Add hw_button driver (PC2 active-low, 20ms debounce) with gesture detection:
- Single short press + 500ms quiet -> BTN_EVENT_PARK
- SHORT+SHORT+LONG combo (within 3s) -> BTN_EVENT_REARM_COMBO
New BALANCE_PARKED state: PID frozen, motors off, quick re-arm via button
combo without the 3-second arm interlock required from DISARMED.
FC_BTN (0x404) CAN frame sent to Orin on each event:
event_id 1=PARKED, 2=UNPARKED, 3=UNPARK_FAILED (pitch > 20 deg)
Includes 11 unit tests (1016 assertions) exercising debounce, bounce
rejection, short/long classification, sequence detection, and timeout.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- can_driver: add filter bank 15 (all ext IDs → FIFO1) and widen bank 14
to accept all standard IDs; add can_driver_send_ext/std and ext/std
frame callbacks (can_driver_set_ext_cb / can_driver_set_std_cb)
- vesc_can: VESC 29-bit extended CAN protocol driver — send RPM to IDs 56
and 68 (FSESC 6.7 Pro Mini Dual), parse STATUS/STATUS_4/STATUS_5
big-endian payloads, alive timeout, JLINK_TLM_VESC_STATE at 1 Hz
- orin_can: Orin↔FC standard CAN protocol — HEARTBEAT/DRIVE/MODE/ESTOP
commands in, FC_STATUS + FC_VESC broadcast at 10 Hz
- jlink: add JLINK_TLM_VESC_STATE (0x8E), jlink_tlm_vesc_state_t (22 bytes),
jlink_send_vesc_state_tlm()
- main: wire vesc_can_init/orin_can_init; replace can_driver_send_cmd with
vesc_can_send_rpm; inject Orin CAN speed/steer into balance PID; add
Orin CAN estop/clear handling; add orin_can_broadcast at 10 Hz
- test: 56-test host-side suite for vesc_can; test/stubs/stm32f7xx_hal.h
minimal HAL stub for all future host-side tests
Safety: balance PID runs independently on Mamba — if Orin CAN link drops
(orin_can_is_alive() == false) the robot continues balancing in-place.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Closed-loop yaw-rate controller that converts Jetson Twist.angular.z
to a differential wheel speed offset using IMU gyro Z as feedback.
- include/steering_pid.h + src/steering_pid.c: PID with anti-windup
(integral clamped to ±200 counts) and rate limiter (10 counts/ms
max output change) to protect balance PID from sudden steering steps.
JLINK_TLM_STEERING (0x8A) telemetry at 10 Hz.
- include/mpu6000.h + src/mpu6000.c: expose yaw_rate (board_gz) in
IMUData so callers have direct bias-corrected gyro Z feedback.
- include/jlink.h + src/jlink.c: add JLINK_TLM_STEERING (0x8A),
jlink_tlm_steering_t (8 bytes), jlink_send_steering_tlm().
- test/test_steering_pid.c: 78 unit tests (host build with gcc),
all passing.
Usage (main loop):
steering_pid_set_target(&s, jlink_state.steer * STEER_OMEGA_SCALE);
int16_t steer_out = steering_pid_update(&s, imu.yaw_rate, dt);
motor_driver_update(&motor, balance_cmd, steer_out, now_ms);
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Adds a slow-adapting terrain slope estimator (IIR tau=5s) that decouples
the robot's balance offset from genuine ground incline. The balance
controller subtracts the slope estimate from measured pitch so the PID
balances around the slope surface rather than absolute vertical.
- include/slope_estimator.h + src/slope_estimator.c: first-order IIR
filter clamped to ±15°; JLINK_TLM_SLOPE (0x88) telemetry at 1 Hz
- include/jlink.h + src/jlink.c: add JLINK_TLM_SLOPE (0x88),
jlink_tlm_slope_t (4 bytes), jlink_send_slope_tlm()
- include/balance.h + src/balance.c: integrate slope_estimator into
balance_t; update, reset on tilt-fault and disarm
- test/test_slope_estimator.c: 35 unit tests, all passing
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Real-time motor current visualization with:
- Subscribes to /saltybot/motor_currents for dual-motor current data
- Rolling 60-second history window with automatic data culling
- Dual-axis line chart for left (cyan) and right (amber) motor amps
- Canvas-based rendering for performance
- Thermal warning threshold line (25A, configurable)
- Real-time statistics:
* Current draw for left and right motors
* Peak current tracking over 60-second window
* Average current calculation
* Thermal status indicator with warning badge
- Color-coded thermal alerts:
* Red background when threshold exceeded
* Warning indicator and message
- Grid overlay, axis labels, time labels, legend
- Takes absolute value of currents (handles reverse direction)
Integrated into TELEMETRY tab group as 'Motor Current' tab.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements STM32F722 driver for WS2812 NeoPixel 8-LED ring with finite state machine.
