seb/saltylab-firmware
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3 Commits

Author SHA1 Message Date
sl-controls
f4e71777ec fix: Resolve all compile and linker errors (Issue #337) 
Fixed 7 compile errors across 6 files:

1. servo.c: Removed duplicate ServoState typedef, updated struct definition in header
2. watchdog.c: Fixed IWDG handle usage - moved to global scope for IRQHandler access
3. ultrasonic.c: Fixed timer handle type mismatches - use TIM_HandleTypeDef instead of TIM_TypeDef, replaced HAL_TIM_IC_Init_Compat with proper HAL functions
4. main.c: Replaced undefined functions - imu_calibrated() → mpu6000_is_calibrated(), crsf_is_active() → manual state check
5. ina219.c: Stubbed I2C functions pending HAL implementation

Build now passes with ZERO errors.
- RAM: 6.5% (16964 bytes / 262144)
- Flash: 10.6% (55368 bytes / 524288)

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-03 19:00:12 -05:00
sl-mechanical
5cec6779e5 feat: Integrate IWDG watchdog timer driver (Issue #300) 
- Replace safety.c's direct IWDG initialization with watchdog module API
- Use watchdog_init(2000) for ~2s timeout in safety_init()
- Use watchdog_kick() in safety_refresh() to feed the watchdog
- Remove unused watchdog_get_divider() helper function
- Watchdog now configured with automatic prescaler selection

The watchdog module provides a clean, flexible IWDG interface that:
- Automatically calculates prescaler and reload values
- Detects watchdog-triggered resets via watchdog_was_reset_by_watchdog()
- Supports timeout range of ~1ms to ~32 seconds
- Integrates seamlessly with existing safety system

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-03 17:29:59 -05:00
sl-webui
f12f0bdc2b feat(webui): motor current live graph (Issue #297) 
Real-time motor current visualization with:
- Subscribes to /saltybot/motor_currents for dual-motor current data
- Rolling 60-second history window with automatic data culling
- Dual-axis line chart for left (cyan) and right (amber) motor amps
- Canvas-based rendering for performance
- Thermal warning threshold line (25A, configurable)
- Real-time statistics:
  * Current draw for left and right motors
  * Peak current tracking over 60-second window
  * Average current calculation
  * Thermal status indicator with warning badge
- Color-coded thermal alerts:
  * Red background when threshold exceeded
  * Warning indicator and message
- Grid overlay, axis labels, time labels, legend
- Takes absolute value of currents (handles reverse direction)

Integrated into TELEMETRY tab group as 'Motor Current' tab.

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
 2026-03-02 21:09:17 -05:00