Merge pull request 'docs: SAUL-TEE full ESP32-S3 system reference (arch migration)' (#712 ) from sl-firmware/arch-esp32-migration into main

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 08:57:11 -04:00 · 2026-04-04 08:25:24 -04:00 · 2026-04-04 08:25:24 -04:00 · 2026-04-04 08:25:24 -04:00 · 2026-04-04 08:25:24 -04:00 · 2026-04-04 08:25:24 -04:00
106 changed files with 607 additions and 342 deletions
--- a/AUTONOMOUS_ARMING.md
+++ b/AUTONOMOUS_ARMING.md
@ -7,7 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
 ### Jetson Autonomous Arming
 - Command: `A\n` (single byte 'A' followed by newline)
- Sent via USB CDC to the STM32 firmware
+- Sent via USB CDC to the ESP32 BALANCE firmware
 - Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
 - Works even when RC is not connected or not armed
@ -42,7 +42,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
 ## Command Protocol
-### From Jetson to STM32 (USB CDC)
+### From Jetson to ESP32 BALANCE (USB CDC)
 ```
 A           — Request arm (triggers safety hold, then motors enable)
 D           — Request disarm (immediate motor stop)
@ -52,7 +52,7 @@ H           — Heartbeat (refresh timeout timer, every 500ms)
 C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
 ```
-### From STM32 to Jetson (USB CDC)
+### From ESP32 BALANCE to Jetson (USB CDC)
 Motor commands are gated by `bal.state == BALANCE_ARMED`:
 - When ARMED: Motor commands sent every 20ms (50 Hz)
 - When DISARMED: Zero sent every 20ms (prevents ESC timeout)
--- a/CLAUDE.md
+++ b/CLAUDE.md
@ -1,14 +1,23 @@
 # SaltyLab Firmware — Agent Playbook
 ## Project
-Self-balancing two-wheeled robot: STM32F722 flight controller, hoverboard hub motors, Jetson Nano for AI/SLAM.
+**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
 Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
 | Board | Role |
 |-------|------|
 | **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
 | **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
 | **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
 > **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
 ## Team
 | Agent | Role | Focus |
 |-------|------|-------|
-| **sl-firmware** | Embedded Firmware Lead | STM32 HAL, USB CDC debugging, SPI/UART, PlatformIO, DFU bootloader |
+| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
-| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
+| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
-| **sl-perception** | Perception / SLAM Engineer | Jetson Nano, RealSense D435i, RPLIDAR, ROS2, Nav2 |
+| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
 ## Status
 USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
--- a/TEAM.md
+++ b/TEAM.md
@ -1,12 +1,13 @@
 # SaltyLab — Ideal Team
 ## Project
-Self-balancing two-wheeled robot using a drone flight controller (STM32F722), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM.
+**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
 Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
 ## Current Status
- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
+- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug
+- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md`
+- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
 ---
@ -14,10 +15,10 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
 ### 1. Embedded Firmware Engineer (Lead)
 **Must-have:**
- Deep STM32 HAL experience (F7 series specifically)
+- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
 - USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
- SPI + UART + USB coexistence on STM32
+- SPI + UART + USB coexistence on ESP32
- PlatformIO or bare-metal STM32 toolchain
+- PlatformIO or bare-metal ESP32 toolchain
 - DFU bootloader implementation
 **Nice-to-have:**
@ -25,7 +26,7 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
 - PID control loop tuning for balance robots
 - FOC motor control (hoverboard ESC protocol)
-**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
+**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.
 ### 2. Control Systems / Robotics Engineer
 **Must-have:**
@ -61,7 +62,7 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
 ## Hardware Reference
 | Component | Details |
 |-----------|---------|
-| FC | MAMBA F722S (STM32F722RET6, MPU6000) |
+| FC | ESP32 BALANCE (ESP32RET6, MPU6000) |
 | Motors | 2x 8" pneumatic hoverboard hub motors |
 | ESC | Hoverboard ESC (EFeru FOC firmware) |
 | Battery | 36V pack |
--- a/USB_CDC_BUG.md
+++ b/USB_CDC_BUG.md
@ -127,7 +127,7 @@ loop — USB would never enumerate cleanly.
 | LED2 | PC15 | GPIO |
 | Buzzer | PB2 | GPIO/TIM4_CH3 |
-MCU: STM32F722RET6 (MAMBA F722S FC, Betaflight target DIAT-MAMBAF722_2022B)
+MCU: ESP32RET6 (ESP32 BALANCE FC, Betaflight target DIAT-MAMBAF722_2022B)
 ---
--- a/chassis/ASSEMBLY.md
+++ b/chassis/ASSEMBLY.md
@ -56,10 +56,15 @@
 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
 4. Insert battery pack; route Velcro straps through slots and cinch.
-### 7  FC mount (MAMBA F722S)
+### 7  MCU mount (ESP32 BALANCE + ESP32 IO)
 > ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE retired. Two ESP32 boards replace it.
