB | USB cable | SocketCAN slcan0 @ 500 kbps | | CANable2 CAN-H | ESP32-S3 BALANCE CAN-H | twisted pair | ISO 11898 differential | | CANable2 CAN-L | ESP32-S3 BALANCE CAN-L | twisted pair | ISO 11898 differential | -<<<<<<< HEAD -- Interface: SocketCAN `slcan0`, 500 kbps -- Device node: `/dev/canable2` (via udev, symlink to ttyUSBx) -- Protocol: CAN frames --- ORIN_CMD_DRIVE (0x300), ORIN_CMD_MODE (0x301), ORIN_CMD_ESTOP (0x302) -- Telemetry: BALANCE_STATUS (0x400), BALANCE_VESC (0x401), BALANCE_IMU (0x402), BALANCE_BATTERY (0x403) -======= - Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge` - Baud: 921600, 8N1 - Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ### 2. Orin <-> ESP32-S3 BALANCE (Fallback: Hardware UART) | Orin Pin | Signal | ESP32-S3 Pin | Notes | @@ -164,34 +139,6 @@ BATTERY (36V) ──┬── VESC Left (36V direct -> BLDC left motor) | CANable2 | USB-CAN | USB-A | `/dev/canable2` -> `slcan0` | -<<<<<<< HEAD -## FC UART Summary (MAMBA F722S — OBSOLETE) - -| Interface | Pins | Baud/Rate | Assignment | Notes | -|-----------|------|-----------|------------|-------| -| UART0 | GPIO17=RX, GPIO18=TX | 460800 | Orin UART fallback | 3.3V, cross-connect | -| UART1 | GPIO19=RX, GPIO20=TX | 115200 | Debug serial | Optional | -| CAN (TWAI) | GPIO21=H, GPIO22=L | 500 kbps | CAN bus (VESCs + Orin) | SN65HVD230 transceiver | -| I2C | GPIO4=SDA, GPIO5=SCL | 400 kHz | QMI8658 IMU (addr 0x6B) | Onboard | -| SPI | GPIO36=MOSI, GPIO37=SCLK, GPIO35=CS | 40 MHz | GC9A01 LCD (onboard) | 240x240 round | -| USB CDC | USB-C | 460800 | Orin USB fallback | /dev/esp32-balance | - -## CAN Frame ID Map - -| CAN ID | Direction | Name | Contents | -|--------|-----------|------|----------| -| 0x300 | Orin -> BALANCE | ORIN_CMD_DRIVE | left_rpm_f32, right_rpm_f32 (8 bytes LE) | -| 0x301 | Orin -> BALANCE | ORIN_CMD_MODE | mode byte (0=IDLE, 1=DRIVE, 2=ESTOP) | -| 0x302 | Orin -> BALANCE | ORIN_CMD_ESTOP | flags byte (bit0=stop, bit1=clear) | -| 0x400 | BALANCE -> Orin | BALANCE_STATUS | pitch x10:i16, motor_cmd:u16, vbat_mv:u16, state:u8, flags:u8 | -| 0x401 | BALANCE -> Orin | BALANCE_VESC | l_rpm x10:i16, r_rpm x10:i16, l_cur x10:i16, r_cur x10:i16 | -| 0x402 | BALANCE -> Orin | BALANCE_IMU | pitch x100:i16, roll x100:i16, yaw x100:i16, ax x100:i16, ay x100:i16, az x100:i16 | -| 0x403 | BALANCE -> Orin | BALANCE_BATTERY | vbat_mv:u16, current_ma:i16, soc_pct:u8 | -| 0x900+ID | VESC Left -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 | -| 0x910+ID | VESC Right -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 | - -VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44). -======= ## FC UART Summary (ESP32-S3 BALANCE) | UART | Pins | Baud | Assignment | Notes | @@ -203,8 +150,6 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44). | UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional | | USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link | | USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header) @@ -263,14 +208,7 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44). | Device | Interface | Power Draw | |--------|-----------|------------| -<<<<<<< HEAD -| CANable2 USB-CAN | USB-A | ~0.5W | -| ESP32-S3 BALANCE | USB-C | ~0.8W (WiFi off) | -| ESP32-S3 IO | USB-C | ~0.5W | -======= -| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| RealSense D435i | USB-A | ~1.5W (3.5W peak) | +| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) || RealSense D435i | USB-A | ~1.5W (3.5W peak) | | RPLIDAR A1M8 | USB-A | ~2.6W (motor on) | | SIM7600A | USB | ~1W idle, 3W TX peak | | Leap Motion | USB-A | ~0.5W | @@ -294,25 +232,14 @@ Orin Nano Super delivers up to 25W --- USB peripherals are well within budget. └──────┬───────┘ │ UART ┌────────────▼────────────┐ -<<<<<<< HEAD - │ ESP32-S3 BALANCE │ - │ (Waveshare LCD 1.28) │ -======= - │ ESP32-S3 BALANCE │ ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - │ │ + │ ESP32-S3 BALANCE │ │ │ │ QMI8658 -> Balance PID │ │ RC -> Mode Manager │ │ Safety Monitor │ │ │ └──┬──────────┬───────────┘ -<<<<<<< HEAD - CAN 500kbps─┘ └───── CAN bus / UART fallback -======= USART2 ─────┘ └───── USB Serial (CH343) / USART6 - 26400 baud 921600 baud ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - │ │ + 26400 baud 921600 baud │ │ ┌────┴────────────┐ ▼ │ CAN bus (500k) │ ┌───────────────────┐ ├─ VESC Left 56 │ │ Orin Nano Super │ diff --git a/jetson/README.md b/jetson/README.md index 81fcc8b..26659eb 100644 --- a/jetson/README.md +++ b/jetson/README.md @@ -14,12 +14,7 @@ Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + S | Nav | Nav2 | | Depth camera | Intel RealSense D435i | | LiDAR | RPLIDAR A1M8 | -<<<<<<< HEAD -| MCU bridge | ESP32 (USB CDC @ 921600) | -======= | MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ## Quick Start ```bash @@ -46,12 +41,7 @@ bash scripts/build-and-run.sh shell ``` jetson/ ├── Dockerfile # L4T base + ROS2 Humble + SLAM packages -<<<<<<< HEAD -├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE) -======= -├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -├── README.md # This file +├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)├── README.md # This file ├── docs/ │ ├── pinout.md # GPIO/I2C/UART pinout reference │ └── power-budget.md # Power budget analysis (10W envelope) diff --git a/jetson/config/RECOVERY_BEHAVIORS.md b/jetson/config/RECOVERY_BEHAVIORS.md index 26de782..e90a625 100644 --- a/jetson/config/RECOVERY_BEHAVIORS.md +++ b/jetson/config/RECOVERY_BEHAVIORS.md @@ -34,12 +34,7 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority. -<<<<<<< HEAD -Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware. -======= Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ## Behavior Tree Sequence Recovery runs in a round-robin fashion with up to 6 retry cycles. diff --git a/jetson/config/nav2_params.yaml b/jetson/config/nav2_params.yaml index 4ea5468..a9073d0 100644 --- a/jetson/config/nav2_params.yaml +++ b/jetson/config/nav2_params.yaml @@ -12,12 +12,7 @@ # /scan — RPLIDAR A1M8 (obstacle layer) # /camera/depth/color/points — RealSense D435i (voxel layer) # -<<<<<<< HEAD -# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic. -======= # Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - bt_navigator: ros__parameters: use_sim_time: false diff --git a/jetson/docker-compose.yml b/jetson/docker-compose.yml index 97b108f..7ce52b2 100644 --- a/jetson/docker-compose.yml +++ b/jetson/docker-compose.yml @@ -97,12 +97,7 @@ services: rgb_camera.profile:=640x480x30 " -<<<<<<< HEAD - # ── ESP32 bridge node (bidirectional serial<->ROS2) ──────────────────────── -======= - # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ──────────────────────── ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - esp32-bridge: + # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ──────────────────────── esp32-bridge: image: saltybot/ros2-humble:jetson-orin build: context: . @@ -212,14 +207,8 @@ services: " -<<<<<<< HEAD - # -- Remote e-stop bridge (MQTT over 4G -> ESP32 CDC) ---------------------- - # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE. -======= # -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ---------------------- - # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT). + # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3. # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT). remote-estop: image: saltybot/ros2-humble:jetson-orin build: diff --git a/jetson/docs/pinout.md b/jetson/docs/pinout.md index 85b1fb6..f46bc69 100644 --- a/jetson/docs/pinout.md +++ b/jetson/docs/pinout.md @@ -1,10 +1,5 @@ # Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference -<<<<<<< HEAD -## Self-Balancing Robot: ESP32 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219 -======= ## Self-Balancing Robot: ESP32-S3 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219 ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Last updated: 2026-02-28 JetPack version: 6.x (L4T R36.x / Ubuntu 22.04) @@ -47,50 +42,26 @@ i2cdetect -l --- -<<<<<<< HEAD -## 1. ESP32 Bridge (USB CDC — Primary) - -The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**. -======= ## 1. ESP32-S3 Bridge (USB Serial (CH343) — Primary) The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **USB Serial (CH343) serial**. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ### USB Serial (CH343) Connection | Connection | Detail | |-----------|--------| -<<<<<<< HEAD -| Interface | USB on ESP32 BALANCE board → USB-A on Jetson | -| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) | -| Baud rate | 921600 (configured in ESP32 BALANCE firmware) | -======= | Interface | USB Micro-B on ESP32-S3 dev board → USB-A on Jetson | | Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) | -| Baud rate | 921600 (configured in ESP32-S3 firmware) | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) | +| Baud rate | 921600 (configured in ESP32-S3 firmware) || Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) | | Power | Powered via robot 5V bus (data-only via USB) | ### Hardware UART (Fallback — 40-pin header) -<<<<<<< HEAD -| Jetson Pin | Signal | ESP32 Pin | Notes | -======= -| Jetson Pin | Signal | ESP32-S3 Pin | Notes | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -|-----------|--------|-----------|-------| +| Jetson Pin | Signal | ESP32-S3 Pin | Notes ||-----------|--------|-----------|-------| | Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX | | Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX | | Pin 6 (GND) | GND | GND | Common ground **required** | **Jetson device node:** `/dev/ttyTHS0` **Baud rate:** 921600, 8N1 -<<<<<<< HEAD -**Voltage level:** 3.3V — both Jetson Orin and ESP32 are 3.3V GPIO -======= **Voltage level:** 3.3V — both Jetson Orin and ESP32-S3 are 3.3V GPIO ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ```bash # Verify UART ls /dev/ttyTHS0 @@ -99,15 +70,6 @@ sudo usermod -aG dialout $USER picocom -b 921600 /dev/ttyTHS0 ``` -<<<<<<< HEAD -**ROS2 topics (ESP32 bridge node):** -| ROS2 Topic | Direction | Content | -|-----------|-----------|--------- -| `/saltybot/imu` | ESP32 BALANCE→Jetson | IMU data (accel, gyro) at 50Hz | -| `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state | -| `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C,\n` | -| `/saltybot/estop` | Jetson→ESP32 BALANCE | Emergency stop | -======= **ROS2 topics (ESP32-S3 bridge node):** | ROS2 Topic | Direction | Content | |-----------|-----------|--------- @@ -115,8 +77,6 @@ picocom -b 921600 /dev/ttyTHS0 | `/saltybot/balance_state` | ESP32-S3→Jetson | Motor cmd, pitch, state | | `/cmd_vel` | Jetson→ESP32-S3 | Velocity commands → `C,\n` | | `/saltybot/estop` | Jetson→ESP32-S3 | Emergency stop | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - --- ## 2. RealSense D435i (USB 3.1) @@ -300,12 +260,7 @@ sudo mkdir -p /mnt/nvme |------|------|----------| | USB-A (top, blue) | USB 3.1 Gen 1 | RealSense D435i | | USB-A (bottom) | USB 2.0 | RPLIDAR (via USB-UART adapter) | -<<<<<<< HEAD -| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32 CDC or host flash | -======= -| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| Micro-USB | Debug/flash | JetPack flash only | +| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash || Micro-USB | Debug/flash | JetPack flash only | --- @@ -315,18 +270,10 @@ sudo mkdir -p /mnt/nvme |-------------|----------|---------|----------| | 3 | SDA1 | 3.3V | I2C data (i2c-7) | | 5 | SCL1 | 3.3V | I2C clock (i2c-7) | -<<<<<<< HEAD -| 8 | TXD0 | 3.3V | UART TX → ESP32 BALANCE (fallback) | -| 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) | -| USB-A ×2 | — | 5V | D435i, RPLIDAR | -| USB-C | — | 5V | ESP32 CDC | -======= | 8 | TXD0 | 3.3V | UART TX → ESP32-S3 (fallback) | | 10 | RXD0 | 3.3V | UART RX ← ESP32-S3 (fallback) | | USB-A ×2 | — | 5V | D435i, RPLIDAR | -| USB-C | — | 5V | ESP32-S3 CDC | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left | +| USB-C | — | 5V | ESP32-S3 CDC || CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left | | CSI-B (J8) | MIPI CSI-2 | — | Cameras rear + right | | M.2 Key M | PCIe Gen3 ×4 | — | NVMe SSD | @@ -343,12 +290,7 @@ Apply stable device names: KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \ SYMLINK+="rplidar", MODE="0666" -<<<<<<< HEAD -# ESP32 USB CDC (STMicroelectronics) -======= -# ESP32-S3 USB Serial (CH343) (STMicroelectronics) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \ +# ESP32-S3 USB Serial (CH343) (STMicroelectronics)KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \ SYMLINK+="esp32-bridge", MODE="0666" # Intel RealSense D435i diff --git a/jetson/docs/power-budget.md b/jetson/docs/power-budget.md index 838ea80..711c073 100644 --- a/jetson/docs/power-budget.md +++ b/jetson/docs/power-budget.md @@ -56,12 +56,7 @@ sudo jtop |-----------|----------|------------|----------|-----------|-------| | RealSense D435i | 0.3 | 1.5 | 3.5 | USB 3.1 | Peak during boot/init | | RPLIDAR A1M8 | 0.4 | 2.6 | 3.0 | USB (UART adapter) | Motor spinning | -<<<<<<< HEAD -| ESP32 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V | -======= -| ESP32-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | Self-powered from robot 5V | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -| 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active | +| ESP32-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | Self-powered from robot 5V || 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active | | **Peripheral Subtotal** | **0.9** | **6.1** | **8.9** | | | ### Total System (from Jetson 5V barrel jack) @@ -155,12 +150,7 @@ LiPo 4S (16.8V max) ├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W) │ (e.g., XL4016E1) │ -<<<<<<< HEAD - ├─► DC-DC Buck → 5V 3A ──► ESP32 + logic 5V rail -======= - ├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - │ + ├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail │ └─► Hoverboard ESC ──► Hub motors (48V loop) ``` diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml index 7d1289b..beeb390 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml @@ -11,12 +11,7 @@ reconnect_delay: 2.0 # seconds between reconnect attempts on serial disconne # ── saltybot_cmd_node (bidirectional) only ───────────────────────────────────── # Heartbeat: H\n sent every heartbeat_period seconds. -<<<<<<< HEAD -# ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat. -======= -# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -heartbeat_period: 0.2 # seconds (= 200ms) +# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.heartbeat_period: 0.2 # seconds (= 200ms) # Twist → ESC command scaling # speed = clamp(linear.x * speed_scale, -1000, 1000) [m/s → ESC units] diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml index cadd768..683d289 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml @@ -1,10 +1,5 @@ # cmd_vel_bridge_params.yaml -<<<<<<< HEAD -# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE autonomous drive. -======= -# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# +# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.# # Run with: # ros2 launch saltybot_bridge cmd_vel_bridge.launch.py # Or override individual params: @@ -18,12 +13,7 @@ timeout: 0.05 # serial readline timeout (s) reconnect_delay: 2.0 # seconds between reconnect attempts # ── Heartbeat ────────────────────────────────────────────────────────────────── -<<<<<<< HEAD -# ESP32 BALANCE jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms). -======= -# ESP32-S3 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms). ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# Keep heartbeat well below that threshold. +# ESP32-S3 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).# Keep heartbeat well below that threshold. heartbeat_period: 0.2 # seconds (200ms) # ── Velocity limits ──────────────────────────────────────────────────────────── @@ -58,9 +48,4 @@ ramp_rate: 500 # ESC units/second # ── Deadman switch ───────────────────────────────────────────────────────────── # If /cmd_vel is not received for this many seconds, target speed/steer are # zeroed immediately. The ramp then drives the robot to a stop. -<<<<<<< HEAD -# 500ms matches the ESP32 BALANCE jetson heartbeat timeout for consistency. -======= -# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -cmd_vel_timeout: 0.5 # seconds +# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency.cmd_vel_timeout: 0.5 # seconds diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml index 7ada9f5..90ab678 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml @@ -1,21 +1,3 @@ -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml -# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge) -# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud. -# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8] -# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5 - -# ── Serial port ──────────────────────────────────────────────────────────────── -# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md). -# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed. -serial_port: /dev/esp32-io -baud_rate: 460800 -reconnect_delay: 2.0 # seconds between reconnect attempts - -# ── Heartbeat ───────────────────────────────────────────────────────────────── -# HEARTBEAT (0x20) sent every heartbeat_period. -# ESP32 IO watchdog fires if no heartbeat for ~500 ms. -heartbeat_period: 0.2 # 200 ms → well within 500 ms watchdog -======= # esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119) # Binary-framed Jetson↔ESP32-S3 bridge at 921600 baud. @@ -45,5 +27,4 @@ watchdog_timeout: 0.5 # 500ms # Negative steer_scale flips ROS2 CCW+ convention to match ESC steer direction. # Tune speed_scale to set the physical top speed. speed_scale: 1000.0 -steer_scale: -500.0 ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml +steer_scale: -500.0 \ No newline at end of file diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py index 109500a..4f28397 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py @@ -6,12 +6,7 @@ Two deployment modes: 1. Full bidirectional (recommended for Nav2): ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional Starts saltybot_cmd_node — owns serial port, handles both RX telemetry -<<<<<<< HEAD - and TX /cmd_vel → ESP32 BALANCE commands + heartbeat. -======= and TX /cmd_vel → ESP32-S3 commands + heartbeat. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - 2. RX-only (telemetry monitor, no drive commands): ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only Starts serial_bridge_node — telemetry RX only. Use when you want to @@ -69,12 +64,7 @@ def generate_launch_description(): DeclareLaunchArgument("mode", default_value="bidirectional", description="bidirectional | rx_only"), DeclareLaunchArgument("serial_port", default_value="/dev/ttyACM0", -<<<<<<< HEAD - description="ESP32 USB CDC device node"), -======= - description="ESP32-S3 USB CDC device node"), ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - DeclareLaunchArgument("baud_rate", default_value="921600"), + description="ESP32-S3 USB CDC device node"), DeclareLaunchArgument("baud_rate", default_value="921600"), DeclareLaunchArgument("speed_scale", default_value="1000.0", description="m/s → ESC units (linear.x scale)"), DeclareLaunchArgument("steer_scale", default_value="-500.0", diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py index 7361da3..cf6ed3c 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py @@ -1,19 +1,9 @@ """ -<<<<<<< HEAD -cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE autonomous drive bridge. -======= cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32-S3 autonomous drive bridge. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Starts cmd_vel_bridge_node, which owns the serial port exclusively and provides: - /cmd_vel subscription with velocity limits + smooth ramp - Deadman switch (zero speed if /cmd_vel silent > cmd_vel_timeout) -<<<<<<< HEAD - - Mode gate (drives only when ESP32 BALANCE is in AUTONOMOUS mode, md=2) -======= - - Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics + - Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2) - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics - /saltybot/cmd publisher (observability) Do NOT run alongside serial_bridge_node or saltybot_cmd_node on the same port. @@ -80,21 +70,11 @@ def generate_launch_description(): description="Full path to cmd_vel_bridge_params.yaml (overrides inline args)"), DeclareLaunchArgument( "serial_port", default_value="/dev/ttyACM0", -<<<<<<< HEAD - description="ESP32 USB CDC device node"), -======= - description="ESP32-S3 USB CDC device node"), ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - DeclareLaunchArgument( + description="ESP32-S3 USB CDC device node"), DeclareLaunchArgument( "baud_rate", default_value="921600"), DeclareLaunchArgument( "heartbeat_period",default_value="0.2", -<<<<<<< HEAD - description="Heartbeat interval (s); must be < ESP32 BALANCE HB timeout (0.5s)"), -======= - description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"), ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - DeclareLaunchArgument( + description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"), DeclareLaunchArgument( "max_linear_vel", default_value="0.5", description="Hard speed cap before scaling (m/s)"), DeclareLaunchArgument( diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py index f6b6ed8..fe2c42e 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py @@ -1,16 +1,3 @@ -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py -"""stm32_cmd.launch.py — Launch the ESP32-S3 IO auxiliary bridge node. - -Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud (inter-board protocol). -Handles RC monitoring, sensor data, LED/output commands. -Primary drive path uses CAN (can_bridge_node / saltybot_can_node), not this node. - -Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5 - -Usage: - ros2 launch saltybot_bridge stm32_cmd.launch.py - ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM0 -======= """esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119). Usage: @@ -21,9 +8,7 @@ Usage: ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1 # Custom velocity scales: - ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0 ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py -""" + ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0""" import os from ament_index_python.packages import get_package_share_directory diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py index 56fa470..df007cb 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py @@ -2,12 +2,7 @@ uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362) Launches serial_bridge_node configured for Jetson Orin UART port. -<<<<<<< HEAD -Bridges Flight Controller (ESP32) telemetry from /dev/ttyTHS1 into ROS2. -======= Bridges Flight Controller (ESP32-S3) telemetry from /dev/ttyTHS1 into ROS2. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Published topics (same as USB CDC bridge): /saltybot/imu sensor_msgs/Imu — pitch/roll/yaw as angular velocity /saltybot/balance_state std_msgs/String (JSON) — full PID diagnostics @@ -24,12 +19,7 @@ Usage: Prerequisites: - Flight Controller connected to /dev/ttyTHS1 @ 921600 baud -<<<<<<< HEAD - - ESP32 BALANCE firmware transmitting JSON telemetry frames (50 Hz) -======= - - ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - - ROS2 environment sourced (source install/setup.bash) + - ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz) - ROS2 environment sourced (source install/setup.bash) Note: /dev/ttyTHS1 is the native UART1 on Jetson Orin. Verify connectivity: diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py index 0f928bc..771e135 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py @@ -14,12 +14,7 @@ Alert levels (SoC thresholds): 5% EMERGENCY — publish zero /cmd_vel, disarm, log + alert SoC source priority: -<<<<<<< HEAD - 1. soc_pct field from ESP32 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE) -======= - 1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - 2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known + 1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3) 2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known Parameters (config/battery_params.yaml): db_path /var/log/saltybot/battery.db @@ -324,12 +319,7 @@ class BatteryNode(Node): self._speed_limit_pub.publish(msg) def _execute_safe_stop(self) -> None: -<<<<<<< HEAD - """Send zero /cmd_vel and disarm the ESP32 BALANCE.""" -======= - """Send zero /cmd_vel and disarm the ESP32-S3.""" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming") + """Send zero /cmd_vel and disarm the ESP32-S3.""" self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming") # Publish zero velocity zero_twist = Twist() self._cmd_vel_pub.publish(zero_twist) diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py index 992da51..dd86384 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py @@ -1,10 +1,5 @@ """ -<<<<<<< HEAD -cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE drive command bridge. -======= cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 drive command bridge. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Extends the basic saltybot_cmd_node with four additions required for safe autonomous operation on a self-balancing robot: @@ -16,28 +11,16 @@ autonomous operation on a self-balancing robot: 3. Deadman switch — if /cmd_vel is silent for cmd_vel_timeout seconds, zero targets immediately (Nav2 node crash / planner stall → robot coasts to stop rather than running away). -<<<<<<< HEAD - 4. Mode gate — only issue non-zero drive commands when ESP32 BALANCE reports -======= - 4. Mode gate — only issue non-zero drive commands when ESP32-S3 reports ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - md=2 (AUTONOMOUS). In any other mode (RC_MANUAL, + 4. Mode gate — only issue non-zero drive commands when ESP32-S3 reports md=2 (AUTONOMOUS). In any other mode (RC_MANUAL, RC_ASSISTED) Jetson cannot override the RC pilot. On mode re-entry current ramp state resets to 0 so acceleration is always smooth from rest. Serial protocol (C,\\n / H\\n — same as saltybot_cmd_node): C,\\n — drive command. speed/steer: -1000..+1000 integers. -<<<<<<< HEAD - H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence. - -Telemetry (50 Hz from ESP32 BALANCE): -======= H\\n — heartbeat. ESP32-S3 reverts steer to 0 after 500ms silence. -Telemetry (50 Hz from ESP32-S3): ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Same RX/publish pipeline as saltybot_cmd_node. +Telemetry (50 Hz from ESP32-S3): Same RX/publish pipeline as saltybot_cmd_node. The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate. Topics published: @@ -164,12 +147,7 @@ class CmdVelBridgeNode(Node): self._open_serial() # ── Timers ──────────────────────────────────────────────────────────── -<<<<<<< HEAD - # Telemetry read at 100 Hz (ESP32 BALANCE sends at 50 Hz) -======= - # Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - self._read_timer = self.create_timer(0.01, self._read_cb) + # Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz) self._read_timer = self.create_timer(0.01, self._read_cb) # Control loop at 50 Hz: ramp + deadman + mode gate + send self._control_timer = self.create_timer(1.0 / _CONTROL_HZ, self._control_cb) # Heartbeat TX @@ -256,12 +234,7 @@ class CmdVelBridgeNode(Node): speed = self._current_speed steer = self._current_steer -<<<<<<< HEAD - # Send to ESP32 BALANCE -======= - # Send to ESP32-S3 ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - frame = f"C{speed},{steer}\n".encode("ascii") + # Send to ESP32-S3 frame = f"C{speed},{steer}\n".encode("ascii") if not self._write(frame): self.get_logger().warn( "Cannot send cmd — serial not open", @@ -278,12 +251,7 @@ class CmdVelBridgeNode(Node): # ── Heartbeat TX ────────────────────────────────────────────────────────── def _heartbeat_cb(self): -<<<<<<< HEAD - """H\\n keeps ESP32 BALANCE jetson_cmd heartbeat alive regardless of mode.""" -======= - """H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode.""" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - self._write(b"H\n") + """H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode.""" self._write(b"H\n") # ── Telemetry RX ────────────────────────────────────────────────────────── @@ -404,12 +372,7 @@ class CmdVelBridgeNode(Node): diag.header.stamp = stamp status = DiagnosticStatus() status.name = "saltybot/balance_controller" -<<<<<<< HEAD - status.hardware_id = "esp32" -======= - status.hardware_id = "esp32s322" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - status.message = f"{state_label} [{mode_label}]" + status.hardware_id = "esp32s322" status.message = f"{state_label} [{mode_label}]" status.level = ( DiagnosticStatus.OK if state == 1 else DiagnosticStatus.WARN if state == 0 else @@ -436,20 +399,11 @@ class CmdVelBridgeNode(Node): status = DiagnosticStatus() status.level = DiagnosticStatus.ERROR status.name = "saltybot/balance_controller" -<<<<<<< HEAD - status.hardware_id = "esp32" - status.message = f"IMU fault errno={errno}" - diag.status.append(status) - self._diag_pub.publish(diag) - self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}") -======= status.hardware_id = "esp32s322" status.message = f"IMU fault errno={errno}" diag.status.append(status) self._diag_pub.publish(diag) self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}") ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # ── Lifecycle ───────────────────────────────────────────────────────────── def destroy_node(self): diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py index 87e9971..e8a7feb 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py @@ -1,31 +1,15 @@ -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py -"""stm32_cmd_node.py — Orin ↔ ESP32-S3 IO auxiliary bridge node. -======= """esp32_cmd_node.py — Full bidirectional binary-framed ESP32-S3↔Jetson bridge. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py - Connects to the ESP32-S3 IO board via USB-CDC (/dev/esp32-io) using the inter-board binary protocol (docs/SAUL-TEE-SYSTEM-REFERENCE.md §5). -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py -This node is NOT the primary drive path (that is CAN via can_bridge_node). -It handles auxiliary I/O: RC monitoring, sensor data, LED/output control. -======= TX commands (Jetson → ESP32-S3): SPEED_STEER — 50 Hz from /cmd_vel subscription HEARTBEAT — 200 ms timer (ESP32-S3 watchdog fires at 500 ms) ARM — via /saltybot/arm service SET_MODE — via /saltybot/set_mode service PID_UPDATE — via /saltybot/pid_update topic ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py - Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8] @ 460800 baud -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py -RX from ESP32 IO: - RC_CHANNELS (0x01) → /saltybot/rc_channels (std_msgs/String JSON) - SENSORS (0x02) → /saltybot/sensors (std_msgs/String JSON) -======= RX telemetry (ESP32-S3 → Jetson): IMU → /saltybot/imu (sensor_msgs/Imu) BATTERY → /saltybot/telemetry/battery (std_msgs/String JSON) @@ -33,20 +17,11 @@ RX telemetry (ESP32-S3 → Jetson): ARM_STATE → /saltybot/arm_state (std_msgs/String JSON) ERROR → /saltybot/error (std_msgs/String JSON) All frames → /diagnostics (diagnostic_msgs/DiagnosticArray) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py - TX to ESP32 IO: LED_CMD (0x10) ← /saltybot/leds (std_msgs/String JSON) OUTPUT_CMD (0x11) ← /saltybot/outputs (std_msgs/String JSON) HEARTBEAT (0x20) — sent every heartbeat_period (keep IO watchdog alive) -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py -Parameters (config/stm32_cmd_params.yaml): - serial_port /dev/esp32-io - baud_rate 460800 - reconnect_delay 2.0 - heartbeat_period 0.2 (ESP32 IO watchdog fires at ~500 ms) -======= Parameters (config/esp32_cmd_params.yaml): serial_port /dev/ttyACM0 baud_rate 921600 @@ -54,9 +29,7 @@ Parameters (config/esp32_cmd_params.yaml): heartbeat_period 0.2 (seconds) watchdog_timeout 0.5 (seconds — no /cmd_vel → send zero-speed) speed_scale 1000.0 (linear.x m/s → ESC units) - steer_scale -500.0 (angular.z rad/s → ESC units, neg to flip convention) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py -""" + steer_scale -500.0 (angular.z rad/s → ESC units, neg to flip convention)""" from __future__ import annotations @@ -73,13 +46,7 @@ import serial from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue from std_msgs.msg import String -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py -from .stm32_protocol import ( - BAUD_RATE, -======= -from .esp32_protocol import ( ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py - FrameParser, +from .esp32_protocol import ( FrameParser, RcChannels, SensorData, encode_heartbeat, @@ -88,13 +55,8 @@ from .esp32_protocol import ( ) -class Stm32CmdNode(Node): -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py - """Orin ↔ ESP32-S3 IO auxiliary bridge node.""" -======= +class Esp32CmdNode(Node): """Binary-framed Jetson↔ESP32-S3 bridge node.""" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py - def __init__(self) -> None: super().