Features:
- 8 operational states with animations:
* BOOT: Blue pulse (0.5 Hz)
* IDLE: Green breathe (0.5 Hz)
* ARMED: Solid green
* NAV: Cyan spin (1 Hz)
* ERROR: Red flash (2 Hz)
* LOW_BATT: Orange blink (1 Hz)
* CHARGING: Green fill (1 Hz)
* ESTOP: Red solid
- Non-blocking tick-based animation system
- State transitions via API
- PWM control on PB4 (TIM3_CH1) at 800 kHz
- Color interpolation for smooth effects
All 25 unit tests passing covering state transitions, animations, timing, and edge cases.
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements STM32F722 driver for brushless cooling fan on PA9 using TIM1_CH2 PWM.
Features:
- Temperature-based speed curve: off <40°C, 30% at 50°C, 100% at 70°C
- Smooth speed ramp transitions with configurable rate (default 0.05%/ms)
- Linear interpolation between curve points
- PWM duty cycle control (0-100%)
- State transitions and edge case handling
All 51 unit tests passing:
- Temperature curve verification (6 test zones)
- Speed boundaries and transitions
- Ramp timing and rate control
- PWM duty cycle calculation
- Temperature extremes and boundary conditions
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements complete I2C1 driver for TI INA219 power monitoring IC supporting:
- Dual sensors on I2C1 (left motor @ 0x40, right motor @ 0x41)
- Auto-calibration for 5A max current, 0.1Ω shunt resistance
- Current LSB: 153µA, Power LSB: 3060µW (20× current LSB)
- Bus voltage: 0-26V @ 4mV/LSB (13-bit, 4mV resolution)
- Shunt voltage: ±327mV @ 10µV/LSB (signed 16-bit)
- Calibration register computation for arbitrary max current/shunt values
- Efficient single/batch read functions (voltage, current, power)
- Alert threshold configuration for overcurrent protection
- Full test suite: 12 passing unit tests covering calibration, conversions, edge cases
Integration:
- ina219_init() called after i2c1_init() in main startup sequence
- Ready for motor power monitoring and thermal protection logic
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Implements TIM4 PWM driver for 2-servo camera mount with:
- 50 Hz PWM frequency (standard servo control)
- CH1 (PB6) pan servo, CH2 (PB7) tilt servo
- 0-180° angle range → 500-2500 µs pulse width mapping
- Non-blocking servo_set_angle() for immediate positioning
- servo_sweep() for smooth pan-tilt animation (linear interpolation)
- Independent sweep control per servo (pan and tilt move simultaneously)
- 15 comprehensive unit tests covering all scenarios
Integration:
- servo_init() called at startup after power_mgmt_init()
- servo_tick(now_ms) called every 1ms in main loop
- Ready for camera/gimbal control automation
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
Adds STM32F7 STOP-mode power management with <10ms wake latency:
- power_mgmt.c: state machine (ACTIVE→SLEEP_PENDING→SLEEPING→WAKING),
30s idle timeout (PM_IDLE_TIMEOUT_MS), 3s LED fade before STOP,
gate SPI3/I2S3+SPI2+USART6+UART5 on sleep (clock-only, state preserved),
EXTI1(PA1/CRSF)+EXTI7(PB7/JLink)+EXTI4(PC4/IMU) wake sources,
PLL restore after STOP (PLLM=8/N=216/P=2 → 216MHz), uwTick save/restore
- Peripheral gating: I2S3, SPI2(OSD), USART6, UART5 disabled during STOP;
SPI1(IMU), UART4(CRSF), USART1(JLink), I2C1 remain active as wake sources
- Sleep LED: triangle-wave pulse (2s period) on LED1 during SLEEP_PENDING,
software PWM in main loop (1-bit, pm_pwm_phase vs brightness)
- IWDG: fed just before WFI; <10ms wake << 50ms WATCHDOG_TIMEOUT_MS
- JLink: JLINK_CMD_SLEEP=0x09, JLINK_TLM_POWER=0x81 (11-byte power frame
at 1Hz: power_state, est_total_ma, est_audio_ma, est_osd_ma, idle_ms)
- main.c: power_mgmt_init(), activity() on CRSF/JLink/armed, tick() when
disarmed, sleep_req handler, LED PWM, JLINK_TLM_POWER telemetry
- config.h: PM_* constants, PM_CURRENT_*_MA estimates, PM_TLM_HZ
- test_power_mgmt.py: 72 tests passing (state machine, LED, gating,
current estimates, JLink protocol, wake latency, hardware constants)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