 > Board dimensions and hole patterns TBD — await spec from max before machining mount plate.
 1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
-2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque.
+2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only.
-3. Orient USB-C port toward front of robot for cable access.
+3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions.
 4. Orient USB connectors toward front of robot for cable access.
 ### 8  Jetson Nano mount plate
 1. Press or thread M3 nylon standoffs (8mm) into plate holes.
@ -86,7 +91,8 @@
 | Wheelbase (axle C/L to C/L) | 600 mm | ±1 mm |
 | Motor fork slot width | 24 mm | +0.5 / 0 |
 | Motor fork dropout depth | 60 mm | ±0.5 mm |
-| FC hole pattern | 30.5 × 30.5 mm | ±0.2 mm |
+| ESP32 BALANCE hole pattern | TBD — await spec from max | ±0.2 mm |
 | ESP32 IO hole pattern | TBD — await spec from max | ±0.2 mm |
 | Jetson hole pattern | 58 × 58 mm | ±0.2 mm |
 | Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm |
--- a/chassis/BOM.md
+++ b/chassis/BOM.md
@ -41,7 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 | 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` |
 | 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` |
 | 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative |
-| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | MAMBA F722S vibration isolation |
+| 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) |
 | 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
 ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
@ -88,12 +88,16 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 ## Electronics Mounts
 > ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) is retired.
 > Replaced by **ESP32 BALANCE** + **ESP32 IO**. Board dimensions and hole patterns TBD — await spec from max.
 | # | Part | Qty | Spec | Notes |
 |---|------|-----|------|-------|
-| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
+| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE |
-| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
+| 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O |
-| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
+| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation |
-| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
+| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads |
 | 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
 | 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
 ---
@ -144,8 +148,8 @@ Slide entire carousel up/down the stem with M6 collar bolts loosened. Tighten at
 | 26 | M6×60 SHCS  | 4  | ISO 4762, SS | Collar clamping bolts |
 | 27 | M6 hex nut  | 4  | ISO 4032, SS | Captured in collar pockets |
 | 28 | M6×12 set screw | 2 | ISO 4026, SS cup-point | Stem height lock (1 per collar half) |
-| 29 | M3×10 SHCS | 12 | ISO 4762, SS | FC mount + miscellaneous |
+| 29 | M3×10 SHCS | 12 | ISO 4762, SS | ESP32 mount + miscellaneous |
-| 30 | M3×6 BHCS  | 4  | ISO 4762, SS | FC board bolts |
+| 30 | M3×6 BHCS  | 4  | ISO 4762, SS | ESP32 board bolts (qty TBD pending board spec) |
 | 31 | Axle lock nut (match axle tip thread) | 4 | Flanged, confirm thread | 2 per motor |
 | 32 | Flat washer M5 | 32 | SS | |
 | 33 | Flat washer M4 | 32 | SS | |
--- a/chassis/ip54_BOM.md
+++ b/chassis/ip54_BOM.md
@ -104,7 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio
 | Component | Thermal strategy | Max junction | Enclosure budget |
 |-----------|-----------------|-------------|-----------------|
 | Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case |
-| FC (MAMBA F722S) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
+| FC (ESP32 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
 | ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
 | D435i | Passive; housing vent gap on rear cap | 45 °C surface | — |
--- a/docs/AGENTS.md
+++ b/docs/AGENTS.md
@ -2,22 +2,29 @@
 You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read this entire file before touching anything.
-## Project Overview
+## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)
-A hoverboard-based balancing robot with two compute layers:
+Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
-1. **FC (Flight Controller)** — MAMBA F722S (STM32F722RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer.
+
-2. **Jetson Nano** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.
+| Board | Role |
 |-------|------|
 | **ESP32-S3 BALANCE** | Waveshare Touch LCD 1.28 (CH343 USB). QMI8658 IMU, PID loop, CAN→VESC L(68)/R(56), GC9A01 LCD |
 | **ESP32-S3 IO** | Bare devkit (JTAG USB). TBS Crossfire RC (UART0), ELRS failover (UART2), BTS7960 motors, NFC/baro/ToF, WS2812, buzzer/horn/headlight/fan |
 | **Jetson Orin** | CANable2 USB→CAN. Cmds on 0x300–0x303, telemetry on 0x400–0x401 |
 ```
-Jetson (speed+steer via UART1)  ←→  ELRS RC (UART3, kill switch)
+Jetson Orin ──CANable2──► CAN 500kbps ◄───────────────────────┐
-         │
+                                │                               │
-         ▼
+                         ESP32-S3 BALANCE ←─UART 460800─► ESP32-S3 IO
-   MAMBA F722S (MPU6000 IMU, PID balance)
+                         (QMI8658, PID loop)              (BTS7960, RC, sensors)
-         │
+                                │ CAN 500kbps
-         ▼ UART2
+                      ┌─────────┴──────────┐
-   Hoverboard ESC (FOC) → 2× 8" hub motors
+                 VESC Left (ID 68)    VESC Right (ID 56)
 ```
 Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`  
 Legacy `src/` STM32 HAL code is **archived — do not extend.**
 ## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
 This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, and launch the frame. Every firmware change must preserve these invariants:
@ -35,7 +42,7 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
 ## Repository Layout
 ```
-firmware/              # STM32 HAL firmware (PlatformIO)
+firmware/              # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived)
 ├── src/
 │   ├── main.c         # Entry point, clock config, main loop
 │   ├── icm42688.c     # ICM-42688-P SPI driver (backup IMU — currently broken)
@ -82,11 +89,11 @@ PLATFORM.md            # Hardware platform reference
 ## Hardware Quick Reference
-### MAMBA F722S Flight Controller
+### ESP32 BALANCE Flight Controller
 | Spec | Value |
 |------|-------|
-| MCU | STM32F722RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
+| MCU | ESP32RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
 | Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
 | IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 |
 | IMU EXTI | PC4 (data ready interrupt) |
@ -160,7 +167,7 @@ PLATFORM.md            # Hardware platform reference
 ### Critical Lessons Learned (DON'T REPEAT THESE)
 1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times.