__init__("esp32_cmd_node") @@ -138,13 +100,8 @@ class Stm32CmdNode(Node): self._diag_timer = self.create_timer(1.0, self._publish_diagnostics) self.get_logger().info( -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py - f"stm32_cmd_node started — {self._port_name} @ {self._baud} baud" -======= f"esp32_cmd_node started — {port} @ {baud} baud | " - f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py - ) + f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms" ) # ── Serial management ───────────────────────────────────────────────── @@ -245,9 +202,6 @@ class Stm32CmdNode(Node): type_code, _ = msg self.get_logger().debug(f"Unknown inter-board type 0x{type_code:02X}") -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py - # ── TX ──────────────────────────────────────────────────────────────── -======= elif isinstance(frame, ArmStateFrame): self._publish_arm_state(frame, now) @@ -358,8 +312,6 @@ class Stm32CmdNode(Node): "SPEED_STEER dropped — serial not open", throttle_duration_sec=2.0, ) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py - def _heartbeat_cb(self) -> None: self._write(encode_heartbeat()) @@ -399,14 +351,8 @@ class Stm32CmdNode(Node): diag = DiagnosticArray() diag.header.stamp = self.get_clock().now().to_msg() status = DiagnosticStatus() -<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py - status.name = "saltybot/esp32_io_bridge" - status.hardware_id = "esp32-s3-io" -======= status.name = "saltybot/esp32_cmd_node" status.hardware_id = "esp32s322" - ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py port_ok = self._ser is not None and self._ser.is_open status.level = DiagnosticStatus.OK if port_ok else DiagnosticStatus.ERROR status.message = "Serial OK" if port_ok else f"Disconnected: {self._port_name}" @@ -436,7 +382,7 @@ class Stm32CmdNode(Node): def main(args=None) -> None: rclpy.init(args=args) - node = Stm32CmdNode() + node = Esp32CmdNode() try: rclpy.spin(node) except KeyboardInterrupt: diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py index 53a1712..79b60c9 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py @@ -1,16 +1,8 @@ """ -<<<<<<< HEAD -remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 USB CDC - -{"kill": true} -> writes 'E\n' to ESP32 BALANCE (ESTOP_REMOTE, immediate motor cutoff) -{"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm) -======= remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32-S3 USB CDC {"kill": true} -> writes 'E\n' to ESP32-S3 (ESTOP_REMOTE, immediate motor cutoff) {"kill": false} -> writes 'Z\n' to ESP32-S3 (clear latch, robot can re-arm) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT). diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py index 4aa73bb..19e93a9 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py @@ -9,13 +9,13 @@ back to FC over CAN. CAN interface: SocketCAN (CANable USB adapter on vcan0 / can0) FC → Orin (telemetry): - 0x400 FC_STATUS int16 pitch_x10, int16 motor_cmd, uint16 vbat_mv, + 0x400 BALANCE_STATUS int16 pitch_x10, int16 motor_cmd, uint16 vbat_mv, uint8 balance_state, uint8 flags (10 Hz) - 0x401 FC_VESC int16 left_rpm_x10, int16 right_rpm_x10, + 0x401 BALANCE_VESC int16 left_rpm_x10, int16 right_rpm_x10, int16 left_cur_x10, int16 right_cur_x10 (10 Hz) - 0x402 FC_IMU int16 pitch_x10, int16 roll_x10, int16 yaw_x10, + 0x402 BALANCE_IMU int16 pitch_x10, int16 roll_x10, int16 yaw_x10, uint8 cal_status, uint8 balance_state (50 Hz) - 0x403 FC_BARO int32 pressure_pa, int16 temp_x10, int16 alt_cm (1 Hz) + 0x403 BALANCE_BARO int32 pressure_pa, int16 temp_x10, int16 alt_cm (1 Hz) Orin → FC (commands): 0x300 HEARTBEAT uint32 sequence counter (5 Hz) @@ -57,10 +57,10 @@ from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue # ---- CAN frame IDs ------------------------------------------------ -CAN_FC_STATUS = 0x400 -CAN_FC_VESC = 0x401 -CAN_FC_IMU = 0x402 -CAN_FC_BARO = 0x403 +CAN_BALANCE_STATUS = 0x400 +CAN_BALANCE_VESC = 0x401 +CAN_BALANCE_IMU = 0x402 +CAN_BALANCE_BARO = 0x403 CAN_HEARTBEAT = 0x300 CAN_DRIVE = 0x301 @@ -216,11 +216,11 @@ class SaltybotCanNode(Node): def _dispatch(self, can_id: int, data: bytes): now = self.get_clock().now().to_msg() - if can_id == CAN_FC_IMU and len(data) >= 8: + if can_id == CAN_BALANCE_IMU and len(data) >= 8: self._handle_fc_imu(data, now) - elif can_id == CAN_FC_STATUS and len(data) >= 8: + elif can_id == CAN_BALANCE_STATUS and len(data) >= 8: self._handle_fc_status(data) - elif can_id == CAN_FC_BARO and len(data) >= 8: + elif can_id == CAN_BALANCE_BARO and len(data) >= 8: self._handle_fc_baro(data, now) # ── Frame handlers ─────────────────────────────────────────────── @@ -322,12 +322,7 @@ class SaltybotCanNode(Node): diag.header.stamp = stamp st = DiagnosticStatus() st.name = "saltybot/balance_controller" -<<<<<<< HEAD - st.hardware_id = "esp32" -======= - st.hardware_id = "esp32s322" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - st.message = state_label + st.hardware_id = "esp32s322" st.message = state_label st.level = (DiagnosticStatus.OK if state == 1 else DiagnosticStatus.WARN if state == 0 else DiagnosticStatus.ERROR) diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py index b2acaf1..1f23cfe 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py @@ -1,26 +1,8 @@ """ -<<<<<<< HEAD -saltybot_cmd_node — full bidirectional ESP32 BALANCE↔Jetson bridge -======= -saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridge ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -Combines telemetry RX (from serial_bridge_node) with drive command TX. +saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridgeCombines telemetry RX (from serial_bridge_node) with drive command TX. Owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node. -<<<<<<< HEAD -RX path (50Hz from ESP32 BALANCE): - JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics - -TX path: - /cmd_vel (geometry_msgs/Twist) → C,\\n → ESP32 BALANCE - Heartbeat timer (200ms) → H\\n → ESP32 BALANCE - -Protocol: - H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms. - C,\\n — drive command. speed/steer: -1000..+1000 integers. - C command also refreshes ESP32 BALANCE heartbeat timer. -======= RX path (50Hz from ESP32-S3): JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics @@ -32,8 +14,6 @@ Protocol: H\\n — heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms. C,\\n — drive command. speed/steer: -1000..+1000 integers. C command also refreshes ESP32-S3 heartbeat timer. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Twist mapping (configurable via ROS2 params): speed = clamp(linear.x * speed_scale, -1000, 1000) steer = clamp(angular.z * steer_scale, -1000, 1000) @@ -118,12 +98,7 @@ class SaltybotCmdNode(Node): self._open_serial() # ── Timers ──────────────────────────────────────────────────────────── -<<<<<<< HEAD - # Telemetry read at 100Hz (ESP32 BALANCE sends at 50Hz) -======= - # Telemetry read at 100Hz (ESP32-S3 sends at 50Hz) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - self._read_timer = self.create_timer(0.01, self._read_cb) + # Telemetry read at 100Hz (ESP32-S3 sends at 50Hz) self._read_timer = self.create_timer(0.01, self._read_cb) # Heartbeat TX at configured period (default 200ms) self._hb_timer = self.create_timer(self._hb_period, self._heartbeat_cb) @@ -288,12 +263,7 @@ class SaltybotCmdNode(Node): diag.header.stamp = stamp status = DiagnosticStatus() status.name = "saltybot/balance_controller" -<<<<<<< HEAD - status.hardware_id = "esp32" -======= - status.hardware_id = "esp32s322" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - status.message = state_label + status.hardware_id = "esp32s322" status.message = state_label if state == 1: status.level = DiagnosticStatus.OK elif state == 0: @@ -320,20 +290,11 @@ class SaltybotCmdNode(Node): status = DiagnosticStatus() status.level = DiagnosticStatus.ERROR status.name = "saltybot/balance_controller" -<<<<<<< HEAD - status.hardware_id = "esp32" - status.message = f"IMU fault errno={errno}" - diag.status.append(status) - self._diag_pub.publish(diag) - self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}") -======= status.hardware_id = "esp32s322" status.message = f"IMU fault errno={errno}" diag.status.append(status) self._diag_pub.publish(diag) self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}") ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # ── TX — command send ───────────────────────────────────────────────────── def _cmd_vel_cb(self, msg: Twist): @@ -350,12 +311,7 @@ class SaltybotCmdNode(Node): ) def _heartbeat_cb(self): -<<<<<<< HEAD - """Send H\\n heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms.""" -======= - """Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms.""" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - self._write(b"H\n") + """Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms.""" self._write(b"H\n") # ── Lifecycle ───────────────────────────────────────────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py index c405c52..bd29fd6 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py @@ -1,11 +1,6 @@ """ saltybot_bridge — serial_bridge_node -<<<<<<< HEAD -ESP32 USB CDC → ROS2 topic publisher -======= ESP32-S3 USB CDC → ROS2 topic publisher ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Telemetry frame (50 Hz, newline-delimited JSON): {"p":,"r":,"e":,"ig":, "m":,"s":,"y":} @@ -33,12 +28,7 @@ from sensor_msgs.msg import Imu from std_msgs.msg import String from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue -<<<<<<< HEAD -# Balance state labels matching ESP32 BALANCE balance_state_t enum -======= -# Balance state labels matching ESP32-S3 balance_state_t enum ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -_STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"} +# Balance state labels matching ESP32-S3 balance_state_t enum_STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"} # Sensor frame_id published in Imu header IMU_FRAME_ID = "imu_link" @@ -91,12 +81,7 @@ class SerialBridgeNode(Node): # ── Open serial and start read timer ────────────────────────────────── self._open_serial() -<<<<<<< HEAD - # Poll at 100 Hz — ESP32 BALANCE sends at 50 Hz, so we never miss a frame -======= - # Poll at 100 Hz — ESP32-S3 sends at 50 Hz, so we never miss a frame ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - self._timer = self.create_timer(0.01, self._read_cb) + # Poll at 100 Hz — ESP32-S3 sends at 50 Hz, so we never miss a frame self._timer = self.create_timer(0.01, self._read_cb) self.get_logger().info( f"stm32_serial_bridge started — {port} @ {baud} baud" @@ -129,12 +114,7 @@ class SerialBridgeNode(Node): def write_serial(self, data: bytes) -> bool: """ -<<<<<<< HEAD - Send raw bytes to ESP32 BALANCE over the open serial port. -======= - Send raw bytes to ESP32-S3 over the open serial port. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Returns False if port is not open (caller should handle gracefully). + Send raw bytes to ESP32-S3 over the open serial port. Returns False if port is not open (caller should handle gracefully). Note: for bidirectional use prefer saltybot_cmd_node which owns TX natively. """ if self._ser is None or not self._ser.is_open: @@ -222,12 +202,7 @@ class SerialBridgeNode(Node): """ Publish sensor_msgs/Imu. -<<<<<<< HEAD - The ESP32 BALANCE IMU gives Euler angles (pitch/roll from accelerometer+gyro -======= - The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - fusion, yaw from gyro integration). We publish them as angular_velocity + The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro fusion, yaw from gyro integration). We publish them as angular_velocity for immediate use by slam_toolbox / robot_localization. Note: orientation quaternion is left zeroed (covariance [-1,...]) until @@ -284,12 +259,7 @@ class SerialBridgeNode(Node): diag.header.stamp = stamp status = DiagnosticStatus() status.name = "saltybot/balance_controller" -<<<<<<< HEAD - status.hardware_id = "esp32" -======= - status.hardware_id = "esp32s322" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - status.message = state_label + status.hardware_id = "esp32s322" status.message = state_label if state == 1: # ARMED status.level = DiagnosticStatus.OK @@ -317,20 +287,11 @@ class SerialBridgeNode(Node): status = DiagnosticStatus() status.level = DiagnosticStatus.ERROR status.name = "saltybot/balance_controller" -<<<<<<< HEAD - status.hardware_id = "esp32" - status.message = f"IMU fault errno={errno}" - diag.status.append(status) - self._diag_pub.publish(diag) - self.get_logger().error(f"ESP32 BALANCE reported IMU fault: errno={errno}") -======= status.hardware_id = "esp32s322" status.message = f"IMU fault errno={errno}" diag.status.append(status) self._diag_pub.publish(diag) self.get_logger().error(f"ESP32-S3 reported IMU fault: errno={errno}") ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - def destroy_node(self): self._close_serial() super().destroy_node() diff --git a/jetson/ros2_ws/src/saltybot_bridge/setup.py b/jetson/ros2_ws/src/saltybot_bridge/setup.py index 81f1d41..9aff694 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py @@ -29,12 +29,7 @@ setup( zip_safe=True, maintainer="sl-jetson", maintainer_email="sl-jetson@saltylab.local", -<<<<<<< HEAD - description="ESP32 USB CDC → ROS2 serial bridge for saltybot", -======= - description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot", ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - license="MIT", + description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot", license="MIT", tests_require=["pytest"], entry_points={ "console_scripts": [ @@ -45,14 +40,8 @@ setup( # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main", "remote_estop_node = saltybot_bridge.remote_estop_node:main", -<<<<<<< HEAD - # Binary-framed ESP32 BALANCE command node (Issue #119) - "stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main", -======= # Binary-framed ESP32-S3 command node (Issue #119) - "esp32_cmd_node = saltybot_bridge.esp32_cmd_node:main", ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # Battery management node (Issue #125) + "esp32_cmd_node = saltybot_bridge.esp32_cmd_node:main", # Battery management node (Issue #125) "battery_node = saltybot_bridge.battery_node:main", # Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685) "saltybot_can_node = saltybot_bridge.saltybot_can_node:main", diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py index 29f496e..b00545d 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py @@ -1,10 +1,5 @@ """ -<<<<<<< HEAD -Unit tests for Jetson→ESP32 BALANCE command serialization logic. -======= -Unit tests for Jetson→ESP32-S3 command serialization logic. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -Tests Twist→speed/steer conversion and frame formatting. +Unit tests for Jetson→ESP32-S3 command serialization logic.Tests Twist→speed/steer conversion and frame formatting. Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py """ diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py index 1cd5e8c..2e062f4 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py @@ -1,4 +1,4 @@ -"""test_esp32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port. +"""test_esp32_cmd_node.py — Unit tests for Esp32CmdNode with mock serial port. Tests: - Serial open/close lifecycle diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py index 8079168..7b83e00 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py @@ -1,10 +1,5 @@ """ -<<<<<<< HEAD -Unit tests for ESP32 BALANCE telemetry parsing logic. -======= -Unit tests for ESP32-S3 telemetry parsing logic. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py +Unit tests for ESP32-S3 telemetry parsing logic.Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py """ import json diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml index f251c7d..0449028 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml @@ -19,12 +19,7 @@ # inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding) # DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer) # -<<<<<<< HEAD -# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic. -======= # Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - bt_navigator: ros__parameters: use_sim_time: false diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml index b858251..1b20315 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml @@ -2,12 +2,7 @@ # Master configuration for full stack bringup # ──────────────────────────────────────────────────────────────────────────── -<<<<<<< HEAD -# HARDWARE — ESP32 BALANCE Bridge & Motor Control -======= -# HARDWARE — ESP32-S3 Bridge & Motor Control ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# ──────────────────────────────────────────────────────────────────────────── +# HARDWARE — ESP32-S3 Bridge & Motor Control# ──────────────────────────────────────────────────────────────────────────── saltybot_bridge_node: ros__parameters: diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py index 984a020..7f87a80 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py @@ -39,12 +39,7 @@ Modes ─ UWB driver (2-anchor DW3000, publishes /uwb/target) ─ YOLOv8n person detection (TensorRT) ─ Person follower with UWB+camera fusion -<<<<<<< HEAD - ─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate) -======= - ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ─ rosbridge WebSocket (port 9090) + ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate) ─ rosbridge WebSocket (port 9090) outdoor ─ RPLIDAR + RealSense D435i sensors (no SLAM) @@ -61,14 +56,8 @@ Modes Launch sequence (wall-clock delays — conservative for cold start) ───────────────────────────────────────────────────────────────── t= 0s robot_description (URDF + TF tree) -<<<<<<< HEAD - t= 0s ESP32 bridge (serial port owner — must be first) - t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32 bridge up) -======= t= 0s ESP32-S3 bridge (serial port owner — must be first) - t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32-S3 bridge up) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - t= 2s sensors (RPLIDAR + RealSense) + t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32-S3 bridge up) t= 2s sensors (RPLIDAR + RealSense) t= 4s UWB driver (independent serial device) t= 4s CSI cameras (optional, independent) t= 5s audio_pipeline (Jabra SPEAK 810: wake word + STT + TTS; Issue #503) @@ -80,18 +69,10 @@ Launch sequence (wall-clock delays — conservative for cold start) Safety wiring ───────────── -<<<<<<< HEAD - • ESP32 bridge must be up before cmd_vel bridge sends any command. - • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent. - • ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still - until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel. -======= • ESP32-S3 bridge must be up before cmd_vel bridge sends any command. • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent. • ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still - until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - • follow_enabled:=false disables person follower without stopping the node. + until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel. • follow_enabled:=false disables person follower without stopping the node. • To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}' Topics published by this stack @@ -107,12 +88,7 @@ Topics published by this stack /person/target PoseStamped (camera position, base_link) /person/detections Detection2DArray /cmd_vel Twist (from follower or Nav2) -<<<<<<< HEAD - /saltybot/cmd String (to ESP32 BALANCE) -======= - /saltybot/cmd String (to ESP32-S3) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - /saltybot/imu Imu + /saltybot/cmd String (to ESP32-S3) /saltybot/imu Imu /saltybot/balance_state String """ @@ -229,12 +205,7 @@ def generate_launch_description(): enable_bridge_arg = DeclareLaunchArgument( "enable_bridge", default_value="true", -<<<<<<< HEAD - description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)", -======= - description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)", ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ) + description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)", ) enable_rosbridge_arg = DeclareLaunchArgument( "enable_rosbridge", @@ -294,12 +265,7 @@ enable_mission_logging_arg = DeclareLaunchArgument( esp32_port_arg = DeclareLaunchArgument( "esp32_port", default_value="/dev/esp32-bridge", -<<<<<<< HEAD - description="ESP32 USB CDC serial port", -======= - description="ESP32-S3 USB CDC serial port", ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ) + description="ESP32-S3 USB CDC serial port", ) # ── Shared substitution handles ─────────────────────────────────────────── # Profile argument for parameter override (Issue #506) @@ -318,12 +284,7 @@ enable_mission_logging_arg = DeclareLaunchArgument( launch_arguments={"use_sim_time": use_sim_time}.items(), ) -<<<<<<< HEAD - # ── t=0s ESP32 bidirectional serial bridge ──────────────────────────────── -======= - # ── t=0s ESP32-S3 bidirectional serial bridge ──────────────────────────────── ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - esp32_bridge = GroupAction( + # ── t=0s ESP32-S3 bidirectional serial bridge ──────────────────────────────── esp32_bridge = GroupAction( condition=IfCondition(LaunchConfiguration("enable_bridge")), actions=[ IncludeLaunchDescription( @@ -352,12 +313,7 @@ enable_mission_logging_arg = DeclareLaunchArgument( ], ) -<<<<<<< HEAD - # ── t=2s cmd_vel safety bridge (depends on ESP32 bridge) ──────────────── -======= - # ── t=2s cmd_vel safety bridge (depends on ESP32-S3 bridge) ──────────────── ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - cmd_vel_bridge = TimerAction( + # ── t=2s cmd_vel safety bridge (depends on ESP32-S3 bridge) ──────────────── cmd_vel_bridge = TimerAction( period=2.0, actions=[ GroupAction( diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py index 8f9561d..8723a65 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py @@ -19,12 +19,7 @@ Usage Startup sequence ──────────────── -<<<<<<< HEAD - GROUP A — Drivers t= 0 s ESP32 bridge, RealSense+RPLIDAR, motor daemon, IMU -======= - GROUP A — Drivers t= 0 s ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - health gate ───────────────────────────────────────────────── t= 8 s (full/debug) + GROUP A — Drivers t= 0 s ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU health gate ───────────────────────────────────────────────── t= 8 s (full/debug) GROUP B — Perception t= 8 s UWB, person detection, object detection, depth costmap, gimbal health gate ───────────────────────────────────────────────── t=16 s (full/debug) GROUP C — Navigation t=16 s SLAM, Nav2, lidar avoidance, follower, docking @@ -127,12 +122,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901 esp32_port_arg = DeclareLaunchArgument( "esp32_port", default_value="/dev/esp32-bridge", -<<<<<<< HEAD - description="ESP32 UART bridge serial device", -======= - description="ESP32-S3 USART bridge serial device", ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ) + description="ESP32-S3 USART bridge serial device", ) uwb_port_a_arg = DeclareLaunchArgument( "uwb_port_a", @@ -206,12 +196,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901 # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ # GROUP A — DRIVERS (t = 0 s, all profiles) -<<<<<<< HEAD - # Dependency order: ESP32 bridge first, then sensors, then motor daemon. -======= - # Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # Health gate: subsequent groups delayed until t_perception (8 s full/debug). + # Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon. # Health gate: subsequent groups delayed until t_perception (8 s full/debug). # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ group_a_banner = LogInfo( @@ -224,12 +209,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901 launch_arguments={"use_sim_time": use_sim_time}.items(), ) -<<<<<<< HEAD - # ESP32 BALANCE bridge -======= - # ESP32-S3 bidirectional bridge (JLINK USART1) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - esp32_bridge = IncludeLaunchDescription( + # ESP32-S3 bidirectional bridge (JLINK USART1) esp32_bridge = IncludeLaunchDescription( _launch("saltybot_bridge", "launch", "bridge.launch.py"), launch_arguments={ "mode": "bidirectional", @@ -248,12 +228,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901 ], ) -<<<<<<< HEAD - # Motor daemon: /cmd_vel → ESP32 BALANCE DRIVE frames (depends on bridge at t=0) -======= - # Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - motor_daemon = TimerAction( + # Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0) motor_daemon = TimerAction( period=2.5, actions=[ LogInfo(msg="[saltybot_bringup] t=2.5s Starting motor daemon"), diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py index 15996cb..3f9513f 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py @@ -20,12 +20,7 @@ theta is kept in (−π, π] after every step. Int32 rollover -------------- -<<<<<<< HEAD -ESP32 BALANCE encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles -======= -ESP32-S3 encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -this by detecting jumps larger than half the int32 range and adjusting by the +ESP32-S3 encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handlesthis by detecting jumps larger than half the int32 range and adjusting by the full range: if delta > 2^30 : delta -= 2^31 diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py index edcb1d6..21f169e 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py @@ -69,12 +69,7 @@ class Profile: t_ui: float = 22.0 # Group D (nav2 needs ~4 s to load costmaps) # ── Safety ──────────────────────────────────────────────────────────── -<<<<<<< HEAD - watchdog_timeout_s: float = 5.0 # max silence from ESP32 bridge (s) -======= - watchdog_timeout_s: float = 5.0 # max silence from ESP32-S3 bridge (s) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - cmd_vel_deadman_s: float = 0.5 # cmd_vel watchdog in bridge + watchdog_timeout_s: float = 5.0 # max silence from ESP32-S3 bridge (s) cmd_vel_deadman_s: float = 0.5 # cmd_vel watchdog in bridge max_linear_vel: float = 0.5 # m/s cap passed to bridge + follower follow_distance_m: float = 1.5 # target follow distance (m) @@ -94,12 +89,7 @@ class Profile: # ── Profile factory ──────────────────────────────────────────────────────────── def _minimal() -> Profile: -<<<<<<< HEAD - """Minimal: ESP32 bridge + sensors + motor daemon. -======= """Minimal: ESP32-S3 bridge + sensors + motor daemon. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Safe drive control only. No AI, no nav, no social. Boot time ~4 s. RAM ~400 MB. """ diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py index bba409a..b9769ec 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py @@ -1,12 +1,7 @@ """ wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184). -<<<<<<< HEAD -Subscribes to raw encoder tick counts from the ESP32 bridge, integrates -======= -Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integrates ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz. +Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integratesdifferential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz. Optionally broadcasts the odom → base_link TF transform. Subscribes: diff --git a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md index 8ac3a1e..53fffc4 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md +++ b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md @@ -61,12 +61,7 @@ kill %1 ### Core System Components - Robot Description (URDF/TF tree) -<<<<<<< HEAD -- ESP32 Serial Bridge -======= -- ESP32-S3 Serial Bridge ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -- cmd_vel Bridge +- ESP32-S3 Serial Bridge- cmd_vel Bridge - Rosbridge WebSocket ### Sensors @@ -129,12 +124,7 @@ free -h ### cmd_vel bridge not responding ```bash -<<<<<<< HEAD -# Verify ESP32 bridge is running first -======= -# Verify ESP32-S3 bridge is running first ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -ros2 node list | grep bridge +# Verify ESP32-S3 bridge is running firstros2 node list | grep bridge # Check serial port ls -l /dev/esp32-bridge diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/config/can_bridge_params.yaml b/jetson/ros2_ws/src/saltybot_can_bridge/config/can_bridge_params.yaml index f5babf2..91bb791 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/config/can_bridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_can_bridge/config/can_bridge_params.yaml @@ -3,5 +3,5 @@ can_bridge_node: can_interface: slcan0 left_vesc_can_id: 56 right_vesc_can_id: 68 - mamba_can_id: 1 + balance_can_id: 1 command_timeout_s: 0.5 diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py index ae9326e..fe6fcb9 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py @@ -6,13 +6,13 @@ and VESC telemetry. CAN message layout ------------------ Command frames (Orin → ESP32-S3 BALANCE / VESC): - MAMBA_CMD_VELOCITY 0x100 8 bytes left_speed (f32, m/s) | right_speed (f32, m/s) - MAMBA_CMD_MODE 0x101 1 byte mode (0=idle, 1=drive, 2=estop) - MAMBA_CMD_ESTOP 0x102 1 byte 0x01 = stop + BALANCE_CMD_VELOCITY 0x100 8 bytes left_speed (f32, m/s) | right_speed (f32, m/s) + BALANCE_CMD_MODE 0x101 1 byte mode (0=idle, 1=drive, 2=estop) + BALANCE_CMD_ESTOP 0x102 1 byte 0x01 = stop Telemetry frames (ESP32-S3 BALANCE → Orin): - MAMBA_TELEM_IMU 0x200 24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each) - MAMBA_TELEM_BATTERY 0x201 8 bytes voltage (f32, V) | current (f32, A) + BALANCE_TELEM_IMU 0x200 24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each) + BALANCE_TELEM_BATTERY 0x201 8 bytes voltage (f32, V) | current (f32, A) VESC telemetry frame (VESC → Orin): VESC_TELEM_STATE 0x300 16 bytes erpm (f32) | duty (f32) | voltage (f32) | current (f32) @@ -30,12 +30,12 @@ from typing import Tuple # CAN message IDs # --------------------------------------------------------------------------- -MAMBA_CMD_VELOCITY: int = 0x100 -MAMBA_CMD_MODE: int = 0x101 -MAMBA_CMD_ESTOP: int = 0x102 +BALANCE_CMD_VELOCITY: int = 0x100 +BALANCE_CMD_MODE: int = 0x101 +BALANCE_CMD_ESTOP: int = 0x102 -MAMBA_TELEM_IMU: int = 0x200 -MAMBA_TELEM_BATTERY: int = 0x201 +BALANCE_TELEM_IMU: int = 0x200 +BALANCE_TELEM_BATTERY: int = 0x201 VESC_TELEM_STATE: int = 0x300 ORIN_CAN_ID_PID_SET: int = 0x305 @@ -56,7 +56,7 @@ MODE_ESTOP: int = 2 @dataclass class ImuTelemetry: - """Decoded IMU telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_IMU).""" + """Decoded IMU telemetry from ESP32-S3 BALANCE (BALANCE_TELEM_IMU).""" accel_x: float = 0.0 # m/s² accel_y: float = 0.0 @@ -68,7 +68,7 @@ class ImuTelemetry: @dataclass class BatteryTelemetry: - """Decoded battery telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_BATTERY).""" + """Decoded battery telemetry from ESP32-S3 BALANCE (BALANCE_TELEM_BATTERY).""" voltage: float = 0.0 # V current: float = 0.0 # A @@ -106,7 +106,7 @@ _FMT_VESC = ">ffff" # 4 × float32 def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes: """ - Encode a MAMBA_CMD_VELOCITY payload. + Encode a BALANCE_CMD_VELOCITY payload. Parameters ---------- @@ -122,7 +122,7 @@ def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes: def encode_mode_cmd(mode: int) -> bytes: """ - Encode a MAMBA_CMD_MODE payload. + Encode a BALANCE_CMD_MODE payload. Parameters ---------- @@ -139,7 +139,7 @@ def encode_mode_cmd(mode: int) -> bytes: def encode_estop_cmd(stop: bool = True) -> bytes: """ - Encode a MAMBA_CMD_ESTOP payload. + Encode a BALANCE_CMD_ESTOP payload. Parameters ---------- @@ -165,7 +165,7 @@ def encode_pid_set_cmd(kp: float, ki: float, kd: float) -> bytes: def decode_imu_telem(data: bytes) -> ImuTelemetry: """ - Decode a MAMBA_TELEM_IMU payload. + Decode a BALANCE_TELEM_IMU payload. Parameters ---------- @@ -188,7 +188,7 @@ def decode_imu_telem(data: bytes) -> ImuTelemetry: def decode_battery_telem(data: bytes) -> BatteryTelemetry: """ - Decode a MAMBA_TELEM_BATTERY payload. + Decode a BALANCE_TELEM_BATTERY payload. Parameters ---------- diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py index db6a1a5..4a631b2 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py @@ -39,22 +39,22 @@ from sensor_msgs.msg import BatteryState from std_msgs.msg import Bool, Float32MultiArray, String from saltybot_can_bridge.balance_protocol import ( - MAMBA_CMD_ESTOP, - MAMBA_CMD_MODE, - MAMBA_CMD_VELOCITY, - MAMBA_TELEM_BATTERY, - MAMBA_TELEM_IMU, + BALANCE_CMD_ESTOP, + BALANCE_CMD_MODE, + BALANCE_CMD_VELOCITY, + BALANCE_TELEM_BATTERY, + BALANCE_TELEM_IMU, VESC_TELEM_STATE, ORIN_CAN_ID_FC_PID_ACK, ORIN_CAN_ID_PID_SET, MODE_DRIVE, MODE_IDLE, - encode_drive_cmd, - encode_arm_cmd, + encode_velocity_cmd, + encode_mode_cmd, encode_estop_cmd, - decode_attitude, - decode_battery, - decode_vesc_status1, + decode_imu_telem, + decode_battery_telem, + decode_vesc_state, ) # Reconnect attempt interval when CAN bus is lost @@ -179,10 +179,10 @@ class CanBridgeNode(Node): right_mps = linear + angular payload = encode_velocity_cmd(left_mps, right_mps) - self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel") + self._send_can(BALANCE_CMD_VELOCITY, payload, "cmd_vel") # Keep ESP32-S3 BALANCE in DRIVE mode while receiving commands - self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode") + self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode") def _estop_cb(self, msg: Bool) -> None: """Forward /estop to ESP32-S3 BALANCE over CAN.""" @@ -190,7 +190,7 @@ class CanBridgeNode(Node): return if msg.data: self._send_can( - MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode" + BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode" ) self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32-S3 BALANCE") @@ -201,7 +201,8 @@ class CanBridgeNode(Node): if not self._connected: return if time.monotonic() - self._last_cmd_time > self._cmd_timeout: - self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "watchdog") + self._send_can(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0), "watchdog") + self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE), "watchdog mode") # ── CAN send helper ─────────────────────────────────────────────────── @@ -236,25 +237,28 @@ class CanBridgeNode(Node): continue self._dispatch_frame(frame) + # VESC STATUS packet type = 9 (upper byte of extended arb_id) + _VESC_STATUS_PKT: int = 9 + def _dispatch_frame(self, frame: can.Message) -> None: arb_id = frame.arbitration_id data = bytes(frame.data) - vesc_l = (VESC_STATUS_1 << 8) | self._left_vesc_id - vesc_r = (VESC_STATUS_1 << 8) | self._right_vesc_id + vesc_l = (self._VESC_STATUS_PKT << 8) | self._left_vesc_id + vesc_r = (self._VESC_STATUS_PKT << 8) | self._right_vesc_id try: - if arb_id == ESP32_TELEM_ATTITUDE: - self._handle_attitude(data) - elif arb_id == ESP32_TELEM_BATTERY: + if arb_id == BALANCE_TELEM_IMU: + self._handle_imu(data) + elif arb_id == BALANCE_TELEM_BATTERY: self._handle_battery(data) elif arb_id == vesc_l: - t = decode_vesc_status1(self._left_vesc_id, data) + t = decode_vesc_state(data) m = Float32MultiArray() - m.data = [t.erpm, t.duty, 0.0, t.current] + m.data = [t.erpm, t.duty, t.voltage, t.current] self._pub_vesc_left.publish(m) elif arb_id == vesc_r: - t = decode_vesc_status1(self._right_vesc_id, data) + t = decode_vesc_state(data) m = Float32MultiArray() - m.data = [t.erpm, t.duty, 0.0, t.current] + m.data = [t.erpm, t.duty, t.voltage, t.current] self._pub_vesc_right.publish(m) except Exception as exc: self.get_logger().warning( @@ -263,20 +267,18 @@ class CanBridgeNode(Node): # ── Frame handlers ──────────────────────────────────────────────────── - _STATE_LABEL = {0: "IDLE", 1: "RUNNING", 2: "FAULT"} - - def _handle_attitude(self, data: bytes) -> None: - """ATTITUDE (0x400): pitch, speed, yaw_rate, state, flags → /saltybot/attitude.""" - t = decode_attitude(data) + def _handle_imu(self, data: bytes) -> None: + """BALANCE_TELEM_IMU (0x200): accel + gyro → /saltybot/attitude.""" + t = decode_imu_telem(data) now = self.get_clock().now().to_msg() payload = { - "pitch_deg": round(t.pitch_deg, 2), - "speed_mps": round(t.speed, 3), - "yaw_rate": round(t.yaw_rate, 3), - "state": t.state, - "state_label": self._STATE_LABEL.get(t.state, f"UNKNOWN({t.state})"), - "flags": t.flags, - "ts": f"{now.sec}.{now.nanosec:09d}", + "accel_x": round(t.accel_x, 4), + "accel_y": round(t.accel_y, 4), + "accel_z": round(t.accel_z, 4), + "gyro_x": round(t.gyro_x, 4), + "gyro_y": round(t.gyro_y, 4), + "gyro_z": round(t.gyro_z, 4), + "ts": f"{now.sec}.