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Author SHA1 Message Date
sl-firmware
9ed678ca35 feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685) 
Issue #680 — IMU mount angle calibration:
- imu_cal_flash.h/.c: store pitch/roll offsets in flash sector 7
  (0x0807FF00, 64 bytes; preserves PID records across sector erase)
- mpu6000_set_mount_offset(): subtracts offsets from pitch/roll output
- mpu6000_has_mount_offset(): reports cal_status=2 to Orin
- 'O' CDC command: capture current pitch/roll → save to flash → ACK JSON
- Load offsets on boot; report in printf log

CAN telemetry correction (Tee: production has no USB to Orin):
- FC_IMU (0x402): pitch/roll/yaw/cal_status/balance_state at 50 Hz
- orin_can_broadcast_imu() rate-limited to ORIN_IMU_TLM_HZ (50 Hz)
- FC_BARO (0x403): pressure_pa/temp_x10/alt_cm at 1 Hz (Issue #672)
- orin_can_broadcast_baro() rate-limited to ORIN_BARO_TLM_HZ (1 Hz)

Issue #685 — LED CAN override:
- ORIN_CAN_ID_LED_CMD (0x304): pattern/brightness/duration_ms from Orin
- orin_can_led_override volatile state + orin_can_led_updated flag
- main.c: apply pattern to LED state machine on each LED_CMD received

Orin side:
- saltybot_can_node.py: production SocketCAN bridge — reads 0x400-0x403,
  publishes /saltybot/imu, /saltybot/balance_state, /saltybot/barometer;
  subscribes /cmd_vel → 0x301 DRIVE; /saltybot/leds → 0x304 LED_CMD;
  sends 0x300 HEARTBEAT at 5 Hz; sends 0x303 ESTOP on shutdown
- setup.py: register saltybot_can_node entry point + uart_bridge launch

Fix: re-apply --defsym __stack_end=_estack-0x1000 linker fix to branch

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-17 22:49:21 -04:00
sl-jetson
972bc8cb27 chore(bridge): update setup.py for stm32_cmd_node and battery_node entries 
Add stm32_cmd_node and battery_node console_scripts, new launch/config files
to data_files list.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-02 09:17:13 -05:00
sl-firmware
d41a9dfe10 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 04:55:54 -05:00
sl-controls
a50f22d56b feat: Nav2 cmd_vel to STM32 autonomous drive bridge 
Adds cmd_vel_bridge_node — a standalone ROS2 node that subscribes to
Nav2 /cmd_vel and drives the STM32 over USB CDC with:
  - Hard velocity limits (max_linear_vel=0.5 m/s, max_angular_vel=2.0 rad/s)
  - Smooth ESC ramp (500 ESC-units/s, 50 Hz control loop)
  - Deadman switch: zeros targets if /cmd_vel silent >500 ms
  - Mode gate: sends drive only when STM32 reports md=2 (AUTONOMOUS)
  - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
  - Heartbeat TX every 200 ms (H\n)

Deliverables:
  saltybot_bridge/cmd_vel_bridge_node.py   — node implementation
  config/cmd_vel_bridge_params.yaml        — tunable parameters
  launch/cmd_vel_bridge.launch.py          — standalone launch file
  test/test_cmd_vel_bridge.py              — 37 pytest unit tests (no ROS2)
  setup.py                                 — register node + new data files

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 22:50:15 -05:00
sl-jetson
22aaeb02cf feat: Jetson→STM32 command protocol — /cmd_vel to serial (Phase 2) 
STM32 firmware (C):
- include/jetson_cmd.h: protocol constants (HB_TIMEOUT_MS=500,
  SPEED_MAX_DEG=4°), API for jetson_cmd_process/is_active/steer/sp_offset
- src/jetson_cmd.c: main-loop parser for buffered C<spd>,<str> frames;
  setpoint offset = speed/1000 * 4°; steer clamped ±1000
- lib/USB_CDC/src/usbd_cdc_if.c: add H (heartbeat) and C (drive cmd) to
  CDC_Receive ISR — follows existing pattern: H updates jetson_hb_tick in
  ISR, C copied to jetson_cmd_buf for main-loop sscanf (avoids sscanf in IRQ)
- src/main.c: integrate jetson_cmd — process buffered frame, apply setpoint
  offset around balance_update(), inject steer into motor_driver_update()
  only when heartbeat alive (fallback: steer=0, setpoint unchanged)

ROS2 (Python):
- saltybot_cmd_node.py: full bidirectional node — owns serial port, handles
  telemetry RX → topics AND /cmd_vel TX → C<spd>,<str>\n + H\n heartbeat
  200ms timer; sends C0,0\n on shutdown; speed/steer_scale configurable
- serial_bridge_node.py: add write_serial() helper for extensibility
- launch/bridge.launch.py: mode arg (bidirectional|rx_only) selects node
- config/bridge_params.yaml: heartbeat_period, speed_scale, steer_scale docs
- test/test_cmd.py: 13 tests — zero, full fwd/rev, turn clamping, combined
- setup.py: saltybot_cmd_node entry point

All 21 tests pass (8 parse + 13 cmd).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 21:07:15 -05:00
sl-jetson
7c4e46aaa1 feat: STM32-to-Jetson ROS2 serial bridge node 
saltybot_bridge ROS2 Python package (ament_python):
- serial_bridge_node.py: reads USB CDC JSON telemetry from STM32F722 at 50Hz
  Parses exact firmware format: {"p","r","e","ig","m","s","y"} (all ×10 ints)
  State enum: 0=DISARMED, 1=ARMED, 2=TILT_FAULT (matched to balance_state_t)
- Publishes sensor_msgs/Imu on /saltybot/imu (pitch/roll/yaw as angular_velocity)
- Publishes std_msgs/String on /saltybot/balance_state (full PID JSON diagnostics)
- Publishes diagnostic_msgs/DiagnosticArray on /diagnostics (OK/WARN/ERROR by state)
- Auto-reconnects on serial disconnect; IMU fault frames → ERROR diagnostic
- launch/bridge.launch.py with serial_port + baud_rate launch args
- config/bridge_params.yaml (921600 baud, /dev/ttyACM0)
- test/test_parse.py: 8 unit tests covering normal, fault, edge cases (all pass)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 17:11:02 -05:00