cea3eaff97
cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only
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- 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
d41a9dfe10
feat(safety): remote e-stop over 4G MQTT (Issue #63 )
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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>
2026-03-01 04:55:54 -05:00
34fdb5d11b
feat(pid): runtime PID tuning via USB + improved telemetry (bd-18i)
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Add USB command interface for live PID gain adjustment without reflashing:
P<kp> I<ki> D<kd> T<setpoint_deg> M<max_speed> ?
Command parsing runs in main loop (sscanf-safe), not in USB IRQ.
USB IRQ copies command to shared volatile buffer (cdc_cmd_buf), sets flag.
Acknowledgement echoes current gains: {"kp":...,"ki":...,"kd":...}
Bounds checking: kp 0-500, ki/kd 0-50, setpoint ±20°, max_speed 0-1000.
Gains validated before write — silently ignored if out of range.
Telemetry updated from raw counts to physical tuning signals:
pitch (°x10), pitch_rate (°/s x10), error (°x10),
integral (x10 for windup monitoring), motor_cmd, state
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 13:10:32 -05:00
Sebastien Vayrette
ba3e1161b9
Balance firmware + USB CDC bug
2026-02-28 11:58:23 -05:00
