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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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87b45e1b97
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feat(firmware): BNO055 NDOF IMU driver on I2C1 (Issue #135)
Auto-detected alongside MPU6000. Acts as balance primary when MPU6000
fails, or provides NDOF-fused yaw/pitch when both sensors are present.
- include/bno055.h: full API — bno055_init/read/is_ready/calib_status/
temperature/save_offsets/restore_offsets
- src/bno055.c: I2C1 driver; probes 0x28/0x29, resets via SYS_TRIGGER,
enters NDOF mode; 2-burst 12-byte reads (gyro+euler, LIA+gravity);
Euler/gyro/accel scaling (÷16, ÷16, ÷100); auto-saves offsets to
RTC backup regs BKP0R–BKP6R on first full cal; restores on boot
(bno055_is_ready() returns true immediately); temperature updated 1Hz
- include/config.h: BNO055_BKP_MAGIC = 0xB055CA10
- src/main.c: bno055_init() in I2C probe block (before IWDG); imu_calibrated()
macro dispatches mpu6000_is_calibrated() vs bno055_is_ready();
BNO055 read deferred inside balance gate to avoid stalling main loop;
USB JSON reports bno_cs (calib status) and bno_t (temperature)
- test/test_bno055_data.py: 43 pytest tests (43/43 pass) — calib status
bit extraction, Euler/gyro/accel scaling, burst parsing, offset
round-trip packing, temperature signed-byte encoding
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-02 09:40:18 -05:00 |
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