saltylab-firmware

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Author	SHA1	Message	Date
sl-firmware	c0d946f858	fix: resolve all compile/linker errors (Issue #337 ) Some checks failed social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 5s Details social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped Details social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled Details Fixed multiple compilation and linker errors: - watchdog.c: Store IWDG handle in struct for proper refresh calls - battery.c: Add missing #include <stdbool.h> - battery.h: Add missing #include <stdbool.h> - servo.c: Remove duplicate ServoState typedef (moved to static struct) - ultrasonic.c: Use static TIM handle shared with ISR, fix HAL macro calls - main.c: Add helper functions for bno055_active, imu_calibrated(), crsf_is_active() - main.c: Fix buzzer_play() call to buzzer_play_melody(MELODY_STARTUP) - i2c1.c/h: Add i2c1_write() and i2c1_read() functions pio run now passes with zero errors. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 17:32:09 -05:00
sl-firmware	4a46fad002	feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103 ) ## Summary - config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms - include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider) battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection - include/crsf.h + src/crsf.c: CRSF telemetry TX uplink crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD - src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed) - test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame layout/encoding, flight-mode frame, battery_estimate_pct SoC math Existing (already complete from crsf-elrs branch): CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS CH5 arm switch with ARMING_HOLD_MS interlock + edge detection RC override: mode_manager blends steer/speed per mode (CH6) Closes #103 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-02 08:35:48 -05:00

Author

SHA1

Message

Date

sl-firmware

c0d946f858

fix: resolve all compile/linker errors (Issue #337 )

social-bot integration tests / Lint (flake8 + pep257) (pull_request) Failing after 5s

Details

social-bot integration tests / Core integration tests (mock sensors, no GPU) (pull_request) Has been skipped

Details

social-bot integration tests / Latency profiling (GPU, Orin) (pull_request) Has been cancelled

Details

Fixed multiple compilation and linker errors:
- watchdog.c: Store IWDG handle in struct for proper refresh calls
- battery.c: Add missing #include <stdbool.h>
- battery.h: Add missing #include <stdbool.h>
- servo.c: Remove duplicate ServoState typedef (moved to static struct)
- ultrasonic.c: Use static TIM handle shared with ISR, fix HAL macro calls
- main.c: Add helper functions for bno055_active, imu_calibrated(), crsf_is_active()
- main.c: Fix buzzer_play() call to buzzer_play_melody(MELODY_STARTUP)
- i2c1.c/h: Add i2c1_write() and i2c1_read() functions

pio run now passes with zero errors.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

2026-03-03 17:32:09 -05:00

sl-firmware

4a46fad002

feat(rc): CRSF/ELRS RC integration — telemetry uplink + channel fix (Issue #103 )

## Summary
- config.h: CH1[0]=steer, CH2[1]=throttle (was CH4/CH3); CRSF_FAILSAFE_MS→500ms
- include/battery.h + src/battery.c: ADC3 Vbat reading on PC1 (11:1 divider)
  battery_read_mv(), battery_estimate_pct() for 3S/4S auto-detection
- include/crsf.h + src/crsf.c: CRSF telemetry TX uplink
  crsf_send_battery() — type 0x08, voltage/current/SoC to ELRS TX module
  crsf_send_flight_mode() — type 0x21, "ARMED\0"/"DISARM\0" for handset OSD
- src/main.c: battery_init() after crsf_init(); 1Hz telemetry tick calls
  crsf_send_battery(vbat_mv, 0, soc_pct) + crsf_send_flight_mode(armed)
- test/test_crsf_frames.py: 28 pytest tests — CRC8-DVB-S2, battery frame
  layout/encoding, flight-mode frame, battery_estimate_pct SoC math

Existing (already complete from crsf-elrs branch):
  CRSF frame decoder UART4 420000 baud DMA circular + IDLE interrupt
  Mode manager: RC↔autonomous blend, CH6 3-pos switch, 500ms smooth transition
  Failsafe in main.c: disarm if crsf_state.last_rx_ms stale > CRSF_FAILSAFE_MS
  CH5 arm switch with ARMING_HOLD_MS interlock + edge detection
  RC override: mode_manager blends steer/speed per mode (CH6)

Closes #103

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

2026-03-02 08:35:48 -05:00

2 Commits