-2. **DCache breaks SPI on STM32F7** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
+2. **DCache breaks SPI on ESP32** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
 3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes.
 4. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first.
 5. **USB CDC needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
@ -172,7 +179,7 @@ The firmware supports reboot-to-DFU via USB command:
 2. Firmware writes `0xDEADBEEF` to RTC backup register 0
 3. `NVIC_SystemReset()` — clean hardware reset
 4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic
-5. If magic found: clears it, remaps system memory, jumps to STM32 bootloader at `0x1FF00000`
+5. If magic found: clears it, remaps system memory, jumps to ESP32 BALANCE bootloader at `0x1FF00000`
 6. Board appears as DFU device, ready for `dfu-util` flash
 ### Build & Flash
--- a/docs/FACE_LCD_ANIMATION.md
+++ b/docs/FACE_LCD_ANIMATION.md
@ -1,6 +1,6 @@
 # Face LCD Animation System (Issue #507)
-Implements expressive face animations on an STM32 LCD display with 5 core emotions and smooth transitions.
+Implements expressive face animations on an ESP32 LCD display with 5 core emotions and smooth transitions.
 ## Features
@ -82,7 +82,7 @@ STATUS      → Echo current emotion + idle state
 - Colors: Monochrome (1-bit) or RGB565
 ### Microcontroller
- STM32F7xx (Mamba F722S)
+- ESP32xx (ESP32 BALANCE)
 - Available UART: USART3 (PB10=TX, PB11=RX)
 - Clock: 216 MHz
--- a/docs/SALTYLAB.md
+++ b/docs/SALTYLAB.md
@ -1,6 +1,6 @@
-# SaltyLab — Self-Balancing Indoor Bot 🔬
+# SAUL-TEE — Self-Balancing Wagon Robot 🔬
-Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
+Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
 ## ⚠️ SAFETY — TOP PRIORITY
@ -32,8 +32,10 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
 |------|--------|
 | 2x 8" pneumatic hub motors (36 PSI) | ✅ Have |
 | 1x hoverboard ESC (FOC firmware) | ✅ Have |
-| 1x Drone FC (STM32F745 + MPU-6000) | ✅ Have — balance brain |
+| ~~1x Drone FC (ESP3245 + MPU-6000)~~ | ❌ RETIRED — replaced by ESP32 BALANCE |
-| 1x Jetson Nano + Noctua fan | ✅ Have |
+| 1x ESP32 BALANCE (PID loop) | ⬜ TBD — spec from max |
 | 1x ESP32 IO (motors/sensors/comms) | ⬜ TBD — spec from max |
 | 1x Jetson Orin + Noctua fan | ✅ Have |
 | 1x RealSense D435i | ✅ Have |
 | 1x RPLIDAR A1M8 | ✅ Have |
 | 1x battery pack (36V) | ✅ Have |
@ -50,13 +52,13 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
 | 1x ELRS receiver (matching) | ✅ Have — mounts on FC UART |
 ### Drone FC Details — GEPRC GEP-F7 AIO
- **MCU:** STM32F722RET6 (216MHz Cortex-M7, 512KB flash, 256KB RAM)
+- **MCU:** ESP32RET6 (216MHz Cortex-M7, 512KB flash, 256KB RAM)
 - **IMU:** TDK ICM-42688-P (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
 - **Flash:** 8MB Winbond W25Q64 (blackbox, unused)
 - **OSD:** AT7456E (unused)
 - **4-in-1 ESC:** Built into AIO board (unused — we use hoverboard ESC)
 - **DFU mode:** Hold yellow BOOT button while plugging USB
- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL)
+- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL) — LEGACY, see ESP32 BALANCE
 - **UART pads (confirmed from silkscreen):**
  - T1/R1 (bottom) → USART1 (PA9/PA10) → Jetson
  - T2/R2 (right top) → USART2 (PA2/PA3) → Hoverboard ESC
@ -95,7 +97,7 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
 ## Self-Balancing Control — Custom Firmware on Drone FC
 ### Why a Drone FC?
-The F745 board is just a premium STM32 dev board with a high-quality IMU (MPU-6000) already soldered on, proper voltage regulation, and multiple UARTs broken out. We write a lean custom balance firmware (~50 lines of C).
