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30be0d8cd3
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feat(bridge): binary STM32 command protocol (Issue #119)
Add stm32_protocol.py — pure-Python binary frame codec:
- Frame: STX(0x02)+TYPE+LEN+PAYLOAD+CRC16-CCITT(BE)+ETX(0x03)
- CRC covers TYPE+LEN+PAYLOAD; polynomial 0x1021, init 0xFFFF
- Encoders: HEARTBEAT, SPEED_STEER(-1000..+1000 int16), ARM, SET_MODE, PID_UPDATE
- Telemetry decoders: ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame
- FrameParser: streaming byte-by-byte state machine, resync on corrupt data
Add stm32_cmd_node.py — ROS2 bidirectional bridge node:
- /cmd_vel → SPEED_STEER at up to 50 Hz
- HEARTBEAT timer (default 200ms); STM32 watchdog fires at 500ms
- Jetson-side watchdog: no /cmd_vel for 500ms → send SPEED_STEER(0,0)
- /saltybot/arm service (SetBool) → ARM frame
- /saltybot/pid_update topic → PID_UPDATE frame
- Telemetry RX: IMU→/saltybot/imu, BATTERY→/saltybot/telemetry/battery,
MOTOR_RPM→/saltybot/telemetry/motor_rpm, ARM_STATE→/saltybot/arm_state,
ERROR→/saltybot/error
- Auto-reconnect on USB disconnect (serial.SerialException caught)
- Zero-speed + disarm sent on node shutdown
- /diagnostics with serial health, frame counts, last cmd age
Add test_stm32_protocol.py (60+ tests):
- CRC16-CCITT correctness, known test vectors
- All encoder output structures and payload values
- FrameParser: all telemetry types, bad CRC, bad ETX, resync, streaming,
oversized payload, frame counters, reset
Add test_stm32_cmd_node.py (30+ tests):
- MockSerial: TX/RX byte-level testing without hardware
- Speed/steer clamping, scaling, frame structure
- Watchdog fires/doesn't fire relative to timeout
- CRC error counted, resync after garbage
Add stm32_cmd_params.yaml, stm32_cmd.launch.py.
Update package.xml (add std_srvs, geometry_msgs deps).
Update setup.py (add stm32_cmd_node entry point + new config/launch).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 09:17:04 -05:00 |
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d41a9dfe10
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feat(safety): remote e-stop over 4G MQTT (Issue #63)
STM32 firmware:
- safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active()
CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch
- usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags
- status: status_update() +remote_estop param; both LEDs fast-blink 200ms
- main.c: immediate motor cutoff highest-priority; arming gated by
!safety_remote_estop_active(); motor estop auto-clear gated; telemetry
'es' field 0-4; status_update() updated to 5 args
Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED,
cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe.
Jetson bridge:
- remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s
- estop_params.yaml, remote_estop.launch.py
- setup.py / package.xml: register node + paho-mqtt dep
- docker-compose.yml: remote-estop service
- test_remote_estop.py: kill/clear/watchdog/latency unit tests
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-01 04:55:54 -05:00 |
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7c4e46aaa1
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feat: STM32-to-Jetson ROS2 serial bridge node
saltybot_bridge ROS2 Python package (ament_python):
- serial_bridge_node.py: reads USB CDC JSON telemetry from STM32F722 at 50Hz
Parses exact firmware format: {"p","r","e","ig","m","s","y"} (all ×10 ints)
State enum: 0=DISARMED, 1=ARMED, 2=TILT_FAULT (matched to balance_state_t)
- Publishes sensor_msgs/Imu on /saltybot/imu (pitch/roll/yaw as angular_velocity)
- Publishes std_msgs/String on /saltybot/balance_state (full PID JSON diagnostics)
- Publishes diagnostic_msgs/DiagnosticArray on /diagnostics (OK/WARN/ERROR by state)
- Auto-reconnects on serial disconnect; IMU fault frames → ERROR diagnostic
- launch/bridge.launch.py with serial_port + baud_rate launch args
- config/bridge_params.yaml (921600 baud, /dev/ttyACM0)
- test/test_parse.py: 8 unit tests covering normal, fault, edge cases (all pass)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-02-28 17:11:02 -05:00 |
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