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f71dad5344
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feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:25:24 -04:00 |
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93756f5248
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feat: Add FC↔Orin UART verification (Issue #362)
Implements UART bridge verification between Flight Controller (STM32F722)
and Jetson Orin.
Changes:
1. jetson/scripts/uart_test.py (12.7 KB)
- Opens /dev/ttyTHS1 at 921600 baud
- Sends jlink binary test frames (PING, VERSION, ECHO)
- Verifies CRC16-CCITT frame integrity
- Logs transactions with timestamps
- JSON result export and optional MQTT publishing
2. jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
- ROS2 launch file for serial_bridge_node on UART port
- Configurable port (default /dev/ttyTHS1), baud rate (921600)
- Bridges FC telemetry to /saltybot/imu, /saltybot/balance_state
- Publishes diagnostics to /diagnostics
Usage:
Test: sudo python3 jetson/scripts/uart_test.py
Launch: ros2 launch saltybot_bridge uart_bridge.launch.py
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-04 12:17:56 -05:00 |
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