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291dd689f8
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feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only
Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md
Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
stm32_cmd.launch.py → esp32_cmd.launch.py,
test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node
Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF
docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md
TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF
No new functionality — cleanup only.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:41:26 -04:00 |
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87b45e1b97
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feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135)
Auto-detected alongside MPU6000. Acts as balance primary when MPU6000
fails, or provides NDOF-fused yaw/pitch when both sensors are present.
- include/bno055.h: full API — bno055_init/read/is_ready/calib_status/
temperature/save_offsets/restore_offsets
- src/bno055.c: I2C1 driver; probes 0x28/0x29, resets via SYS_TRIGGER,
enters NDOF mode; 2-burst 12-byte reads (gyro+euler, LIA+gravity);
Euler/gyro/accel scaling (÷16, ÷16, ÷100); auto-saves offsets to
RTC backup regs BKP0R–BKP6R on first full cal; restores on boot
(bno055_is_ready() returns true immediately); temperature updated 1Hz
- include/config.h: BNO055_BKP_MAGIC = 0xB055CA10
- src/main.c: bno055_init() in I2C probe block (before IWDG); imu_calibrated()
macro dispatches mpu6000_is_calibrated() vs bno055_is_ready();
BNO055 read deferred inside balance gate to avoid stalling main loop;
USB JSON reports bno_cs (calib status) and bno_t (temperature)
- test/test_bno055_data.py: 43 pytest tests (43/43 pass) — calib status
bit extraction, Euler/gyro/accel scaling, burst parsing, offset
round-trip packing, temperature signed-byte encoding
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 09:40:18 -05:00 |
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