+The F745 board was a premium STM32 dev board (legacy; now replaced by ESP32 BALANCE) with a high-quality IMU (MPU-6000) already soldered on, proper voltage regulation, and multiple UARTs broken out. We write a lean custom balance firmware (~50 lines of C).
 ### Architecture
 ```
@ -142,7 +144,7 @@ GND          ──→   GND
 5V           ←──   5V
 ```
-### Custom Firmware (STM32 C)
+### Custom Firmware (Legacy STM32 C — archived)
 ```c
 // Core balance loop — runs in timer interrupt @ 1-8kHz
@ -280,8 +282,8 @@ GND             ──→ Common ground
 ```
 ### Dev Tools
- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD
+- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD (legacy)
- **IDE:** PlatformIO + STM32 HAL, or STM32CubeIDE
+- **IDE:** PlatformIO + ESP-IDF (new) or STM32 HAL/STM32CubeIDE (legacy)
 - **Debug:** SWD via ST-Link (or use FC's USB as virtual COM for printf debug)
 ## Physical Design
@ -375,7 +377,7 @@ GND             ──→ Common ground
 - [ ] Install hardware kill switch inline with 36V battery (NC — press to kill)
 - [ ] Set up ceiling tether point above test area (rated for >15kg)
 - [ ] Clear test area: 3m radius, no loose items, shoes on
- [ ] Set up PlatformIO project for STM32F745 (STM32 HAL)
+- [ ] Set up PlatformIO project for ESP32 BALANCE (ESP-IDF)
 - [ ] Write MPU-6000 SPI driver (read gyro+accel, complementary filter)
 - [ ] Write PID balance loop with ALL safety checks:
  - ±25° tilt cutoff → disarm, require manual re-arm
--- a/docs/SAUL-TEE-SYSTEM-REFERENCE.md
+++ b/docs/SAUL-TEE-SYSTEM-REFERENCE.md
@ -0,0 +1,222 @@
 # SAUL-TEE System Reference — SaltyLab ESP32 Architecture
 *Authoritative source of truth for hardware, pins, protocols, and CAN assignments.*
 *Spec from hal@Orin, 2026-04-04.*
 ---
 ## Overview
 | Board | Role | MCU | USB chip |
 |-------|------|-----|----------|
 | **ESP32-S3 BALANCE** | PID balance loop, CAN→VESCs, LCD display | ESP32-S3 | CH343 USB-serial |
 | **ESP32-S3 IO** | RC input, motor drivers, sensors, LEDs, peripherals | ESP32-S3 | JTAG USB (native) |
 **Robot form factor:** 4-wheel wagon — 870 × 510 × 550 mm, ~23 kg
 **Power:** 36 V LiPo, DC-DC → 5 V and 12 V rails
 **Orin connection:** CANable2 USB → 500 kbps CAN (same bus as VESCs)
 ---
 ## ESP32-S3 BALANCE
 ### Board
 Waveshare ESP32-S3 Touch LCD 1.28
 - GC9A01 round 240×240 LCD
 - CST816S capacitive touch
 - QMI8658 6-axis IMU (accel + gyro, SPI)
 - CH343 USB-to-serial chip
 ### Pin Assignments
 | Function | GPIO | Notes |
 |----------|------|-------|
 | **QMI8658 IMU (SPI)** | | |
 | SCK | IO39 | |
 | MOSI | IO38 | |
 | MISO | IO40 | |
 | CS | IO41 | |
 | INT1 | IO42 | data-ready interrupt |
 | **GC9A01 LCD (shares SPI bus)** | | |
 | CS | IO12 | |
 | DC | IO11 | |
 | RST | IO10 | |
 | BL | IO9 | PWM backlight |
 | **CST816S Touch (I2C)** | | |
 | SDA | IO4 | |
 | SCL | IO5 | |
 | INT | IO6 | |
 | RST | IO7 | |
 | **CAN — SN65HVD230 transceiver** | | 500 kbps |
 | TX | IO43 | → SN65HVD230 TXD |
 | RX | IO44 | ← SN65HVD230 RXD |
 | **Inter-board UART (to IO board)** | | 460800 baud |
 | TX | IO17 | |
 | RX | IO18 | |
 ### Responsibilities
 - Read QMI8658 @ 1 kHz (SPI, INT1-driven)
 - Complementary filter → pitch angle
 - PID balance loop (configurable Kp / Ki / Kd)
 - Send VESC speed commands via CAN (ID 68 = left, ID 56 = right)
 - Receive Orin velocity+mode commands via CAN (0x300–0x303)
 - Receive IO board status (arming, RC, faults) via UART protocol
 - Drive GC9A01 LCD: pitch, speed, battery %, error state
 - Enforce tilt cutoff at ±25°; IWDG 50 ms timeout
 - Publish telemetry on CAN 0x400–0x401 at 10 Hz
 ---
 ## ESP32-S3 IO
 ### Board
 Bare ESP32-S3 devkit (JTAG USB)