{now.nanosec:09d}", } msg = String() msg.data = json.dumps(payload) @@ -284,11 +286,12 @@ class CanBridgeNode(Node): self._pub_balance.publish(msg) # keep /saltybot/balance_state alive def _handle_battery(self, data: bytes) -> None: - """BATTERY (0x401): vbat_mv, fault_code, rssi → /can/battery.""" - t = decode_battery(data) + """BALANCE_TELEM_BATTERY (0x201): voltage + current → /can/battery.""" + t = decode_battery_telem(data) msg = BatteryState() msg.header.stamp = self.get_clock().now().to_msg() - msg.voltage = t.vbat_mv / 1000.0 + msg.voltage = t.voltage + msg.current = t.current msg.present = True msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING self._pub_battery.publish(msg) @@ -305,8 +308,9 @@ class CanBridgeNode(Node): def destroy_node(self) -> None: if self._connected and self._bus is not None: try: - self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "shutdown") - self._send_can(ORIN_CMD_ARM, encode_arm_cmd(False), "shutdown") + # Send zero velocity and idle mode on shutdown + self._send_can(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0), "shutdown") + self._send_can(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE), "shutdown") except Exception: pass try: diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py index 9ac12dc..694ef98 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py @@ -15,12 +15,7 @@ setup( zip_safe=True, maintainer="sl-controls", maintainer_email="sl-controls@saltylab.local", -<<<<<<< HEAD - description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry", -======= - description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry", ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - license="MIT", + description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry", license="MIT", tests_require=["pytest"], entry_points={ "console_scripts": [ diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py b/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py index 6bddca2..15ef454 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py @@ -12,11 +12,11 @@ import struct import unittest from saltybot_can_bridge.balance_protocol import ( - MAMBA_CMD_ESTOP, - MAMBA_CMD_MODE, - MAMBA_CMD_VELOCITY, - MAMBA_TELEM_BATTERY, - MAMBA_TELEM_IMU, + BALANCE_CMD_ESTOP, + BALANCE_CMD_MODE, + BALANCE_CMD_VELOCITY, + BALANCE_TELEM_BATTERY, + BALANCE_TELEM_IMU, VESC_TELEM_STATE, MODE_DRIVE, MODE_ESTOP, @@ -37,13 +37,13 @@ class TestMessageIDs(unittest.TestCase): """Verify the CAN message ID constants are correct.""" def test_command_ids(self): - self.assertEqual(MAMBA_CMD_VELOCITY, 0x100) - self.assertEqual(MAMBA_CMD_MODE, 0x101) - self.assertEqual(MAMBA_CMD_ESTOP, 0x102) + self.assertEqual(BALANCE_CMD_VELOCITY, 0x100) + self.assertEqual(BALANCE_CMD_MODE, 0x101) + self.assertEqual(BALANCE_CMD_ESTOP, 0x102) def test_telemetry_ids(self): - self.assertEqual(MAMBA_TELEM_IMU, 0x200) - self.assertEqual(MAMBA_TELEM_BATTERY, 0x201) + self.assertEqual(BALANCE_TELEM_IMU, 0x200) + self.assertEqual(BALANCE_TELEM_BATTERY, 0x201) self.assertEqual(VESC_TELEM_STATE, 0x300) diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py index cf1dc6a..fc485ca 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py @@ -4,42 +4,39 @@ protocol_defs.py — CAN message ID constants and frame builders/parsers for the Orin↔ESP32-S3 BALANCE↔VESC integration test suite. All IDs and payload formats are derived from: - include/orin_can.h — Orin↔FC (ESP32-S3 BALANCE) protocol + include/orin_can.h — Orin↔BALANCE (ESP32-S3 BALANCE) protocol include/vesc_can.h — VESC CAN protocol saltybot_can_bridge/balance_protocol.py — existing bridge constants CAN IDs used in tests --------------------- -Orin → FC (ESP32-S3 BALANCE) commands (standard 11-bit, matching orin_can.h): +Orin → BALANCE (ESP32-S3 BALANCE) commands (standard 11-bit, matching orin_can.h): ORIN_CMD_HEARTBEAT 0x300 - ORIN_CMD_DRIVE 0x301 int16 speed (−1000..+1000), int16 steer (−1000..+1000) + ORIN_CMD_DRIVE 0x301 int16 speed (-1000..+1000), int16 steer (-1000..+1000) ORIN_CMD_MODE 0x302 uint8 mode byte ORIN_CMD_ESTOP 0x303 uint8 action (1=ESTOP, 0=CLEAR) -FC (ESP32-S3 BALANCE) → Orin telemetry (standard 11-bit, matching orin_can.h): - FC_STATUS 0x400 8 bytes (see orin_can_fc_status_t) - FC_VESC 0x401 8 bytes (see orin_can_fc_vesc_t) - FC_IMU 0x402 8 bytes - FC_BARO 0x403 8 bytes +BALANCE (ESP32-S3 BALANCE) -> Orin telemetry (standard 11-bit, matching orin_can.h): + BALANCE_STATUS 0x400 8 bytes (see orin_can_balance_status_t) + BALANCE_VESC 0x401 8 bytes (see orin_can_balance_vesc_t) + BALANCE_IMU 0x402 8 bytes + BALANCE_BARO 0x403 8 bytes -Mamba ↔ VESC internal commands (matching balance_protocol.py): -======= -ESP32-S3 BALANCE ↔ VESC internal commands (matching balance_protocol.py): ->>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files) - MAMBA_CMD_VELOCITY 0x100 8 bytes left_mps (f32) | right_mps (f32) big-endian - MAMBA_CMD_MODE 0x101 1 byte mode (0=idle,1=drive,2=estop) - MAMBA_CMD_ESTOP 0x102 1 byte 0x01=stop +ESP32-S3 BALANCE <-> VESC internal commands (matching balance_protocol.py): + BALANCE_CMD_VELOCITY 0x100 8 bytes left_mps (f32) | right_mps (f32) big-endian + BALANCE_CMD_MODE 0x101 1 byte mode (0=idle,1=drive,2=estop) + BALANCE_CMD_ESTOP 0x102 1 byte 0x01=stop VESC STATUS (extended 29-bit, matching vesc_can.h): arb_id = (VESC_PKT_STATUS << 8) | vesc_node_id = (9 << 8) | node_id - Payload: int32 RPM (BE), int16 current×10 (BE), int16 duty×1000 (BE) + Payload: int32 RPM (BE), int16 current x10 (BE), int16 duty x1000 (BE) """ import struct from typing import Tuple # --------------------------------------------------------------------------- -# Orin → FC (ESP32-S3 BALANCE) command IDs (from orin_can.h) +# Orin -> BALANCE (ESP32-S3 BALANCE) command IDs (from orin_can.h) # --------------------------------------------------------------------------- ORIN_CMD_HEARTBEAT: int = 0x300 @@ -48,28 +45,25 @@ ORIN_CMD_MODE: int = 0x302 ORIN_CMD_ESTOP: int = 0x303 # --------------------------------------------------------------------------- -# FC (ESP32-S3 BALANCE) → Orin telemetry IDs (from orin_can.h) +# BALANCE (ESP32-S3 BALANCE) -> Orin telemetry IDs (from orin_can.h) # --------------------------------------------------------------------------- -FC_STATUS: int = 0x400 -FC_VESC: int = 0x401 -FC_IMU: int = 0x402 -FC_BARO: int = 0x403 +BALANCE_STATUS: int = 0x400 +BALANCE_VESC: int = 0x401 +BALANCE_IMU: int = 0x402 +BALANCE_BARO: int = 0x403 # --------------------------------------------------------------------------- -# Mamba → VESC internal command IDs (from balance_protocol.py) -======= -# ESP32-S3 BALANCE → VESC internal command IDs (from balance_protocol.py) ->>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files) +# ESP32-S3 BALANCE -> VESC internal command IDs (from balance_protocol.py) # --------------------------------------------------------------------------- -MAMBA_CMD_VELOCITY: int = 0x100 -MAMBA_CMD_MODE: int = 0x101 -MAMBA_CMD_ESTOP: int = 0x102 +BALANCE_CMD_VELOCITY: int = 0x100 +BALANCE_CMD_MODE: int = 0x101 +BALANCE_CMD_ESTOP: int = 0x102 -MAMBA_TELEM_IMU: int = 0x200 -MAMBA_TELEM_BATTERY: int = 0x201 -VESC_TELEM_STATE: int = 0x300 +BALANCE_TELEM_IMU: int = 0x200 +BALANCE_TELEM_BATTERY: int = 0x201 +VESC_TELEM_STATE: int = 0x300 # --------------------------------------------------------------------------- # Mode constants @@ -111,7 +105,7 @@ def VESC_SET_RPM_ID(vesc_node_id: int) -> int: # --------------------------------------------------------------------------- -# Frame builders — Orin → FC +# Frame builders — Orin -> BALANCE # --------------------------------------------------------------------------- def build_heartbeat(seq: int = 0) -> bytes: @@ -125,8 +119,8 @@ def build_drive_cmd(speed: int, steer: int) -> bytes: Parameters ---------- - speed: int, −1000..+1000 (mapped directly to int16) - steer: int, −1000..+1000 + speed: int, -1000..+1000 (mapped directly to int16) + steer: int, -1000..+1000 """ return struct.pack(">hh", int(speed), int(steer)) @@ -137,20 +131,17 @@ def build_mode_cmd(mode: int) -> bytes: def build_estop_cmd(action: int = 1) -> bytes: - """Build an ORIN_CMD_ESTOP payload. action=1 → ESTOP, 0 → CLEAR.""" + """Build an ORIN_CMD_ESTOP payload. action=1 -> ESTOP, 0 -> CLEAR.""" return struct.pack(">B", action & 0xFF) # --------------------------------------------------------------------------- -# Frame builders — Mamba velocity commands (balance_protocol.py encoding) -======= # Frame builders — ESP32-S3 BALANCE velocity commands (balance_protocol.py encoding) ->>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files) # --------------------------------------------------------------------------- def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes: """ - Build a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian). + Build a BALANCE_CMD_VELOCITY payload (8 bytes, 2 x float32 big-endian). Matches encode_velocity_cmd() in balance_protocol.py. """ @@ -158,10 +149,10 @@ def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes: # --------------------------------------------------------------------------- -# Frame builders — FC → Orin telemetry +# Frame builders — BALANCE -> Orin telemetry # --------------------------------------------------------------------------- -def build_fc_status( +def build_balance_status( pitch_x10: int = 0, motor_cmd: int = 0, vbat_mv: int = 24000, @@ -169,9 +160,9 @@ def build_fc_status( flags: int = 0, ) -> bytes: """ - Build an FC_STATUS (0x400) payload. + Build a BALANCE_STATUS (0x400) payload. - Layout (orin_can_fc_status_t, 8 bytes, big-endian): + Layout (orin_can_balance_status_t, 8 bytes, big-endian): int16 pitch_x10 int16 motor_cmd uint16 vbat_mv @@ -188,23 +179,23 @@ def build_fc_status( ) -def build_fc_vesc( +def build_balance_vesc( left_rpm_x10: int = 0, right_rpm_x10: int = 0, left_current_x10: int = 0, right_current_x10: int = 0, ) -> bytes: """ - Build an FC_VESC (0x401) payload. + Build a BALANCE_VESC (0x401) payload. - Layout (orin_can_fc_vesc_t, 8 bytes, big-endian): + Layout (orin_can_balance_vesc_t, 8 bytes, big-endian): int16 left_rpm_x10 int16 right_rpm_x10 int16 left_current_x10 int16 right_current_x10 - RPM values are RPM / 10 (e.g. 3000 RPM → 300). - Current values are A × 10 (e.g. 5.5 A → 55). + RPM values are RPM / 10 (e.g. 3000 RPM -> 300). + Current values are A x 10 (e.g. 5.5 A -> 55). """ return struct.pack( ">hhhh", @@ -225,8 +216,8 @@ def build_vesc_status( Layout (from vesc_can.h / VESC FW 6.x, big-endian): int32 rpm - int16 current × 10 - int16 duty × 1000 + int16 current x 10 + int16 duty x 1000 Total: 8 bytes. """ return struct.pack( @@ -241,9 +232,9 @@ def build_vesc_status( # Frame parsers # --------------------------------------------------------------------------- -def parse_fc_status(data: bytes): +def parse_balance_status(data: bytes): """ - Parse an FC_STATUS (0x400) payload. + Parse a BALANCE_STATUS (0x400) payload. Returns ------- @@ -251,7 +242,7 @@ def parse_fc_status(data: bytes): estop_active (bool), armed (bool) """ if len(data) < 8: - raise ValueError(f"FC_STATUS needs 8 bytes, got {len(data)}") + raise ValueError(f"BALANCE_STATUS needs 8 bytes, got {len(data)}") pitch_x10, motor_cmd, vbat_mv, balance_state, flags = struct.unpack( ">hhHBB", data[:8] ) @@ -266,9 +257,9 @@ def parse_fc_status(data: bytes): } -def parse_fc_vesc(data: bytes): +def parse_balance_vesc(data: bytes): """ - Parse an FC_VESC (0x401) payload. + Parse a BALANCE_VESC (0x401) payload. Returns ------- @@ -276,7 +267,7 @@ def parse_fc_vesc(data: bytes): right_current_x10, left_rpm (float), right_rpm (float) """ if len(data) < 8: - raise ValueError(f"FC_VESC needs 8 bytes, got {len(data)}") + raise ValueError(f"BALANCE_VESC needs 8 bytes, got {len(data)}") left_rpm_x10, right_rpm_x10, left_cur_x10, right_cur_x10 = struct.unpack( ">hhhh", data[:8] ) @@ -312,12 +303,12 @@ def parse_vesc_status(data: bytes): def parse_velocity_cmd(data: bytes) -> Tuple[float, float]: """ - Parse a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian). + Parse a BALANCE_CMD_VELOCITY payload (8 bytes, 2 x float32 big-endian). Returns ------- (left_mps, right_mps) """ if len(data) < 8: - raise ValueError(f"MAMBA_CMD_VELOCITY needs 8 bytes, got {len(data)}") + raise ValueError(f"BALANCE_CMD_VELOCITY needs 8 bytes, got {len(data)}") return struct.unpack(">ff", data[:8]) diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py index 3e63e3d..6e1a662 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py @@ -4,7 +4,7 @@ test_drive_command.py — Integration tests for the drive command path. Tests verify: DRIVE cmd → ESP32-S3 BALANCE receives velocity command frame → mock VESC status response - → FC_VESC broadcast contains correct RPMs. + → BALANCE_VESC broadcast contains correct RPMs. All tests run without real hardware or a running ROS2 system. Run with: python -m pytest test/test_drive_command.py -v @@ -14,19 +14,19 @@ import struct import pytest from saltybot_can_e2e_test.protocol_defs import ( - MAMBA_CMD_VELOCITY, - MAMBA_CMD_MODE, - FC_VESC, + BALANCE_CMD_VELOCITY, + BALANCE_CMD_MODE, + BALANCE_VESC, MODE_DRIVE, MODE_IDLE, VESC_CAN_ID_LEFT, VESC_CAN_ID_RIGHT, VESC_STATUS_ID, build_velocity_cmd, - build_fc_vesc, + build_balance_vesc, build_vesc_status, parse_velocity_cmd, - parse_fc_vesc, + parse_balance_vesc, ) from saltybot_can_bridge.balance_protocol import ( encode_velocity_cmd, @@ -50,8 +50,8 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None: self.data = bytearray(data) self.is_extended_id = False - bus.send(_Msg(MAMBA_CMD_VELOCITY, payload)) - bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE))) + bus.send(_Msg(BALANCE_CMD_VELOCITY, payload)) + bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE))) # --------------------------------------------------------------------------- @@ -62,11 +62,11 @@ class TestDriveForward: def test_drive_forward_velocity_frame_sent(self, mock_can_bus): """ Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32-S3 BALANCE receives - a MAMBA_CMD_VELOCITY frame with correct payload. + a BALANCE_CMD_VELOCITY frame with correct payload. """ _send_drive(mock_can_bus, 1.0, 1.0) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 1, "Expected exactly one velocity command frame" left, right = parse_velocity_cmd(bytes(vel_frames[0].data)) @@ -77,26 +77,26 @@ class TestDriveForward: """After a drive command, a MODE=drive frame must accompany it.""" _send_drive(mock_can_bus, 1.0, 1.0) - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert len(mode_frames) >= 1, "Expected at least one MODE frame" assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE]) def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus): """ - Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct. - (In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts FC_VESC.) - This test checks the FC_VESC frame format and parser. + Simulate BALANCE_VESC broadcast arriving after drive cmd; verify parse is correct. + (In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts BALANCE_VESC.) + This test checks the BALANCE_VESC frame format and parser. """ # Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics) - fc_payload = build_fc_vesc( + fc_payload = build_balance_vesc( left_rpm_x10=300, right_rpm_x10=300, left_current_x10=50, right_current_x10=50, ) - mock_can_bus.inject(FC_VESC, fc_payload) + mock_can_bus.inject(BALANCE_VESC, fc_payload) frame = mock_can_bus.recv(timeout=0.1) - assert frame is not None, "FC_VESC frame not received" - parsed = parse_fc_vesc(bytes(frame.data)) + assert frame is not None, "BALANCE_VESC frame not received" + parsed = parse_balance_vesc(bytes(frame.data)) assert parsed["left_rpm_x10"] == 300 assert parsed["right_rpm_x10"] == 300 assert abs(parsed["left_rpm"] - 3000.0) < 0.1 @@ -109,7 +109,7 @@ class TestDriveTurn: """ _send_drive(mock_can_bus, 0.5, -0.5) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 1 left, right = parse_velocity_cmd(bytes(vel_frames[0].data)) @@ -119,14 +119,14 @@ class TestDriveTurn: assert left > 0 and right < 0 def test_drive_turn_fc_vesc_differential(self, mock_can_bus): - """Simulated FC_VESC for a turn has opposite-sign RPMs.""" - fc_payload = build_fc_vesc( + """Simulated BALANCE_VESC for a turn has opposite-sign RPMs.""" + fc_payload = build_balance_vesc( left_rpm_x10=150, right_rpm_x10=-150, left_current_x10=30, right_current_x10=30, ) - mock_can_bus.inject(FC_VESC, fc_payload) + mock_can_bus.inject(BALANCE_VESC, fc_payload) frame = mock_can_bus.recv(timeout=0.1) - parsed = parse_fc_vesc(bytes(frame.data)) + parsed = parse_balance_vesc(bytes(frame.data)) assert parsed["left_rpm_x10"] > 0 assert parsed["right_rpm_x10"] < 0 @@ -142,7 +142,7 @@ class TestDriveZero: _send_drive(mock_can_bus, 0.0, 0.0) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 1 left, right = parse_velocity_cmd(bytes(vel_frames[0].data)) assert abs(left) < 1e-5, "Left motor not stopped" @@ -156,7 +156,7 @@ class TestDriveCmdTimeout: zero velocity is sent. We test the encoding directly (without timers). """ # The watchdog in CanBridgeNode calls encode_velocity_cmd(0.0, 0.0) and - # sends it on MAMBA_CMD_VELOCITY. Replicate that here. + # sends it on BALANCE_CMD_VELOCITY. Replicate that here. zero_payload = encode_velocity_cmd(0.0, 0.0) class _Msg: @@ -165,16 +165,16 @@ class TestDriveCmdTimeout: self.data = bytearray(data) self.is_extended_id = False - mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, zero_payload)) - mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE))) + mock_can_bus.send(_Msg(BALANCE_CMD_VELOCITY, zero_payload)) + mock_can_bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE))) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 1 left, right = parse_velocity_cmd(bytes(vel_frames[0].data)) assert abs(left) < 1e-5 assert abs(right) < 1e-5 - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert len(mode_frames) == 1 assert bytes(mode_frames[0].data) == bytes([MODE_IDLE]) diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py index 746840f..9722135 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py @@ -6,7 +6,7 @@ Covers: - ESTOP command halts motors immediately - ESTOP persists: DRIVE commands ignored while ESTOP is active - ESTOP clear restores normal drive operation - - Firmware-side estop via FC_STATUS flags is detected correctly + - Firmware-side estop via BALANCE_STATUS flags is detected correctly No ROS2 or real CAN hardware required. Run with: python -m pytest test/test_estop.py -v @@ -17,20 +17,20 @@ import pytest from saltybot_can_e2e_test.can_mock import MockCANBus from saltybot_can_e2e_test.protocol_defs import ( - MAMBA_CMD_VELOCITY, - MAMBA_CMD_MODE, - MAMBA_CMD_ESTOP, + BALANCE_CMD_VELOCITY, + BALANCE_CMD_MODE, + BALANCE_CMD_ESTOP, ORIN_CMD_ESTOP, - FC_STATUS, + BALANCE_STATUS, MODE_IDLE, MODE_DRIVE, MODE_ESTOP, build_estop_cmd, build_mode_cmd, build_velocity_cmd, - build_fc_status, + build_balance_status, parse_velocity_cmd, - parse_fc_status, + parse_balance_status, ) from saltybot_can_bridge.balance_protocol import ( encode_velocity_cmd, @@ -68,16 +68,16 @@ class EstopStateMachine: """Send ESTOP and transition to estop mode.""" self._estop_active = True self._mode = MODE_ESTOP - self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0))) - self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP))) - self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True))) + self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0))) + self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP))) + self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True))) def