saltylab-firmware

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Author	SHA1	Message	Date
sl-firmware	3a7576939e	feat(safety): remote e-stop over 4G MQTT (Issue #63 ) STM32 firmware: - safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active() CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch - usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags - status: status_update() +remote_estop param; both LEDs fast-blink 200ms - main.c: immediate motor cutoff highest-priority; arming gated by !safety_remote_estop_active(); motor estop auto-clear gated; telemetry 'es' field 0-4; status_update() updated to 5 args Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED, cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe. Jetson bridge: - remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s - estop_params.yaml, remote_estop.launch.py - setup.py / package.xml: register node + paho-mqtt dep - docker-compose.yml: remote-estop service - test_remote_estop.py: kill/clear/watchdog/latency unit tests Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-01 00:57:01 -05:00
sl-firmware	011f212056	fix: Status LEDs solid=OK blink=error (#22 ) New LED behavior (active-low, PC15=LED1, PC14=LED2): Disarmed, IMU OK : LED1 solid ON + LED2 off Armed : LED1 solid ON + LED2 solid ON Tilt fault : LED1 blink 1Hz + LED2 blink 1Hz IMU error : LED1 blink 1Hz + LED2 solid ON Rule: solid = good, slow blink (~1Hz) = needs attention. Removed the confusing fast-blink-at-5Hz-for-error and the baro-flash-every-5s patterns. status_update() signature changed: baro_ok → armed + tilt_fault so the LED pattern can reflect arm state directly. Closes #22. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-02-28 17:44:33 -05:00
Sebastien Vayrette	ba3e1161b9	Balance firmware + USB CDC bug	2026-02-28 11:58:23 -05:00

Author

SHA1

Message

Date

sl-firmware

3a7576939e

feat(safety): remote e-stop over 4G MQTT (Issue #63 )

STM32 firmware:
- safety.h/c: EstopSource enum, safety_remote_estop/clear/get/active()
  CDC 'E'=ESTOP_REMOTE, 'F'=ESTOP_CELLULAR_TIMEOUT, 'Z'=clear latch
- usbd_cdc_if: cdc_estop_request/cdc_estop_clear_request volatile flags
- status: status_update() +remote_estop param; both LEDs fast-blink 200ms
- main.c: immediate motor cutoff highest-priority; arming gated by
  !safety_remote_estop_active(); motor estop auto-clear gated; telemetry
  'es' field 0-4; status_update() updated to 5 args

Safety: IMMEDIATE motor cutoff, latched until explicit Z + DISARMED,
cannot re-arm via MQTT alone (requires RC arm hold). IWDG-safe.

Jetson bridge:
- remote_estop_node.py: paho-mqtt + pyserial, cellular watchdog 5s
- estop_params.yaml, remote_estop.launch.py
- setup.py / package.xml: register node + paho-mqtt dep
- docker-compose.yml: remote-estop service
- test_remote_estop.py: kill/clear/watchdog/latency unit tests

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-01 00:57:01 -05:00

sl-firmware

011f212056

fix: Status LEDs solid=OK blink=error (#22 )

New LED behavior (active-low, PC15=LED1, PC14=LED2):
  Disarmed, IMU OK : LED1 solid ON  + LED2 off
  Armed            : LED1 solid ON  + LED2 solid ON
  Tilt fault       : LED1 blink 1Hz + LED2 blink 1Hz
  IMU error        : LED1 blink 1Hz + LED2 solid ON

Rule: solid = good, slow blink (~1Hz) = needs attention.
Removed the confusing fast-blink-at-5Hz-for-error and the
baro-flash-every-5s patterns.

status_update() signature changed: baro_ok → armed + tilt_fault
so the LED pattern can reflect arm state directly.

Closes #22.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 17:44:33 -05:00

Sebastien Vayrette

ba3e1161b9

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

3 Commits