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Author SHA1 Message Date
sl-uwb
c958cf4474 chore: complete legacy hardware cleanup — zero Mamba/STM32/BlackPill refs
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Final pass after sl-firmware/cleanup-legacy-hw initial sweep:

Deleted:
- legacy/stm32/ (entire archive — all STM32 firmware, HAL stubs, tests,
  platformio.ini, USB_CDC lib — moved there by prior commit, now removed)
- test/test_ota.py (STM32 JLink/DFU OTA tests — imports from deleted
  legacy/stm32/scripts/; irrelevant to ESP32 OTA mechanism)

Updated:
- docs/wiring-diagram.md: remove "Mamba F722S / STM32 retired" banner
  and obsolete STM32 UART pin table (PA2/PB6/etc.); replace with
  ESP32-S3 GPIO table per SAUL-TEE-SYSTEM-REFERENCE.md
- docs/AGENTS.md: remove "archived STM32 HAL code" note
- TEAM.md: remove legacy/stm32/USB_CDC_BUG.md references
- serial_bridge_node.py: "stm32_serial_bridge" → "esp32_serial_bridge"

Result: grep for mamba|f722|stm32f7|stm32f4|blackpill across all
*.py *.cpp *.h *.c *.md *.yaml *.ini *.json returns zero hits
(excluding docs/SAUL-TEE-SYSTEM-REFERENCE.md superseded-hw table).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 09:15:04 -04:00
sl-uwb
bb35ddd56d chore: resolve git conflict markers and complete legacy STM32/Mamba → ESP32-S3 rename 
- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side)
- Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_*
- Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py
- Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with
  balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem,
  decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node
- Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py
- Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived
- Update can_bridge_params.yaml: mamba_can_id → balance_can_id
- Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture
- Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py
- No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 09:11:24 -04:00
sl-firmware
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
sl-firmware
5ef1f7e365 docs: full SAUL-TEE ESP32-S3 spec — pins, CAN, UART, RC mapping 
Complete hardware reference from hal@Orin spec (2026-04-04):
- docs/SAUL-TEE-SYSTEM-REFERENCE.md: authoritative pin/protocol/CAN reference
  ESP32-S3 BALANCE: QMI8658 SPI(IO38-42), GC9A01 LCD, SN65HVD230 CAN(IO43/44),
  inter-board UART(IO17/18)
  ESP32-S3 IO: Crossfire UART0(IO43/44), ELRS UART2(IO16/17), BTS7960(IO1-8),
  I2C(IO11/12), WS2812(IO13), buzzer/headlight/fan, arming btn, kill-sw, UART(IO18/21)
- Inter-board binary protocol: [0xAA][LEN][TYPE][PAYLOAD][CRC8] @ 460800 baud
- CAN: VESC L=68, R=56; Orin cmds 0x300-0x303; telemetry 0x400-0x401 @ 10Hz
- RC: CH5=ARM, CH6=ESTOP, CH7=speed-limit; CRSF loss >100ms = motors cut
- CLAUDE.md, TEAM.md, docs/AGENTS.md, docs/SALTYLAB.md updated with full spec

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:25:24 -04:00
sl-webui
f71dad5344 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>
 2026-04-04 08:25:24 -04:00
sl-firmware
30b0f245e1 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>
 2026-04-04 08:25:24 -04:00
Sebastien Vayrette
0afdaea2e1 Add USB CDC bug doc and team requirements 2026-02-28 11:59:53 -05:00