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308be74330
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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>
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2026-04-04 08:59:28 -04:00 |
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bfca6d1d92
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docs: Add SAUL-TEE system reference + update wiring diagram
- docs/SAUL-TEE-SYSTEM-REFERENCE.md: authoritative architecture doc for
the new 4-wheel wagon. Covers ESP32-S3 BALANCE (Waveshare LCD 1.28,
QMI8658, SN65HVD230 CAN), ESP32-S3 IO (TBS Crossfire, ELRS, BTS7960,
NFC/baro/ToF, WS2812), inter-board UART protocol (460800 baud,
[0xAA][len][type][payload][crc8]), CAN IDs (VESCs 68/56, Orin
0x300-0x303 cmd / 0x400-0x401 telemetry), RC channel map, power
architecture, safety systems, and firmware layout.
- docs/wiring-diagram.md: banner pointing to new reference doc;
old Mamba F722S UART summary marked OBSOLETE.
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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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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Sebastien Vayrette
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ac6fcb9a42
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docs: add Leap Motion, fix ESC step inset 12mm
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2026-03-01 17:49:17 -05:00 |
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Sebastien Vayrette
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ea18b9ad72
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docs: add ReSpeaker 2-Mic + SIM7600A 4G to wiring diagram
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2026-03-01 16:32:34 -05:00 |
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Sebastien Vayrette
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0c40a1c4f4
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docs: add full wiring diagram (Orin ↔ FC ↔ ESC)
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2026-03-01 14:51:56 -05:00 |
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