 ### Pin Assignments
 | Function | GPIO | Notes |
 |----------|------|-------|
 | **TBS Crossfire RC — UART0 (primary)** | | |
 | RX | IO44 | CRSF frames from Crossfire RX |
 | TX | IO43 | telemetry to Crossfire TX |
 | **ELRS failover — UART2** | | active if CRSF absent >100 ms |
 | RX | IO16 | |
 | TX | IO17 | |
 | **BTS7960 Motor Driver — Left** | | |
 | RPWM | IO1 | forward PWM |
 | LPWM | IO2 | reverse PWM |
 | R_EN | IO3 | right enable |
 | L_EN | IO4 | left enable |
 | **BTS7960 Motor Driver — Right** | | |
 | RPWM | IO5 | |
 | LPWM | IO6 | |
 | R_EN | IO7 | |
 | L_EN | IO8 | |
 | **I2C bus** | | |
 | SDA | IO11 | |
 | SCL | IO12 | |
 | NFC (PN532 or similar) | I2C | |
 | Barometer (BMP280/BMP388) | I2C | |
 | ToF (VL53L0X/VL53L1X) | I2C | |
 | **WS2812B LEDs** | | |
 | Data | IO13 | |
 | **Outputs** | | |
 | Horn / buzzer | IO14 | PWM tone |
 | Headlight | IO15 | PWM or digital |
 | Fan | IO16 | (if ELRS not fitted on UART2) |
 | **Inputs** | | |
 | Arming button | IO9 | active-low, hold 3 s to arm |
 | Kill switch sense | IO10 | hardware estop detect |
 | **Inter-board UART (to BALANCE board)** | | 460800 baud |
 | TX | IO18 | |
 | RX | IO21 | |
 ### Responsibilities
 - Parse CRSF frames (TBS Crossfire, primary)
 - Parse ELRS frames (failover, activates if no CRSF for >100 ms)
 - Drive BTS7960 left/right PWM motor drivers
 - Read NFC, barometer, ToF via I2C
 - Drive WS2812B LEDs (armed/fault/idle patterns)
 - Control horn, headlight, fan, buzzer
 - Manage arming: hold button 3 s while upright → send ARM to BALANCE
 - Monitor kill switch input → immediate motor off + FAULT frame
 - Forward RC + sensor data to BALANCE via binary UART protocol
 - Report faults and RC-loss upstream
 ---
 ## Inter-Board Binary Protocol (UART @ 460800 baud)
 ```
 [0xAA][LEN][TYPE][PAYLOAD × LEN bytes][CRC8]
 ```
 - `0xAA` — start byte
 - `LEN` — payload length in bytes (uint8)
 - `TYPE` — message type (uint8)
 - `CRC8` — CRC-8/MAXIM over TYPE + PAYLOAD bytes
 ### IO → BALANCE Messages
 | TYPE | Name | Payload | Description |
 |------|------|---------|-------------|
 | 0x01 | RC_CMD | int16 throttle, int16 steer, uint8 flags | flags: bit0=armed, bit1=kill |
 | 0x02 | SENSOR | uint16 tof_mm, int16 baro_delta_pa, uint8 nfc_present | |
 | 0x03 | FAULT | uint8 fault_flags | bit0=rc_loss, bit1=motor_fault, bit2=estop |
 ### BALANCE → IO Messages
 | TYPE | Name | Payload | Description |
 |------|------|---------|-------------|
 | 0x10 | STATE | int16 pitch_x100, int16 pid_out, uint8 error_state | |
 | 0x11 | LED_CMD | uint8 pattern, uint8 r, uint8 g, uint8 b | |
 | 0x12 | BUZZER | uint8 tone_id, uint16 duration_ms | |
 ---
 ## CAN Bus — 500 kbps
 ### Node Assignments
 | Node | CAN ID | Role |
 |------|--------|------|
 | VESC Left motor | **68** | Receives speed/duty via VESC CAN protocol |
 | VESC Right motor | **56** | Receives speed/duty via VESC CAN protocol |
 | ESP32-S3 BALANCE | — | Sends VESC commands; publishes telemetry |
 | Jetson Orin (CANable2) | — | Sends velocity commands; receives telemetry |
 ### Frame Table
 | CAN ID | Direction | Description | Rate |
 |--------|-----------|-------------|------|
 | 0x300 | Orin → BALANCE | Velocity cmd: int16 speed_mmps, int16 steer_mrad | 20 Hz |
 | 0x301 | Orin → BALANCE | PID tuning: float Kp, float Ki, float Kd (3×4B IEEE-754) | on demand |
 | 0x302 | Orin → BALANCE | Mode: uint8 (0=off, 1=balance, 2=manual, 3=estop) | on demand |
 | 0x303 | Orin → BALANCE | Config: uint16 tilt_limit_x100, uint16 max_speed_mmps | on demand |
 | 0x400 | BALANCE → Orin | Telemetry A: int16 pitch_x100, int16 pid_out, int16 speed_mmps, uint8 state | 10 Hz |
