|
|
fa75c442a7
|
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>
|
2026-04-04 09:00:38 -04:00 |
|
|
|
76067d6d89
|
feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration
Adds saltybot_bringup ROS2 package with four launch files:
- realsense.launch.py — D435i at 640x480x15fps, IMU unified topic
- rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink
- sensors.launch.py — both sensors + static TF (base_link→laser/camera)
- slam.launch.py — sensors + slam_toolbox online_async (compose entry point)
Sensor config YAMLs (mounted at /config/ in container):
- realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud)
- rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame
- slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution)
Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src
(was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory)
Topic reference and verification commands in SENSORS.md.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-02-28 17:14:21 -05:00 |
|
