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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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4beef8da03
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feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)
- Add ota.h / ota.c: ota_enter_dfu() (armed guard, writes BKP15R, resets),
ota_fw_crc32() using STM32F7 hardware CRC peripheral (CRC-32/MPEG-2, 512 KB)
- Add JLINK_CMD_DFU_ENTER (0x06) and dfu_req flag to jlink.h / jlink.c
- Handle dfu_req in main loop: calls ota_enter_dfu(is_armed) — no-op if armed
- Update usbd_cdc_if.c: move DFU magic from BKP0R to BKP15R (OTA_DFU_BKP_IDX)
resolving BKP register conflict with BNO055 calibration (BKP0R–6R, PR #150)
- Add scripts/flash_firmware.py: CRC-32/MPEG-2 + ISO-HDLC verification,
dfu-util flash, host-side backup/rollback, --trigger-dfu JLink serial path
- Add test/test_ota.py: 42 tests passing (CRC-32/MPEG-2, CRC-16/XMODEM,
DFU_ENTER frame structure, BKP register safety, flash constants)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 09:56:18 -05:00 |
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