 | 0x401 | BALANCE → Orin | Telemetry B: int16 vesc_l_rpm, int16 vesc_r_rpm, uint16 battery_mv, uint8 faults | 10 Hz |
 ---
 ## RC Channel Mapping (TBS Crossfire / ELRS CRSF)
 | CH | Function | Range (µs) | Notes |
 |----|----------|------------|-------|
 | 1 | Steer (Roll) | 988–2012 | ±100% → ±max steer |
 | 2 | Throttle (Pitch) | 988–2012 | forward / back speed |
 | 3 | Spare | 988–2012 | |
 | 4 | Spare | 988–2012 | |
 | 5 | ARM switch | <1500=disarm, >1500=arm | SB on TX |
 | 6 | **ESTOP** | <1500=normal, >1500=kill | SC on TX — checked first every loop |
 | 7 | Speed limit | 988–2012 | maps to 10–100% speed cap |
 | 8 | Spare | | |
 **RC loss:** No valid CRSF frame >100 ms → IO sends FAULT(rc_loss) → BALANCE cuts motors.
 ---
 ## Safety Invariants
 1. **Motors NEVER spin on power-on** — 3 s button hold required while upright
 2. **Tilt cutoff ±25°** — immediate motor zero, manual re-arm required
 3. **IWDG 50 ms** — firmware hang → motors cut
 4. **ESTOP RC channel** checked first in every loop iteration
 5. **Orin CAN timeout 500 ms** → revert to RC-only mode
 6. **Speed hard cap** — start at 10%, increase in 10% increments only after stable tethered testing
 7. **Never untethered** until stable for 5+ continuous minutes tethered
 ---
 ## USB Debug Commands (both boards, serial console)
 ```
 help                     list commands
 status                   print pitch, PID state, CAN stats, UART stats
 pid <Kp> <Ki> <Kd>      set PID gains
 arm                      arm (if upright and safe)
 disarm                   disarm immediately
 estop                    emergency stop (requires re-arm)
 tilt_limit <deg>         set tilt cutoff angle (default 25)
 speed_limit <pct>        set speed cap percentage (default 10)
 can_stats                CAN bus counters (tx/rx/errors/busoff)
 uart_stats               inter-board UART frame counters
 reboot                   soft reboot
 ```
--- a/docs/board-viz.html
+++ b/docs/board-viz.html
@ -2,7 +2,7 @@
 <html>
 <head>
 <meta charset="utf-8">
-<title>GEPRC GEP-F722-45A AIO — Board Layout</title>
+<title>GEPRC GEP-F722-45A AIO — Board Layout (Legacy / Archived)</title>
 <style>
 * { margin: 0; padding: 0; box-sizing: border-box; }
 body { background: #1a1a2e; color: #eee; font-family: 'Courier New', monospace; display: flex; flex-direction: column; align-items: center; padding: 20px; }
@ -112,8 +112,8 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
 </style>
 </head>
 <body>
-<h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout</h1>
+<h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout (Legacy / Archived)</h1>
-<p class="subtitle">STM32F722RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
+<p class="subtitle">ESP32RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
 <div class="container">
  <div class="board-wrap">
@ -125,7 +125,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
      <div class="mount br"></div>
      <!-- MCU -->
-      <div class="mcu"><div class="dot"></div>STM32<br>F722RET6<br>216MHz</div>
+      <div class="mcu"><div class="dot"></div>ESP32<br>(legacy:<br>F722RET6)</div>
      <!-- IMU -->
      <div class="imu">ICM<br>42688</div>
--- a/docs/wiring-diagram.md
+++ b/docs/wiring-diagram.md
@ -1,6 +1,13 @@
-# SaltyLab Wiring Diagram
+# SaltyLab / SAUL-TEE Wiring Reference
-## System Overview
+> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S / STM32 retired.
 > New stack: **ESP32-S3 BALANCE** + **ESP32-S3 IO** + VESCs on 500 kbps CAN.
 > **Authoritative reference:** [`docs/SAUL-TEE-SYSTEM-REFERENCE.md`](SAUL-TEE-SYSTEM-REFERENCE.md)
 > Historical STM32/Mamba wiring below is **obsolete** — retained for reference only.