clear_estop(self) -> None: """Clear ESTOP and return to IDLE mode.""" self._estop_active = False self._mode = MODE_IDLE - self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False))) - self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE))) + self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(False))) + self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_IDLE))) def send_drive(self, left_mps: float, right_mps: float) -> None: """Send velocity command only if ESTOP is not active.""" @@ -85,8 +85,8 @@ class EstopStateMachine: # Bridge silently drops commands while estopped return self._mode = MODE_DRIVE - self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps))) - self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE))) + self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps))) + self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE))) @property def estop_active(self) -> bool: @@ -105,7 +105,7 @@ class TestEstopHaltsMotors: sm = EstopStateMachine(mock_can_bus) sm.assert_estop() - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) >= 1, "No velocity frame after ESTOP" l, r = parse_velocity_cmd(bytes(vel_frames[-1].data)) assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP" @@ -116,17 +116,17 @@ class TestEstopHaltsMotors: sm = EstopStateMachine(mock_can_bus) sm.assert_estop() - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert any( bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames ), "MODE=ESTOP not found in sent frames" def test_estop_flag_byte_is_0x01(self, mock_can_bus): - """MAMBA_CMD_ESTOP payload must be 0x01 when asserting e-stop.""" + """BALANCE_CMD_ESTOP payload must be 0x01 when asserting e-stop.""" sm = EstopStateMachine(mock_can_bus) sm.assert_estop() - estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP) + estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP) assert len(estop_frames) >= 1 assert bytes(estop_frames[-1].data) == b"\x01", \ f"ESTOP payload {estop_frames[-1].data!r} != 0x01" @@ -143,7 +143,7 @@ class TestEstopPersists: sm.send_drive(1.0, 1.0) # should be suppressed - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 0, \ "Velocity command was forwarded while ESTOP is active" @@ -158,7 +158,7 @@ class TestEstopPersists: sm.send_drive(0.5, 0.5) # No mode frames should have been emitted (drive was suppressed) - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert all( bytes(f.data) != bytes([MODE_DRIVE]) for f in mode_frames ), "MODE=DRIVE was set despite active ESTOP" @@ -174,19 +174,19 @@ class TestEstopClear: sm.send_drive(0.8, 0.8) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 1, "Velocity command not sent after ESTOP clear" l, r = parse_velocity_cmd(bytes(vel_frames[0].data)) assert abs(l - 0.8) < 1e-4 assert abs(r - 0.8) < 1e-4 def test_estop_clear_flag_byte_is_0x00(self, mock_can_bus): - """MAMBA_CMD_ESTOP payload must be 0x00 when clearing e-stop.""" + """BALANCE_CMD_ESTOP payload must be 0x00 when clearing e-stop.""" sm = EstopStateMachine(mock_can_bus) sm.assert_estop() sm.clear_estop() - estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP) + estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP) assert len(estop_frames) >= 2 # Last ESTOP frame should be the clear assert bytes(estop_frames[-1].data) == b"\x00", \ @@ -198,7 +198,7 @@ class TestEstopClear: sm.assert_estop() sm.clear_estop() - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) last_mode = bytes(mode_frames[-1].data) assert last_mode == bytes([MODE_IDLE]), \ f"Mode after ESTOP clear is {last_mode!r}, expected MODE_IDLE" @@ -207,55 +207,55 @@ class TestEstopClear: class TestFirmwareSideEstop: def test_fc_status_estop_flag_detected(self, mock_can_bus): """ - Simulate firmware sending estop via FC_STATUS flags (bit0=estop_active). + Simulate firmware sending estop via BALANCE_STATUS flags (bit0=estop_active). Verify the Orin bridge side correctly parses the flag. """ - # Build FC_STATUS with estop_active bit set (flags=0x01) - payload = build_fc_status( + # Build BALANCE_STATUS with estop_active bit set (flags=0x01) + payload = build_balance_status( pitch_x10=0, motor_cmd=0, vbat_mv=24000, balance_state=2, # TILT_FAULT flags=0x01, # bit0 = estop_active ) - mock_can_bus.inject(FC_STATUS, payload) + mock_can_bus.inject(BALANCE_STATUS, payload) frame = mock_can_bus.recv(timeout=0.1) - assert frame is not None, "FC_STATUS frame not received" - parsed = parse_fc_status(bytes(frame.data)) + assert frame is not None, "BALANCE_STATUS frame not received" + parsed = parse_balance_status(bytes(frame.data)) assert parsed["estop_active"] is True, \ - "estop_active flag not set in FC_STATUS" + "estop_active flag not set in BALANCE_STATUS" assert parsed["balance_state"] == 2 def test_fc_status_no_estop_flag(self, mock_can_bus): - """FC_STATUS with flags=0x00 must NOT set estop_active.""" - payload = build_fc_status(flags=0x00) - mock_can_bus.inject(FC_STATUS, payload) + """BALANCE_STATUS with flags=0x00 must NOT set estop_active.""" + payload = build_balance_status(flags=0x00) + mock_can_bus.inject(BALANCE_STATUS, payload) frame = mock_can_bus.recv(timeout=0.1) - parsed = parse_fc_status(bytes(frame.data)) + parsed = parse_balance_status(bytes(frame.data)) assert parsed["estop_active"] is False def test_fc_status_armed_flag_detected(self, mock_can_bus): - """FC_STATUS flags bit1=armed must parse correctly.""" - payload = build_fc_status(flags=0x02) # bit1 = armed - mock_can_bus.inject(FC_STATUS, payload) + """BALANCE_STATUS flags bit1=armed must parse correctly.""" + payload = build_balance_status(flags=0x02) # bit1 = armed + mock_can_bus.inject(BALANCE_STATUS, payload) frame = mock_can_bus.recv(timeout=0.1) - parsed = parse_fc_status(bytes(frame.data)) + parsed = parse_balance_status(bytes(frame.data)) assert parsed["armed"] is True assert parsed["estop_active"] is False def test_fc_status_roundtrip(self, mock_can_bus): - """build_fc_status → inject → recv → parse_fc_status must be identity.""" - payload = build_fc_status( + """build_balance_status → inject → recv → parse_balance_status must be identity.""" + payload = build_balance_status( pitch_x10=150, motor_cmd=-200, vbat_mv=23800, balance_state=1, flags=0x03, ) - mock_can_bus.inject(FC_STATUS, payload) + mock_can_bus.inject(BALANCE_STATUS, payload) frame = mock_can_bus.recv(timeout=0.1) - parsed = parse_fc_status(bytes(frame.data)) + parsed = parse_balance_status(bytes(frame.data)) assert parsed["pitch_x10"] == 150 assert parsed["motor_cmd"] == -200 assert parsed["vbat_mv"] == 23800 diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py index 8070fd0..833ac61 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py @@ -1,11 +1,11 @@ #!/usr/bin/env python3 """ -test_fc_vesc_broadcast.py — FC_VESC broadcast and VESC STATUS integration tests. +test_fc_vesc_broadcast.py — BALANCE_VESC broadcast and VESC STATUS integration tests. Covers: - - VESC STATUS extended frame for left VESC (ID 56) triggers FC_VESC broadcast - - Both left (56) and right (68) VESC STATUS combined in FC_VESC - - FC_VESC broadcast rate (~10 Hz) + - VESC STATUS extended frame for left VESC (ID 56) triggers BALANCE_VESC broadcast + - Both left (56) and right (68) VESC STATUS combined in BALANCE_VESC + - BALANCE_VESC broadcast rate (~10 Hz) - current_x10 scaling matches protocol spec No ROS2 or real CAN hardware required. @@ -19,15 +19,15 @@ import pytest from saltybot_can_e2e_test.can_mock import MockCANBus from saltybot_can_e2e_test.protocol_defs import ( - FC_VESC, + BALANCE_VESC, VESC_CAN_ID_LEFT, VESC_CAN_ID_RIGHT, VESC_STATUS_ID, VESC_SET_RPM_ID, VESC_TELEM_STATE, build_vesc_status, - build_fc_vesc, - parse_fc_vesc, + build_balance_vesc, + parse_balance_vesc, parse_vesc_status, ) from saltybot_can_bridge.balance_protocol import ( @@ -44,8 +44,8 @@ class VescStatusAggregator: """ Simulates the firmware logic that: 1. Receives VESC STATUS extended frames from left/right VESCs - 2. Builds an FC_VESC broadcast payload - 3. Injects the FC_VESC frame onto the mock bus + 2. Builds an BALANCE_VESC broadcast payload + 3. Injects the BALANCE_VESC frame onto the mock bus This represents the ESP32-S3 BALANCE → Orin telemetry path. """ @@ -62,7 +62,7 @@ class VescStatusAggregator: def process_vesc_status(self, arb_id: int, data: bytes) -> None: """ Process an incoming VESC STATUS frame (extended 29-bit ID). - Updates internal state; broadcasts FC_VESC when at least one side is known. + Updates internal state; broadcasts BALANCE_VESC when at least one side is known. """ node_id = arb_id & 0xFF parsed = parse_vesc_status(data) @@ -77,17 +77,17 @@ class VescStatusAggregator: self._right_current_x10 = parsed["current_x10"] self._right_seen = True - # Broadcast FC_VESC whenever we receive any update + # Broadcast BALANCE_VESC whenever we receive any update self._broadcast_fc_vesc() def _broadcast_fc_vesc(self) -> None: - payload = build_fc_vesc( + payload = build_balance_vesc( left_rpm_x10=self._left_rpm_x10, right_rpm_x10=self._right_rpm_x10, left_current_x10=self._left_current_x10, right_current_x10=self._right_current_x10, ) - self._bus.inject(FC_VESC, payload) + self._bus.inject(BALANCE_VESC, payload) def _inject_vesc_status(bus: MockCANBus, vesc_id: int, rpm: int, @@ -105,7 +105,7 @@ def _inject_vesc_status(bus: MockCANBus, vesc_id: int, rpm: int, class TestVescStatusToFcVesc: def test_left_vesc_status_triggers_broadcast(self, mock_can_bus): """ - Inject VESC STATUS for left VESC (ID 56) → verify FC_VESC contains + Inject VESC STATUS for left VESC (ID 56) → verify BALANCE_VESC contains the correct left RPM (rpm / 10). """ agg = VescStatusAggregator(mock_can_bus) @@ -116,14 +116,14 @@ class TestVescStatusToFcVesc: agg.process_vesc_status(arb_id, payload) frame = mock_can_bus.recv(timeout=0.1) - assert frame is not None, "No FC_VESC broadcast after left VESC STATUS" - parsed = parse_fc_vesc(bytes(frame.data)) + assert frame is not None, "No BALANCE_VESC broadcast after left VESC STATUS" + parsed = parse_balance_vesc(bytes(frame.data)) assert parsed["left_rpm_x10"] == 300, \ f"left_rpm_x10 {parsed['left_rpm_x10']} != 300" assert abs(parsed["left_rpm"] - 3000.0) < 1.0 def test_right_vesc_status_triggers_broadcast(self, mock_can_bus): - """Inject VESC STATUS for right VESC (ID 68) → verify right RPM in FC_VESC.""" + """Inject VESC STATUS for right VESC (ID 68) → verify right RPM in BALANCE_VESC.""" agg = VescStatusAggregator(mock_can_bus) arb_id = VESC_STATUS_ID(VESC_CAN_ID_RIGHT) @@ -132,7 +132,7 @@ class TestVescStatusToFcVesc: frame = mock_can_bus.recv(timeout=0.1) assert frame is not None - parsed = parse_fc_vesc(bytes(frame.data)) + parsed = parse_balance_vesc(bytes(frame.data)) assert parsed["right_rpm_x10"] == 200 def test_left_vesc_id_matches_constant(self): @@ -150,7 +150,7 @@ class TestBothVescStatusCombined: def test_both_vesc_status_combined_in_fc_vesc(self, mock_can_bus): """ Inject both left (56) and right (68) VESC STATUS frames. - Final FC_VESC must contain both RPMs. + Final BALANCE_VESC must contain both RPMs. """ agg = VescStatusAggregator(mock_can_bus) @@ -165,7 +165,7 @@ class TestBothVescStatusCombined: build_vesc_status(rpm=-1500, current_x10=30), ) - # Drain two FC_VESC frames (one per update), check the latest + # Drain two BALANCE_VESC frames (one per update), check the latest frames = [] while True: f = mock_can_bus.recv(timeout=0.05) @@ -173,16 +173,16 @@ class TestBothVescStatusCombined: break frames.append(f) - assert len(frames) >= 2, "Expected at least 2 FC_VESC frames" + assert len(frames) >= 2, "Expected at least 2 BALANCE_VESC frames" # Last frame must have both sides - last = parse_fc_vesc(bytes(frames[-1].data)) + last = parse_balance_vesc(bytes(frames[-1].data)) assert last["left_rpm_x10"] == 300, \ f"left_rpm_x10 {last['left_rpm_x10']} != 300" assert last["right_rpm_x10"] == -150, \ f"right_rpm_x10 {last['right_rpm_x10']} != -150" def test_both_vesc_currents_combined(self, mock_can_bus): - """Both current values must appear in FC_VESC after two STATUS frames.""" + """Both current values must appear in BALANCE_VESC after two STATUS frames.""" agg = VescStatusAggregator(mock_can_bus) agg.process_vesc_status( VESC_STATUS_ID(VESC_CAN_ID_LEFT), @@ -198,7 +198,7 @@ class TestBothVescStatusCombined: if f is None: break frames.append(f) - last = parse_fc_vesc(bytes(frames[-1].data)) + last = parse_balance_vesc(bytes(frames[-1].data)) assert last["left_current_x10"] == 55 assert last["right_current_x10"] == 42 @@ -206,11 +206,11 @@ class TestBothVescStatusCombined: class TestVescBroadcastRate: def test_fc_vesc_broadcast_at_10hz(self, mock_can_bus): """ - Simulate FC_VESC broadcasts at ~10 Hz and verify the rate. + Simulate BALANCE_VESC broadcasts at ~10 Hz and verify the rate. We inject 12 frames over ~120 ms, then verify count and average interval. """ - _FC_VESC_HZ = 10 - _interval = 1.0 / _FC_VESC_HZ + _BALANCE_VESC_HZ = 10 + _interval = 1.0 / _BALANCE_VESC_HZ timestamps = [] stop_event = threading.Event() @@ -219,8 +219,8 @@ class TestVescBroadcastRate: while not stop_event.is_set(): t = time.monotonic() mock_can_bus.inject( - FC_VESC, - build_fc_vesc(100, -100, 30, 30), + BALANCE_VESC, + build_balance_vesc(100, -100, 30, 30), timestamp=t, ) timestamps.append(t) @@ -232,18 +232,18 @@ class TestVescBroadcastRate: stop_event.set() t.join(timeout=0.2) - assert len(timestamps) >= 1, "No FC_VESC broadcasts in 150 ms window" + assert len(timestamps) >= 1, "No BALANCE_VESC broadcasts in 150 ms window" if len(timestamps) >= 2: intervals = [timestamps[i+1] - timestamps[i] for i in range(len(timestamps)-1)] avg = sum(intervals) / len(intervals) # ±40 ms tolerance for OS scheduling assert 0.06 <= avg <= 0.14, \ - f"FC_VESC broadcast interval {avg*1000:.1f} ms not ~100 ms" + f"BALANCE_VESC broadcast interval {avg*1000:.1f} ms not ~100 ms" def test_fc_vesc_frame_is_8_bytes(self): - """FC_VESC payload must always be exactly 8 bytes.""" - payload = build_fc_vesc(300, -150, 55, 42) + """BALANCE_VESC payload must always be exactly 8 bytes.""" + payload = build_balance_vesc(300, -150, 55, 42) assert len(payload) == 8 @@ -267,16 +267,16 @@ class TestVescCurrentScaling: assert abs(parsed["current"] - (-3.0)) < 0.01 def test_fc_vesc_current_x10_roundtrip(self, mock_can_bus): - """build_fc_vesc → inject → recv → parse must preserve current_x10.""" - payload = build_fc_vesc( + """build_balance_vesc → inject → recv → parse must preserve current_x10.""" + payload = build_balance_vesc( left_rpm_x10=200, right_rpm_x10=200, left_current_x10=55, right_current_x10=42, ) - mock_can_bus.inject(FC_VESC, payload) + mock_can_bus.inject(BALANCE_VESC, payload) frame = mock_can_bus.recv(timeout=0.1) - parsed = parse_fc_vesc(bytes(frame.data)) + parsed = parse_balance_vesc(bytes(frame.data)) assert parsed["left_current_x10"] == 55 assert parsed["right_current_x10"] == 42 @@ -306,7 +306,7 @@ class TestVescCurrentScaling: ) frame = mock_can_bus.recv(timeout=0.05) assert frame is not None - parsed = parse_fc_vesc(bytes(frame.data)) + parsed = parse_balance_vesc(bytes(frame.data)) if vesc_id == VESC_CAN_ID_LEFT: assert parsed["left_rpm_x10"] == expected_rpm_x10, \ f"left_rpm_x10={parsed['left_rpm_x10']} expected {expected_rpm_x10}" diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py index 726921d..f622675 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py @@ -21,9 +21,9 @@ from saltybot_can_e2e_test.protocol_defs import ( ORIN_CMD_HEARTBEAT, ORIN_CMD_ESTOP, ORIN_CMD_MODE, - MAMBA_CMD_VELOCITY, - MAMBA_CMD_MODE, - MAMBA_CMD_ESTOP, + BALANCE_CMD_VELOCITY, + BALANCE_CMD_MODE, + BALANCE_CMD_ESTOP, MODE_IDLE, MODE_DRIVE, MODE_ESTOP, @@ -100,9 +100,9 @@ def _simulate_estop_on_timeout(bus: MockCANBus) -> None: self.data = bytearray(data) self.is_extended_id = False - bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0))) - bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP))) - bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True))) + bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0))) + bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_ESTOP))) + bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True))) # --------------------------------------------------------------------------- @@ -121,25 +121,25 @@ class TestHeartbeatLoss: # Simulate bridge detecting timeout and escalating _simulate_estop_on_timeout(mock_can_bus) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) >= 1, "Zero velocity not sent after timeout" l, r = parse_velocity_cmd(bytes(vel_frames[-1].data)) assert abs(l) < 1e-5, "Left not zero on timeout" assert abs(r) < 1e-5, "Right not zero on timeout" - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert any( bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames ), "ESTOP mode not asserted on heartbeat timeout" - estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP) + estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP) assert len(estop_frames) >= 1, "ESTOP command not sent" assert bytes(estop_frames[0].data) == b"\x01" def test_heartbeat_loss_zero_velocity(self, mock_can_bus): """Zero velocity frame must appear among sent frames after timeout.""" _simulate_estop_on_timeout(mock_can_bus) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) >= 1 for f in vel_frames: l, r = parse_velocity_cmd(bytes(f.data)) @@ -165,20 +165,20 @@ class TestHeartbeatRecovery: mock_can_bus.reset() # Phase 2: recovery — clear estop, restore drive mode - mock_can_bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(False))) - mock_can_bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE))) - mock_can_bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.5, 