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2 Commits

Author SHA1 Message Date
sl-jetson
cea3eaff97 cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only 
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers
- can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE)
- test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions
- All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced:
  * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO
  * Device paths: /dev/stm32-bridge → /dev/esp32-io
  * Node names: stm32_serial_bridge → esp32_io_serial_bridge
  * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io
- C/C++ src/include/lib/test files: added DEPRECATED header comment
- Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test,
  saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all
  chassis, docs, scripts, and project files

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:56:09 -04:00
sl-jetson
92c0628c62 feat: Orin CANable 2.0 bridge for Mamba and VESC CAN bus (Issue #674) 
Adds slcan setup script and saltybot_can_bridge ROS2 package implementing
full CAN bus integration between the Orin and the Mamba motor controller /
VESC motor controllers via a CANable 2.0 USB dongle (slcan interface).

- jetson/scripts/setup_can.sh: slcand-based bring-up/tear-down for slcan0
  at 500 kbps with error handling (already up, device missing, retry)
- saltybot_can_bridge/mamba_protocol.py: CAN message ID constants and
  encode/decode helpers for velocity, mode, e-stop, IMU, battery, VESC state
- saltybot_can_bridge/can_bridge_node.py: ROS2 node subscribing to /cmd_vel
  and /estop, publishing /can/imu, /can/battery, /can/vesc/{left,right}/state
  and /can/connection_status; background reader thread, watchdog zero-vel,
  auto-reconnect every 5 s on CAN error
- config/can_bridge_params.yaml: default params (slcan0, VESC IDs 56/68,
  Mamba ID 1, 0.5 s command timeout)
- test/test_can_bridge.py: 30 unit tests covering encode/decode round-trips
  and edge cases — all pass without ROS2 or CAN hardware

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-17 21:40:07 -04:00