|
|
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 |
|
|
|
4beef8da03
|
feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)
- Add ota.h / ota.c: ota_enter_dfu() (armed guard, writes BKP15R, resets),
ota_fw_crc32() using STM32F7 hardware CRC peripheral (CRC-32/MPEG-2, 512 KB)
- Add JLINK_CMD_DFU_ENTER (0x06) and dfu_req flag to jlink.h / jlink.c
- Handle dfu_req in main loop: calls ota_enter_dfu(is_armed) — no-op if armed
- Update usbd_cdc_if.c: move DFU magic from BKP0R to BKP15R (OTA_DFU_BKP_IDX)
resolving BKP register conflict with BNO055 calibration (BKP0R–6R, PR #150)
- Add scripts/flash_firmware.py: CRC-32/MPEG-2 + ISO-HDLC verification,
dfu-util flash, host-side backup/rollback, --trigger-dfu JLink serial path
- Add test/test_ota.py: 42 tests passing (CRC-32/MPEG-2, CRC-16/XMODEM,
DFU_ENTER frame structure, BKP register safety, flash constants)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-03-02 09:56:18 -05:00 |
|