0.5))) + mock_can_bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(False))) + mock_can_bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(MODE_DRIVE))) + mock_can_bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.5, 0.5))) - estop_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_ESTOP) + estop_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_ESTOP) assert any(bytes(f.data) == b"\x00" for f in estop_frames), \ "ESTOP clear not sent on recovery" - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert any( bytes(f.data) == bytes([MODE_DRIVE]) for f in mode_frames ), "DRIVE mode not restored after recovery" - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) >= 1 l, r = parse_velocity_cmd(bytes(vel_frames[-1].data)) assert abs(l - 0.5) < 1e-4 diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py index 9e8da58..1f8e8b5 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py @@ -17,9 +17,9 @@ import pytest from saltybot_can_e2e_test.can_mock import MockCANBus from saltybot_can_e2e_test.protocol_defs import ( - MAMBA_CMD_VELOCITY, - MAMBA_CMD_MODE, - MAMBA_CMD_ESTOP, + BALANCE_CMD_VELOCITY, + BALANCE_CMD_MODE, + BALANCE_CMD_ESTOP, MODE_IDLE, MODE_DRIVE, MODE_ESTOP, @@ -64,12 +64,12 @@ class ModeStateMachine: prev_mode = self._mode self._mode = mode - self._bus.send(_Msg(MAMBA_CMD_MODE, encode_mode_cmd(mode))) + self._bus.send(_Msg(BALANCE_CMD_MODE, encode_mode_cmd(mode))) # Side-effects of entering ESTOP from DRIVE if mode == MODE_ESTOP and prev_mode == MODE_DRIVE: - self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0))) - self._bus.send(_Msg(MAMBA_CMD_ESTOP, encode_estop_cmd(True))) + self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(0.0, 0.0))) + self._bus.send(_Msg(BALANCE_CMD_ESTOP, encode_estop_cmd(True))) return True @@ -79,7 +79,7 @@ class ModeStateMachine: """ if self._mode != MODE_DRIVE: return False - self._bus.send(_Msg(MAMBA_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps))) + self._bus.send(_Msg(BALANCE_CMD_VELOCITY, encode_velocity_cmd(left_mps, right_mps))) return True @property @@ -97,7 +97,7 @@ class TestIdleToDrive: sm = ModeStateMachine(mock_can_bus) sm.set_mode(MODE_DRIVE) - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert len(mode_frames) == 1 assert bytes(mode_frames[0].data) == bytes([MODE_DRIVE]) @@ -108,7 +108,7 @@ class TestIdleToDrive: forwarded = sm.send_drive(1.0, 1.0) assert forwarded is False, "Drive cmd should be blocked in IDLE mode" - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 0 def test_drive_mode_allows_commands(self, mock_can_bus): @@ -120,7 +120,7 @@ class TestIdleToDrive: forwarded = sm.send_drive(0.5, 0.5) assert forwarded is True - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 1 l, r = parse_velocity_cmd(bytes(vel_frames[0].data)) assert abs(l - 0.5) < 1e-4 @@ -137,7 +137,7 @@ class TestDriveToEstop: sm.set_mode(MODE_ESTOP) - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) >= 1, "No velocity frame on DRIVE→ESTOP transition" l, r = parse_velocity_cmd(bytes(vel_frames[-1].data)) assert abs(l) < 1e-5, f"Left motor {l} not zero after ESTOP" @@ -149,7 +149,7 @@ class TestDriveToEstop: sm.set_mode(MODE_DRIVE) sm.set_mode(MODE_ESTOP) - mode_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_MODE) + mode_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_MODE) assert any(bytes(f.data) == bytes([MODE_ESTOP]) for f in mode_frames) def test_estop_blocks_subsequent_drive(self, mock_can_bus): @@ -162,7 +162,7 @@ class TestDriveToEstop: forwarded = sm.send_drive(1.0, 1.0) assert forwarded is False - vel_frames = mock_can_bus.get_sent_frames_by_id(MAMBA_CMD_VELOCITY) + vel_frames = mock_can_bus.get_sent_frames_by_id(BALANCE_CMD_VELOCITY) assert len(vel_frames) == 0 diff --git a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml index ee4d9a8..17586cd 100644 --- a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml +++ b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml @@ -27,12 +27,7 @@ robot: stem_od: 0.0381 # m STEM_OD = 38.1mm stem_height: 1.050 # m nominal cut length -<<<<<<< HEAD - # ── FC / IMU (ESP32 BALANCE) ────────────────────────────────────────────────── -======= - # ── FC / IMU (ESP32-S3 BALANCE) ────────────────────────────────────────────────── ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105) + # ── FC / IMU (ESP32-S3 BALANCE) ────────────────────────────────────────────────── # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105) # z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm imu_x: 0.050 # m forward of base_link center imu_y: 0.000 # m diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/README.md b/jetson/ros2_ws/src/saltybot_diagnostics/README.md index ea989a8..3aed383 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/README.md +++ b/jetson/ros2_ws/src/saltybot_diagnostics/README.md @@ -5,12 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot. ## Features ### Startup Checks -<<<<<<< HEAD -- RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos -======= -- RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -- WiFi, GPS, disk space, RAM +- RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos- WiFi, GPS, disk space, RAM - Boot result TTS + face animation - JSON logging diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py index cbb056d..c3550c1 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py +++ b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py @@ -138,12 +138,7 @@ class DiagnosticsNode(Node): self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {}) def _check_stm32(self): -<<<<<<< HEAD - self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {}) -======= self.hardware_checks["stm32"] = ("OK", "ESP32-S3 bridge online", {}) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - def _check_servos(self): try: result = subprocess.run(["i2cdetect", "-y", "1"], capture_output=True, text=True, timeout=2) diff --git a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml index 95c9614..ad11170 100644 --- a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml +++ b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml @@ -7,12 +7,7 @@ # ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2 # # IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46) -<<<<<<< HEAD -# applies the ESC ramp, deadman switch, and ESP32 BALANCE AUTONOMOUS mode gate. -======= -# applies the ESC ramp, deadman switch, and ESP32-S3 AUTONOMOUS mode gate. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# Do not run this node without the cmd_vel bridge running on the same robot. +# applies the ESC ramp, deadman switch, and ESP32-S3 AUTONOMOUS mode gate.# Do not run this node without the cmd_vel bridge running on the same robot. # ── Follow geometry ──────────────────────────────────────────────────────────── # The target distance to maintain behind the person (metres). @@ -74,9 +69,4 @@ control_rate: 20.0 # Hz — lower than cmd_vel bridge (50Hz) by desig # ── Mode integration ────────────────────────────────────────────────────────── # Master enable for the follow controller. When false, node publishes zero cmd_vel. # Toggle at runtime: ros2 param set /person_follower follow_enabled false -<<<<<<< HEAD -# The cmd_vel bridge independently gates on ESP32 BALANCE AUTONOMOUS mode (md=2). -======= -# The cmd_vel bridge independently gates on ESP32-S3 AUTONOMOUS mode (md=2). ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -follow_enabled: true +# The cmd_vel bridge independently gates on ESP32-S3 AUTONOMOUS mode (md=2).follow_enabled: true diff --git a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py index 515a3c7..f255aa2 100644 --- a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py +++ b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py @@ -28,12 +28,7 @@ State machine Safety wiring ------------- -<<<<<<< HEAD - * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32 BALANCE AUTONOMOUS mode gate -- -======= - * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32-S3 AUTONOMOUS mode gate -- ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - this node publishes raw /cmd_vel, the bridge handles hardware safety. + * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32-S3 AUTONOMOUS mode gate -- this node publishes raw /cmd_vel, the bridge handles hardware safety. * follow_enabled param (default True) lets the operator disable the controller at runtime: ros2 param set /person_follower follow_enabled false * Obstacle override: if Nav2 local costmap shows a lethal cell in the forward diff --git a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml index d22012c..efff357 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml +++ b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml @@ -1,11 +1,6 @@ gimbal_node: ros__parameters: -<<<<<<< HEAD - # Serial port connecting to ESP32 BALANCE over JLINK protocol -======= - # Serial port connecting to ESP32-S3 over JLINK protocol ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - serial_port: "/dev/ttyTHS1" + # Serial port connecting to ESP32-S3 over JLINK protocol serial_port: "/dev/ttyTHS1" baud_rate: 921600 # Soft angle limits (degrees, ± from center) diff --git a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py index 36adc70..5b9dbcc 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py @@ -14,12 +14,7 @@ def generate_launch_description() -> LaunchDescription: serial_port_arg = DeclareLaunchArgument( "serial_port", default_value="/dev/ttyTHS1", -<<<<<<< HEAD - description="JLINK serial port to ESP32 BALANCE", -======= - description="JLINK serial port to ESP32-S3", ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ) + description="JLINK serial port to ESP32-S3", ) pan_limit_arg = DeclareLaunchArgument( "pan_limit_deg", default_value="150.0", diff --git a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py index 24d1ce7..ee2a56e 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py @@ -1,12 +1,7 @@ #!/usr/bin/env python3 """gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548). -<<<<<<< HEAD -Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32 BALANCE. -======= -Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32-S3. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -Implements smooth trapezoidal motion profiles with configurable axis limits. +Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32-S3.Implements smooth trapezoidal motion profiles with configurable axis limits. Subscribed topics: /saltybot/gimbal/cmd (geometry_msgs/Vector3) x=pan_deg, y=tilt_deg, z=speed_deg_s diff --git a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py index 9013d1c..3018e27 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py @@ -1,25 +1,13 @@ """jlink_gimbal.py — JLINK binary frame codec for gimbal commands (Issue #548). -<<<<<<< HEAD -Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32 side). - -Command type (Jetson → ESP32 BALANCE): -======= Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32-S3 side). -Command type (Jetson → ESP32-S3): ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - 0x0B GIMBAL_POS — int16 pan_x10 + int16 tilt_x10 + uint16 speed (6 bytes) +Command type (Jetson → ESP32-S3): 0x0B GIMBAL_POS — int16 pan_x10 + int16 tilt_x10 + uint16 speed (6 bytes) pan_x10 = pan_deg * 10 (±1500 for ±150°) tilt_x10 = tilt_deg * 10 (±450 for ±45°) speed = servo speed register 0–4095 (0 = max) -<<<<<<< HEAD -Telemetry type (ESP32 BALANCE → Jetson): -======= -Telemetry type (ESP32-S3 → Jetson): ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - 0x84 GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 + +Telemetry type (ESP32-S3 → Jetson): 0x84 GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 + uint16 pan_speed_raw + uint16 tilt_speed_raw + uint8 torque_en + uint8 rx_err_pct (10 bytes) @@ -41,14 +29,8 @@ ETX = 0x03 # ── Command / telemetry type codes ───────────────────────────────────────────── -<<<<<<< HEAD -CMD_GIMBAL_POS = 0x0B # Jetson → ESP32 BALANCE: set pan/tilt target -TLM_GIMBAL_STATE = 0x84 # ESP32 BALANCE → Jetson: measured state -======= CMD_GIMBAL_POS = 0x0B # Jetson → ESP32-S3: set pan/tilt target TLM_GIMBAL_STATE = 0x84 # ESP32-S3 → Jetson: measured state ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # Speed register: 0 = maximum servo speed; 4095 = slowest non-zero speed. # Map deg/s to this register: speed_reg = max(0, 4095 - int(deg_s * 4095 / 360)) _MAX_SPEED_DEGS = 360.0 # degrees/sec at speed_reg=0 diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml index 301252f..3532469 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml +++ b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml @@ -5,12 +5,7 @@ # # Topic wiring: # /rc/joy → mode_switch_node (CRSF channels) -<<<<<<< HEAD -# /saltybot/balance_state → mode_switch_node (ESP32 BALANCE state) -======= -# /saltybot/balance_state → mode_switch_node (ESP32-S3 state) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix) +# /saltybot/balance_state → mode_switch_node (ESP32-S3 state)# /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix) # /saltybot/control_mode ← mode_switch_node (JSON mode + alpha) # /saltybot/led_pattern ← mode_switch_node (LED name) # diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py index b3c6f16..392e06a 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py @@ -13,12 +13,7 @@ Topic graph In RC mode (blend_alpha ≈ 0) the node publishes Twist(0,0) so the bridge receives zeros — this is harmless because the bridge's mode gate already -<<<<<<< HEAD -prevents autonomous commands when the ESP32 BALANCE is in RC_MANUAL. -======= prevents autonomous commands when the ESP32-S3 is in RC_MANUAL. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - The bridge's existing ESC ramp handles hardware-level smoothing; the blend_alpha here provides the higher-level cmd_vel policy ramp. diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py index dbf106a..59b7d7d 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py @@ -6,16 +6,9 @@ state machine can be exercised in unit tests without a ROS2 runtime. Mode vocabulary --------------- -<<<<<<< HEAD - "RC" — ESP32 BALANCE executing RC pilot commands; Jetson cmd_vel blocked. - "RAMP_TO_AUTO" — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s. - "AUTO" — ESP32 BALANCE executing Jetson cmd_vel; RC sticks idle. -======= "RC" — ESP32-S3 executing RC pilot commands; Jetson cmd_vel blocked. "RAMP_TO_AUTO" — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s. - "AUTO" — ESP32-S3 executing Jetson cmd_vel; RC sticks idle. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - "RAMP_TO_RC" — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s. + "AUTO" — ESP32-S3 executing Jetson cmd_vel; RC sticks idle. "RAMP_TO_RC" — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s. Blend alpha ----------- diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py index 16cd5d3..bce5ca2 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py @@ -9,12 +9,7 @@ Inputs axes[stick_axes...] Roll/Pitch/Throttle/Yaw — override detection /saltybot/balance_state (std_msgs/String JSON) -<<<<<<< HEAD - Parsed for RC link health (field "rc_link") and ESP32 BALANCE mode. -======= Parsed for RC link health (field "rc_link") and ESP32-S3 mode. