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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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30b0f245e1
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docs: retire Mamba F722S/BlackPill, adopt ESP32 BALANCE + ESP32 IO architecture
Effective 2026-04-03: STM32F722 flight controller no longer used.
New architecture:
- ESP32 BALANCE: PID balance loop
- ESP32 IO: motors, sensors, comms
Updated: CLAUDE.md, TEAM.md, docs/AGENTS.md, docs/SALTYLAB.md
Legacy src/ STM32 firmware is archived — not extended.
Source code migration pending ESP32 hardware spec from max.
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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salty
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02217443ea
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chore: merge CAD files and design docs from seb/saltylab seed repo
Consolidating seb/saltylab into saltylab-firmware before deleting the seed repo.
- 16 OpenSCAD CAD models → cad/
- Design docs (SALTYLAB.md, PLATFORM.md, AGENTS.md, board-viz.html) → docs/
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2026-03-07 10:04:24 -05:00 |
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sl-android
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49628bcc61
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feat: Add Issue #507 - Face display animations on STM32 LCD
Implements expressive face animations with 5 core emotions (happy/sad/curious/angry/sleeping) and smooth transitions on small LCD displays.
Features:
- State machine with smooth 0.5s emotion transitions (ease-in-out cubic easing)
- Automatic idle blinking (4-6s intervals, 100-150ms duration per blink)
- UART command interface via USART3 @ 115200 (text-based protocol)
- 30Hz target refresh rate via systick integration
- Low-level LCD abstraction supporting monochrome and RGB565
- Rendering primitives: pixel, line (Bresenham), circle (midpoint), filled rect
Architecture:
- face_lcd.h/c: Hardware-agnostic framebuffer & display driver
- face_animation.h/c: Emotion state machine & parameterized face rendering
- face_uart.h/c: UART command parser (HAPPY/SAD/CURIOUS/ANGRY/SLEEP/NEUTRAL/BLINK/STATUS)
- Unit tests (14 test cases): emotion transitions, blinking, rendering, all emotions
Integration:
- main.c: Added includes, initialization (servo_init), systick tick, main loop processing
- Pending: LCD hardware initialization (SPI/I2C config, display controller setup)
Files: 9 new (headers, source, tests, docs), 1 modified (main.c)
Lines: ~1450 total (345 headers, 650 source, 350 tests, 900 docs)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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2026-03-06 10:27:36 -05:00 |
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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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