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7 Commits

Author SHA1 Message Date
sl-controls
f66035cf81 feat(arch): align CAN/UART bridges with SAUL-TEE-SYSTEM-REFERENCE.md spec 
Update CAN and serial bridge code to match authoritative protocol spec
from docs/SAUL-TEE-SYSTEM-REFERENCE.md §5-6 (hal, 2026-04-04).

mamba_protocol.py (CAN, Orin ↔ ESP32 BALANCE):
- 0x300 DRIVE: [speed:i16][steer:i16][mode:u8][flags:u8][_:u16] — combined frame
- 0x301 ARM:   [arm:u8]
- 0x302 PID:   [kp:f16][ki:f16][kd:f16][_:u16]  — half-float gains
- 0x303 ESTOP: [0xE5] — magic byte cut
- 0x400 ATTITUDE: [pitch:f16][speed:f16][yaw_rate:f16][state:u8][flags:u8]
- 0x401 BATTERY:  [vbat_mv:u16][fault_code:u8][rssi:i8]
- Add VESC STATUS1/4/5 decode helpers; VESC IDs 56 (left) / 68 (right)

can_bridge_node.py:
- /cmd_vel → encode_drive_cmd (speed/steer int16, MODE_DRIVE)
- /estop → encode_estop_cmd (magic 0xE5); clear → DISARM
- /saltybot/arm → encode_arm_cmd (new subscription)
- Watchdog sends DRIVE(0,0,MODE_IDLE) when /cmd_vel silent
- ATTITUDE (0x400) → /saltybot/attitude + /saltybot/balance_state JSON
- BATTERY  (0x401) → /can/battery BatteryState
- VESC STATUS1 frames → /can/vesc/left|right/state

stm32_cmd_node.py — rewritten for inter-board protocol API:
- Imports from updated stm32_protocol (BAUD_RATE=460800, new frame types)
- RX: RcChannels → /saltybot/rc_channels, SensorData → /saltybot/sensors
- TX: encode_led_cmd, encode_output_cmd from /saltybot/leds + /saltybot/outputs
- HEARTBEAT (0x20) timer replaces old SPEED_STEER/ARM logic

stm32_cmd_params.yaml: serial_port=/dev/esp32-io, baud=460800
stm32_cmd.launch.py: updated defaults and description

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:32:00 -04:00
sl-webui
cfd5a15b3e feat(arch): implement SAUL-TEE ESP32 protocol specs from hal reference doc 
Spec source: docs/SAUL-TEE-SYSTEM-REFERENCE.md (hal, 2026-04-04)

stm32_protocol.py — rewritten for inter-board UART protocol (ESP32 BALANCE ↔ IO):
- Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8] @ 460800 baud (was STX/ETX/CRC16)
- CRC-8 poly 0x07 over LEN+TYPE+PAYLOAD
- New message types: RC_CHANNELS(0x01), SENSORS(0x02), LED_CMD(0x10),
  OUTPUT_CMD(0x11), MOTOR_CMD(0x12), HEARTBEAT(0x20)

mamba_protocol.py — updated CAN IDs and frame formats:
- Orin→BALANCE: DRIVE(0x300) f32×2 LE, MODE(0x301), ESTOP(0x302), LED(0x303)
- BALANCE→Orin: FC_STATUS(0x400) pitch/vbat/state, FC_VESC(0x401) rpm/current
- VESC node IDs: Left=56, Right=68 (authoritative per §8)
- VESC extended frames: STATUS1(cmd=9), STATUS4(cmd=16), STATUS5(cmd=27)
- Replaced old MAMBA_CMD_*/MAMBA_TELEM_* constants

can_bridge_node.py — updated to use new IDs:
- ORIN_CMD_DRIVE/MODE/ESTOP replace MAMBA_CMD_VELOCITY/MODE/ESTOP
- FC_STATUS handler: publishes pitch→/can/imu, vbat_mv→/can/battery
- FC_VESC handler: publishes rpm/cur→/can/vesc/left|right/state
- VESC STATUS1 extended frames decoded per node ID (56/68)
- Removed PID CAN command (not in new spec)

CLAUDE.md — updated with ESP32-S3 BALANCE/IO hardware summary + key protocols

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:25:24 -04:00
salty
02217443ea chore: merge CAD files and design docs from seb/saltylab seed repo 
Consolidating seb/saltylab into saltylab-firmware before deleting the seed repo.
- 16 OpenSCAD CAD models → cad/
- Design docs (SALTYLAB.md, PLATFORM.md, AGENTS.md, board-viz.html) → docs/
 2026-03-07 10:04:24 -05:00
sl-android
49628bcc61 feat: Add Issue #507 - Face display animations on STM32 LCD 
Implements expressive face animations with 5 core emotions (happy/sad/curious/angry/sleeping) and smooth transitions on small LCD displays.

Features:
- State machine with smooth 0.5s emotion transitions (ease-in-out cubic easing)
- Automatic idle blinking (4-6s intervals, 100-150ms duration per blink)
- UART command interface via USART3 @ 115200 (text-based protocol)
- 30Hz target refresh rate via systick integration
- Low-level LCD abstraction supporting monochrome and RGB565
- Rendering primitives: pixel, line (Bresenham), circle (midpoint), filled rect

Architecture:
- face_lcd.h/c: Hardware-agnostic framebuffer & display driver
- face_animation.h/c: Emotion state machine & parameterized face rendering
- face_uart.h/c: UART command parser (HAPPY/SAD/CURIOUS/ANGRY/SLEEP/NEUTRAL/BLINK/STATUS)
- Unit tests (14 test cases): emotion transitions, blinking, rendering, all emotions

Integration:
- main.c: Added includes, initialization (servo_init), systick tick, main loop processing
- Pending: LCD hardware initialization (SPI/I2C config, display controller setup)

Files: 9 new (headers, source, tests, docs), 1 modified (main.c)
Lines: ~1450 total (345 headers, 650 source, 350 tests, 900 docs)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-06 10:27:36 -05:00
Sebastien Vayrette
ac6fcb9a42 docs: add Leap Motion, fix ESC step inset 12mm 2026-03-01 17:49:17 -05:00
Sebastien Vayrette
ea18b9ad72 docs: add ReSpeaker 2-Mic + SIM7600A 4G to wiring diagram 2026-03-01 16:32:34 -05:00
Sebastien Vayrette
0c40a1c4f4 docs: add full wiring diagram (Orin ↔ FC ↔ ESC) 2026-03-01 14:51:56 -05:00