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - (geometry_msgs/PoseWithCovarianceStamped) Any message received within slam_fix_timeout_s → SLAM fix valid. diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml index 124ab3b..d827c72 100644 --- a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml @@ -1,14 +1,8 @@ vesc_can_odometry: ros__parameters: # ── CAN motor IDs (used for CAN addressing) ─────────────────────────────── -<<<<<<< HEAD - left_can_id: 56 # left motor VESC CAN ID (ESP32 BALANCE) - right_can_id: 68 # right motor VESC CAN ID (ESP32 BALANCE) -======= left_can_id: 56 # left motor VESC CAN ID (ESP32-S3 BALANCE) right_can_id: 68 # right motor VESC CAN ID (ESP32-S3 BALANCE) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # ── State topic names (must match VESC telemetry publisher) ────────────── left_state_topic: /vesc/left/state right_state_topic: /vesc/right/state diff --git a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml index 2fe1c6e..a83dff1 100644 --- a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml +++ b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml @@ -12,12 +12,7 @@ # Hardware: # IMU: RealSense D435i BMI055 → /imu/data # GPS: SIM7600X cellular → /gps/fix (±2.5 m CEP) -<<<<<<< HEAD -# Odom: ESP32 BALANCE wheel encoders → /odom -======= -# Odom: ESP32-S3 wheel encoders → /odom ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# RTK: ZED-F9P (optional) → /gps/fix (±2 cm CEP when use_rtk: true) +# Odom: ESP32-S3 wheel encoders → /odom# RTK: ZED-F9P (optional) → /gps/fix (±2 cm CEP when use_rtk: true) # ── Local EKF: fuses wheel odometry + IMU in odom frame ────────────────────── ekf_filter_node_odom: diff --git a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py index 0622aec..9135a03 100644 --- a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py +++ b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py @@ -71,12 +71,7 @@ class ParameterServer(Node): defs = { 'hardware': { 'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string', -<<<<<<< HEAD - 'hardware', description='ESP32 bridge serial port'), -======= - 'hardware', description='ESP32-S3 bridge serial port'), ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - 'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware', + 'hardware', description='ESP32-S3 bridge serial port'), 'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware', min_val=9600, max_val=3000000, description='Serial baud rate'), 'timeout': ParamInfo('timeout', 0.05, 'float', 'hardware', diff --git a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py index d62abe7..75fb8f6 100644 --- a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py +++ b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py @@ -370,12 +370,7 @@ class PIDAutotuneNode(Node): ser.write(frame_set) time.sleep(0.05) # allow FC to process PID_SET ser.write(frame_save) -<<<<<<< HEAD - # Flash erase takes ~1s on ESP32; wait for it -======= - # Flash erase takes ~1s on ESP32-S3; wait for it ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - time.sleep(1.5) + # Flash erase takes ~1s on ESP32-S3; wait for it time.sleep(1.5) self.get_logger().info( f"Sent PID_SET+PID_SAVE to FC via {self._jlink_port}: " diff --git a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml index 7f07466..0409279 100644 --- a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml +++ b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml @@ -9,12 +9,7 @@ # # GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65 # Heading: D435i IMU → /imu/data, converted yaw → route waypoint heading_deg -<<<<<<< HEAD -# Odometry: ESP32 BALANCE wheel encoders → /odom -======= -# Odometry: ESP32-S3 wheel encoders → /odom ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# UWB: /uwb/target (follow-me reference, logged for context) +# Odometry: ESP32-S3 wheel encoders → /odom# UWB: /uwb/target (follow-me reference, logged for context) route_recorder: ros__parameters: diff --git a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py index f5ac32c..671174c 100644 --- a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py +++ b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py @@ -10,12 +10,7 @@ Depends on: saltybot-nav2 container (Nav2 action server /navigate_through_poses) saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65) saltybot_uwb (/uwb/target — PR #66, used for context during recording) -<<<<<<< HEAD - ESP32 bridge (/odom from wheel encoders) -======= - ESP32-S3 bridge (/odom from wheel encoders) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - D435i (/imu/data for heading) + ESP32-S3 bridge (/odom from wheel encoders) D435i (/imu/data for heading) Usage — record a route: # Set name, start recording, ride with Tee, stop and save: diff --git a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py index 95f14ae..025458e 100644 --- a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py +++ b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py @@ -5,12 +5,7 @@ Hardware ──────── SaltyRover: 4-wheel ground robot with individual brushless ESCs. ESCs controlled via PWM (servo-style 1000–2000 µs pulses). -<<<<<<< HEAD - Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge. -======= Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ESC channel assignments (configurable): CH1 = left-front CH2 = left-rear diff --git a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml index a1856ea..6c30ae8 100644 --- a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml +++ b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml @@ -39,12 +39,6 @@ safety_zone: # ── cmd_vel topics ─────────────────────────────────────────────────────── # Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop. # Typical chain: -<<<<<<< HEAD - # cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32 BALANCE - cmd_vel_input_topic: /cmd_vel_input # upstream velocity (remap as needed) - cmd_vel_output_topic: /cmd_vel # downstream (to ESP32 bridge) -======= # cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32-S3 cmd_vel_input_topic: /cmd_vel_input # upstream velocity (remap as needed) - cmd_vel_output_topic: /cmd_vel # downstream (to ESP32-S3 bridge) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) + cmd_vel_output_topic: /cmd_vel # downstream (to ESP32-S3 bridge) \ No newline at end of file diff --git a/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/social_enrollment_node.py b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/social_enrollment_node.py index 2b6d923..4c3cf27 100644 --- a/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/social_enrollment_node.py +++ b/jetson/ros2_ws/src/saltybot_social_enrollment/saltybot_social_enrollment/social_enrollment_node.py @@ -143,14 +143,7 @@ class SocialEnrollmentNode(Node): self.create_timer(0.5, self._enrollment_timeout_check) self.get_logger().info( -<<<<<<< HEAD - f'Social enrollment node initialized. ' - f'Queue: {self.queue_dir}, ' - f'Speakers: {self.speaker_embeddings_path}' -======= - f'Social enrollment node initialized. Queue: {self.queue_dir}' ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment - ) + f'Social enrollment node initialized. Queue: {self.queue_dir}' ) def _on_orchestrator_state(self, msg: String) -> None: """Handle orchestrator state transitions.""" @@ -170,12 +163,6 @@ class SocialEnrollmentNode(Node): context=context, timestamp=time.time() ) -<<<<<<< HEAD - self._face_embedding_timestamp = 0.0 - self._voice_embedding_timestamp = 0.0 - self._image_timestamp = 0.0 -======= ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment self.get_logger().info( f'Enrollment triggered: {name} (ID: {person_id})' @@ -193,24 +180,13 @@ class SocialEnrollmentNode(Node): if self._enrollment_request is None: return -<<<<<<< HEAD - # Take first detected face embedding -======= ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment face_emb = msg.embeddings[0] emb_array = np.frombuffer(face_emb.embedding, dtype=np.float32) if len(emb_array) == self.face_emb_dim: self._latest_face_embedding = emb_array.copy() self._face_embedding_timestamp = time.time() -<<<<<<< HEAD - self.get_logger().debug( - f'Face embedding captured: {face_emb.track_id}' - ) -======= self.get_logger().debug(f'Face embedding captured') ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment - def _on_speaker_embedding(self, msg: String) -> None: """Capture voice speaker embedding from ECAPA-TDNN.""" try: @@ -226,14 +202,7 @@ class SocialEnrollmentNode(Node): if len(emb_array) == self.voice_emb_dim: self._latest_voice_embedding = emb_array.copy() self._voice_embedding_timestamp = time.time() -<<<<<<< HEAD - self.get_logger().debug( - f'Voice embedding captured: {len(emb_array)} dims' - ) -======= self.get_logger().debug(f'Voice embedding captured') ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment - except json.JSONDecodeError as e: self.get_logger().error(f'Invalid speaker embedding JSON: {e}') @@ -244,10 +213,6 @@ class SocialEnrollmentNode(Node): if self._enrollment_request is None: return -<<<<<<< HEAD - # Store latest image -======= ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment self._latest_image = msg self._image_timestamp = time.time() @@ -261,22 +226,12 @@ class SocialEnrollmentNode(Node): return now = time.time() -<<<<<<< HEAD - timeout = 10.0 # 10 seconds to collect embeddings -======= timeout = 10.0 ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment - # Check if all data collected has_face = self._latest_face_embedding is not None and \ (now - self._face_embedding_timestamp < 5.0) has_voice = self._latest_voice_embedding is not None and \ (now - self._voice_embedding_timestamp < 5.0) -<<<<<<< HEAD - has_image = self._latest_image is not None and \ - (now - self._image_timestamp < 5.0) -======= ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment # If we have face + voice, proceed with enrollment if has_face and has_voice: @@ -303,18 +258,7 @@ class SocialEnrollmentNode(Node): 'context': request.context, 'timestamp': request.timestamp, 'datetime': datetime.fromtimestamp(request.timestamp).isoformat(), -<<<<<<< HEAD - 'face_embedding_shape': list(self._latest_face_embedding.shape) - if self._latest_face_embedding is not None else None, - 'voice_embedding_shape': list(self._latest_voice_embedding.shape) - if self._latest_voice_embedding is not None else None, } - - # Save queue JSON -======= - } - ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment queue_file = self.queue_dir / f"enrollment_{request.person_id}_{int(request.timestamp)}.json" with open(queue_file, 'w') as f: json.dump(enroll_data, f, indent=2) @@ -418,10 +362,6 @@ class SocialEnrollmentNode(Node): ) return -<<<<<<< HEAD - # Call EnrollPerson service -======= ->>>>>>> origin/sl-firmware/issue-400-encounter-enrollment req = EnrollPerson.Request() req.name = request.name req.mode = 'face' diff --git a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml index 065ecbe..bd747a2 100644 --- a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml +++ b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml @@ -10,12 +10,7 @@ # ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0 # # Data flow: -<<<<<<< HEAD -# person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE -======= # person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3 ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - # ── Controller ───────────────────────────────────────────────────────────────── control_rate: 50.0 # Hz — 50ms tick, same as cmd_vel_bridge input_topic: /cmd_vel_raw # Upstream cmd_vel source @@ -87,20 +82,11 @@ ride: target_vel_max: 15.0 # m/s — cap; EUC max ~30 km/h = 8.3 m/s typical # ── Notes ───────────────────────────────────────────────────────────────────── -<<<<<<< HEAD -# 1. To enable ride profile, the Jetson → ESP32 BALANCE cmd_vel_bridge must also be -# reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150 -# at ride speed (slower ramp = smoother balance). -# -# 2. The ESP32 BALANCE balance PID gains likely need retuning for ride speed. Expect -======= # 1. To enable ride profile, the Jetson → ESP32-S3 cmd_vel_bridge must also be # reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150 # at ride speed (slower ramp = smoother balance). # -# 2. The ESP32-S3 balance PID gains likely need retuning for ride speed. Expect ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -# increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s. +# 2. The ESP32-S3 balance PID gains likely need retuning for ride speed. Expect# increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s. # # 3. Test sequence recommendation: # - Validate walk profile on flat indoor surface first diff --git a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py index e32987c..b866aef 100644 --- a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py +++ b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py @@ -10,12 +10,7 @@ cmd_vel_bridge with matching limits: ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0 Prerequisite node pipeline: -<<<<<<< HEAD - person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE -======= person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3 ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - Usage: # Defaults (walk profile initially, adapts via UWB + GPS): ros2 launch saltybot_speed_controller outdoor_speed.launch.py diff --git a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py index 3f3749e..d9843b8 100644 --- a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py +++ b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py @@ -5,12 +5,7 @@ Hardware ──────── SaltyTank: tracked robot with left/right independent brushless ESCs. ESCs controlled via PWM (servo-style 1000–2000 µs pulses). -<<<<<<< HEAD - Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge. -======= Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - ESC channel assignments (configurable): CH1 = left-front (or left-track in 2WD/tracked mode) CH2 = left-rear (mirrored in 2WD/tracked mode) diff --git a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py index 2d3ac56..78c7df0 100644 --- a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py +++ b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py @@ -298,12 +298,7 @@ class TestBatteryMonitoring(unittest.TestCase): rclpy.spin_once(self.node, timeout_sec=0.1) def test_01_battery_topic_advertised(self): -<<<<<<< HEAD - """Battery topic must be advertised (from ESP32 bridge).""" -======= - """Battery topic must be advertised (from ESP32-S3 bridge).""" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - self._spin(5.0) + """Battery topic must be advertised (from ESP32-S3 bridge).""" self._spin(5.0) all_topics = {name for name, _ in self.node.get_topic_names_and_types()} battery_topics = [ @@ -331,12 +326,7 @@ class TestBatteryMonitoring(unittest.TestCase): self.node.destroy_subscription(sub) if not received: -<<<<<<< HEAD - pytest.skip("Battery data not publishing (ESP32 bridge may be disabled in test mode)") -======= pytest.skip("Battery data not publishing (ESP32-S3 bridge may be disabled in test mode)") ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - class TestDockingServices(unittest.TestCase): """Verify autonomous docking services are available.""" diff --git a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml index 6b3bc50..886abaa 100644 --- a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml +++ b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml @@ -1,10 +1,5 @@ # VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6) -<<<<<<< HEAD -# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32 BALANCE CAN2) -======= # SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32-S3 BALANCE CAN2) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - vesc_telemetry: ros__parameters: # SocketCAN interface name diff --git a/projects/saltybot/SLAM-SETUP-PLAN.md b/projects/saltybot/SLAM-SETUP-PLAN.md index b9c99c3..faab401 100644 --- a/projects/saltybot/SLAM-SETUP-PLAN.md +++ b/projects/saltybot/SLAM-SETUP-PLAN.md @@ -16,12 +16,7 @@ | Depth Cam | Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU | | LIDAR | RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz | | Wide Cams | 4× IMX219 160° CSI — front/right/rear/left 90° intervals *(arriving)* | -<<<<<<< HEAD -| FC | ESP32 — UART bridge `/dev/ttyACM0` @ 921600 | -======= | FC | ESP32-S3 — UART bridge `/dev/ttyACM0` @ 921600 | ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - --- ## 1. OS & ROS2 @@ -80,12 +75,7 @@ Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x) ▼ Nav2 stack (Phase 2b) 20Hz costmap -<<<<<<< HEAD - /cmd_vel → ESP32 BALANCE -======= /cmd_vel → ESP32-S3 ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - 4× IMX219 CSI (Phase 2c — pending hardware) front/right/rear/left 160° → panoramic stitch, person tracking diff --git a/test/test_bno055_data.py b/test/test_bno055_data.py index eef7bdf..db9e8ee 100644 --- a/test/test_bno055_data.py +++ b/test/test_bno055_data.py @@ -4,12 +4,7 @@ test_bno055_data.py — Issue #135: BNO055 driver unit tests. Tests data scaling, byte parsing, calibration status extraction, calibration offset packing/unpacking, and temperature handling. -<<<<<<< HEAD -No HAL or STM32/ESP32 hardware required — pure Python logic. -======= -No HAL or ESP32-S3 hardware required — pure Python logic. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -""" +No HAL or ESP32-S3 hardware required — pure Python logic.""" import struct import pytest diff --git a/test/test_jlink_frames.py b/test/test_jlink_frames.py index f8288d0..e62d90f 100644 --- a/test/test_jlink_frames.py +++ b/test/test_jlink_frames.py @@ -4,12 +4,7 @@ test_jlink_frames.py — Issue #120: JLink binary protocol unit tests. Tests CRC16-XModem, frame building, frame parsing (state machine), command payload encoding, and telemetry frame layout. -<<<<<<< HEAD -No HAL or STM32/ESP32 hardware required — pure Python logic. -======= -No HAL or ESP32-S3 hardware required — pure Python logic. ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) -""" +No HAL or ESP32-S3 hardware required — pure Python logic.""" import struct import pytest diff --git a/test/test_ota.py b/test/test_ota.py index d95faf1..6da0d57 100644 --- a/test/test_ota.py +++ b/test/test_ota.py @@ -3,14 +3,12 @@ test_ota.py — OTA firmware update utilities (Issue #124) Tests: - CRC-32/ISO-HDLC (crc32_file / binascii.crc32) -<<<<<<< HEAD - - CRC-32/MPEG-2 (stm32_crc32 — matches ESP32 hardware CRC unit) -======= - - CRC-32/MPEG-2 (stm32_crc32 — matches ESP32-S3 hardware CRC unit) ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) + - CRC-32/MPEG-2 (stm32_crc32 — legacy CRC utility, archived to legacy/stm32/) - CRC-16/XMODEM (_crc16_xmodem — JLink frame integrity) - DFU_ENTER frame (JLINK_CMD_DFU_ENTER = 0x06, no payload) - Safety constants (BKP index, flash region, magic value) + +NOTE: flash_firmware.py has been archived to legacy/stm32/scripts/flash_firmware.py. """ import binascii @@ -21,8 +19,8 @@ import tempfile import pytest -# Add scripts directory to path so we can import flash_firmware.py -sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'scripts')) +# Add legacy scripts directory to path so we can import flash_firmware.py +sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'legacy', 'stm32', 'scripts')) from flash_firmware import ( crc32_file, stm32_crc32, @@ -237,14 +235,8 @@ class TestOtaConstants: BNO055_BKP_RANGE = range(0, 7) assert OTA_DFU_BKP_IDX not in BNO055_BKP_RANGE -<<<<<<< HEAD - def test_bkp_idx_valid_esp32(self): - """ESP32 has 32 backup registers (BKP0R–BKP31R).""" -======= def test_bkp_idx_valid_esp32s3(self): - """ESP32-S3 has 32 backup registers (BKP0R–BKP31R).""" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - OTA_DFU_BKP_IDX = 15 + """ESP32-S3 has 32 backup registers (BKP0R–BKP31R).""" OTA_DFU_BKP_IDX = 15 assert 0 <= OTA_DFU_BKP_IDX <= 31 def test_flash_base(self): @@ -261,12 +253,7 @@ class TestOtaConstants: assert DFU_VID == 0x0483 def test_dfu_pid_dfu_mode(self): -<<<<<<< HEAD - """Default PID = 0xDF11 (ESP32 DFU mode).""" -======= - """Default PID = 0xDF11 (ESP32-S3 DFU mode).""" ->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) - assert DFU_PID == 0xDF11 + """Default PID = 0xDF11 (ESP32-S3 DFU mode).""" assert DFU_PID == 0xDF11 def test_bkp_idx_not_zero(self): """BKP15 ≠ 0 — the old request_bootloader() used BKP0R."""