saltylab-firmware

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Author	SHA1	Message	Date
sl-jetson	cea3eaff97	cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only - Renamed mamba_protocol.py → balance_protocol.py; updated all importers - can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE) - test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions - All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced: * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO * Device paths: /dev/stm32-bridge → /dev/esp32-io * Node names: stm32_serial_bridge → esp32_io_serial_bridge * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io - C/C++ src/include/lib/test files: added DEPRECATED header comment - Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test, saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all chassis, docs, scripts, and project files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-04-04 08:56:09 -04:00
sl-firmware	34a003d0b1	feat: Add HC-SR04 ultrasonic distance sensor driver (Issue #243 ) Implements STM32F7 non-blocking driver for HC-SR04 ultrasonic ranger with TIM1 input capture. Supports distance measurement via echo pulse width analysis. Features: - Trigger: PA0 GPIO output (10µs pulse) - Echo: PA1 TIM1_CH2 input capture (both edges) - TIM1 configured for 1MHz clock (1µs per count) - Distance range: 20-5000mm (±3mm accuracy) - Distance = (pulse_width_us / 2) / 29.1mm - Non-blocking API with optional callback - Timeout detection (30ms max echo wait) - State machine: IDLE → TRIGGERED → MEASURING → COMPLETE/ERROR API Functions: - ultrasonic_init(): Configure GPIO and TIM1 - ultrasonic_trigger(): Start measurement - ultrasonic_set_callback(): Register completion callback - ultrasonic_get_state(): Query current state - ultrasonic_get_result(): Retrieve measurement result - ultrasonic_tick(): Periodic timeout handler Test Suite: - 26 passing unit tests - Distance conversion accuracy (100mm-2000mm) - State machine transitions - Range validation (20-5000mm boundaries) - Timeout detection - Multiple sequential measurements Integration: - ultrasonic_init() called in main() startup after servo_init() - Non-blocking operation suitable for autonomous navigation/obstacle avoidance Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-02 12:22:09 -05:00

Author

SHA1

Message

Date

sl-jetson

cea3eaff97

cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only

- Renamed mamba_protocol.py → balance_protocol.py; updated all importers
- can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE)
- test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions
- All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced:
  * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO
  * Device paths: /dev/stm32-bridge → /dev/esp32-io
  * Node names: stm32_serial_bridge → esp32_io_serial_bridge
  * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io
- C/C++ src/include/lib/test files: added DEPRECATED header comment
- Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test,
  saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all
  chassis, docs, scripts, and project files

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-04 08:56:09 -04:00

sl-firmware

34a003d0b1

feat: Add HC-SR04 ultrasonic distance sensor driver (Issue #243 )

Implements STM32F7 non-blocking driver for HC-SR04 ultrasonic ranger with TIM1 input capture.
Supports distance measurement via echo pulse width analysis.

Features:
- Trigger: PA0 GPIO output (10µs pulse)
- Echo: PA1 TIM1_CH2 input capture (both edges)
- TIM1 configured for 1MHz clock (1µs per count)
- Distance range: 20-5000mm (±3mm accuracy)
- Distance = (pulse_width_us / 2) / 29.1mm
- Non-blocking API with optional callback
- Timeout detection (30ms max echo wait)
- State machine: IDLE → TRIGGERED → MEASURING → COMPLETE/ERROR

API Functions:
- ultrasonic_init(): Configure GPIO and TIM1
- ultrasonic_trigger(): Start measurement
- ultrasonic_set_callback(): Register completion callback
- ultrasonic_get_state(): Query current state
- ultrasonic_get_result(): Retrieve measurement result
- ultrasonic_tick(): Periodic timeout handler

Test Suite:
- 26 passing unit tests
- Distance conversion accuracy (100mm-2000mm)
- State machine transitions
- Range validation (20-5000mm boundaries)
- Timeout detection
- Multiple sequential measurements

Integration:
- ultrasonic_init() called in main() startup after servo_init()
- Non-blocking operation suitable for autonomous navigation/obstacle avoidance

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-02 12:22:09 -05:00

2 Commits