 ---
 ## ~~System Overview~~ (OBSOLETE — see SAUL-TEE-SYSTEM-REFERENCE.md)
 ```
 ┌─────────────────────────────────────────────────────────────────────┐
@ -139,7 +146,7 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
 | 1TB NVMe | PCIe Gen3 ×4 | M.2 Key M | `/dev/nvme0n1` |
-## FC UART Summary (MAMBA F722S)
+## FC UART Summary (MAMBA F722S — OBSOLETE)
 | UART | Pins | Baud | Assignment | Notes |
 |------|------|------|------------|-------|
--- a/jetson/README.md
+++ b/jetson/README.md
@ -14,7 +14,7 @@ Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
 | Nav | Nav2 |
 | Depth camera | Intel RealSense D435i |
 | LiDAR | RPLIDAR A1M8 |
-| MCU bridge | STM32F722 (USB CDC @ 921600) |
+| MCU bridge | ESP32 (USB CDC @ 921600) |
 ## Quick Start
@ -42,7 +42,7 @@ bash scripts/build-and-run.sh shell
 ```
 jetson/
 ├── Dockerfile              # L4T base + ROS2 Humble + SLAM packages
-├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, STM32)
+├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
 ├── README.md               # This file
 ├── docs/
 │   ├── pinout.md           # GPIO/I2C/UART pinout reference
--- a/jetson/config/RECOVERY_BEHAVIORS.md
+++ b/jetson/config/RECOVERY_BEHAVIORS.md
@ -34,7 +34,7 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path
 The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
-Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the STM32 firmware.
+Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.
 ## Behavior Tree Sequence
--- a/jetson/config/nav2_params.yaml
+++ b/jetson/config/nav2_params.yaml
@ -12,7 +12,7 @@
 #   /scan                    — RPLIDAR A1M8  (obstacle layer)
 #   /camera/depth/color/points — RealSense D435i (voxel layer)
 #
-# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic.
+# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
 bt_navigator:
  ros__parameters:
--- a/jetson/docker-compose.yml
+++ b/jetson/docker-compose.yml
@ -31,7 +31,7 @@ services:
      - ./config:/config:ro
    devices:
      - /dev/rplidar:/dev/rplidar
-      - /dev/stm32-bridge:/dev/stm32-bridge
+      - /dev/esp32-bridge:/dev/esp32-bridge
      - /dev/bus/usb:/dev/bus/usb
      - /dev/i2c-7:/dev/i2c-7
      - /dev/video0:/dev/video0
@ -97,13 +97,13 @@ services:
          rgb_camera.profile:=640x480x30
      "
-  # ── STM32 bridge node (bidirectional serial<->ROS2) ────────────────────────
+  # ── ESP32 bridge node (bidirectional serial<->ROS2) ────────────────────────
-  stm32-bridge:
+  esp32-bridge:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
-    container_name: saltybot-stm32-bridge
+    container_name: saltybot-esp32-bridge
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
@ -111,13 +111,13 @@ services:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
-      - /dev/stm32-bridge:/dev/stm32-bridge
+      - /dev/esp32-bridge:/dev/esp32-bridge
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_bridge bridge.launch.py
          mode:=bidirectional
-          serial_port:=/dev/stm32-bridge
+          serial_port:=/dev/esp32-bridge
      "
  # ── 4x IMX219 CSI cameras ──────────────────────────────────────────────────
@ -192,7 +192,7 @@ services:
    network_mode: host
    depends_on:
      - saltybot-ros2
-      - stm32-bridge
+      - esp32-bridge
      - csi-cameras
    environment:
      - ROS_DOMAIN_ID=42
@ -208,8 +208,8 @@ services:
      "
-  # -- Remote e-stop bridge (MQTT over 4G -> STM32 CDC) ----------------------
+  # -- Remote e-stop bridge (MQTT over 4G -> ESP32 CDC) ----------------------
-  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to STM32.
+  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE.
  # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
  remote-estop:
    image: saltybot/ros2-humble:jetson-orin
@ -221,12 +221,12 @@ services:
    runtime: nvidia
    network_mode: host
    depends_on:
-      - stm32-bridge
+      - esp32-bridge
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
-      - /dev/stm32-bridge:/dev/stm32-bridge
+      - /dev/esp32-bridge:/dev/esp32-bridge
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
@ -316,7 +316,7 @@ services:
    runtime: nvidia
    network_mode: host
    depends_on:
-      - stm32-bridge
+      - esp32-bridge
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all,audio
--- a/jetson/docs/pinout.md
+++ b/jetson/docs/pinout.md
@ -1,5 +1,5 @@
 # Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference
-## Self-Balancing Robot: STM32F722 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
+## Self-Balancing Robot: ESP32 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
 Last updated: 2026-02-28
 JetPack version: 6.x (L4T R36.x / Ubuntu 22.04)
@ -43,21 +43,21 @@ i2cdetect -l
 ---
-## 1. STM32F722 Bridge (USB CDC — Primary)
+## 1. ESP32 Bridge (USB CDC — Primary)
-The STM32 acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
+The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
 ### USB CDC Connection
 | Connection | Detail |
 |-----------|--------|
-| Interface | USB Micro-B on STM32 dev board → USB-A on Jetson |
+| Interface | USB on ESP32 BALANCE board → USB-A on Jetson |
-| Device node | `/dev/ttyACM0` → symlink `/dev/stm32-bridge` (via udev) |
+| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
-| Baud rate | 921600 (configured in STM32 firmware) |
+| Baud rate | 921600 (configured in ESP32 BALANCE firmware) |
 | Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) |
 | Power | Powered via robot 5V bus (data-only via USB) |
 ### Hardware UART (Fallback — 40-pin header)
-| Jetson Pin | Signal | STM32 Pin | Notes |
+| Jetson Pin | Signal | ESP32 Pin | Notes |
 |-----------|--------|-----------|-------|
 | Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
 | Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
@ -65,7 +65,7 @@ The STM32 acts as a real-time motor + IMU controller. Communication is via **USB
 **Jetson device node:** `/dev/ttyTHS0`
 **Baud rate:** 921600, 8N1
-**Voltage level:** 3.3V — both Jetson Orin and STM32F722 are 3.3V GPIO
+**Voltage level:** 3.3V — both Jetson Orin and ESP32 are 3.3V GPIO
 ```bash
 # Verify UART
@ -75,13 +75,13 @@ sudo usermod -aG dialout $USER
 picocom -b 921600 /dev/ttyTHS0
 ```
-**ROS2 topics (STM32 bridge node):**
+**ROS2 topics (ESP32 bridge node):**
 | ROS2 Topic | Direction | Content |
 |-----------|-----------|---------
-| `/saltybot/imu` | STM32→Jetson | IMU data (accel, gyro) at 50Hz |
+| `/saltybot/imu` | ESP32 BALANCE→Jetson | IMU data (accel, gyro) at 50Hz |
-| `/saltybot/balance_state` | STM32→Jetson | Motor cmd, pitch, state |
+| `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state |
-| `/cmd_vel` | Jetson→STM32 | Velocity commands → `C<spd>,<str>\n` |
+| `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C<spd>,<str>\n` |
-| `/saltybot/estop` | Jetson→STM32 | Emergency stop |
+| `/saltybot/estop` | Jetson→ESP32 BALANCE | Emergency stop |
 ---
@ -266,7 +266,7 @@ sudo mkdir -p /mnt/nvme
 |------|------|----------|
 | USB-A (top, blue) | USB 3.1 Gen 1 | RealSense D435i |
 | USB-A (bottom) | USB 2.0 | RPLIDAR (via USB-UART adapter) |
-| USB-C | USB 3.1 Gen 1 (+ DP) | STM32 CDC or host flash |
+| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32 CDC or host flash |
 | Micro-USB | Debug/flash | JetPack flash only |
 ---
@ -277,10 +277,10 @@ sudo mkdir -p /mnt/nvme
 |-------------|----------|---------|----------|
 | 3 | SDA1 | 3.3V | I2C data (i2c-7) |
 | 5 | SCL1 | 3.3V | I2C clock (i2c-7) |
-| 8 | TXD0 | 3.3V | UART TX → STM32 (fallback) |
+| 8 | TXD0 | 3.3V | UART TX → ESP32 BALANCE (fallback) |
-| 10 | RXD0 | 3.3V | UART RX ← STM32 (fallback) |
+| 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) |
 | USB-A ×2 | — | 5V | D435i, RPLIDAR |
-| USB-C | — | 5V | STM32 CDC |
+| USB-C | — | 5V | ESP32 CDC |
 | CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left |
 | CSI-B (J8) | MIPI CSI-2 | — | Cameras rear + right |
 | M.2 Key M | PCIe Gen3 ×4 | — | NVMe SSD |
@ -298,9 +298,9 @@ Apply stable device names:
 KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
  SYMLINK+="rplidar", MODE="0666"
-# STM32 USB CDC (STMicroelectronics)
+# ESP32 USB CDC (STMicroelectronics)
 KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
-  SYMLINK+="stm32-bridge", MODE="0666"
+  SYMLINK+="esp32-bridge", MODE="0666"
 # Intel RealSense D435i
 SUBSYSTEM=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", \
--- a/jetson/docs/power-budget.md
+++ b/jetson/docs/power-budget.md
@ -56,7 +56,7 @@ sudo jtop
 |-----------|----------|------------|----------|-----------|-------|
 | RealSense D435i | 0.3 | 1.5 | 3.5 | USB 3.1 | Peak during boot/init |
 | RPLIDAR A1M8 | 0.4 | 2.6 | 3.0 | USB (UART adapter) | Motor spinning |
-| STM32F722 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
+| ESP32 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
 | 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active |
 | **Peripheral Subtotal** | **0.9** | **6.1** | **8.9** | | |
@ -151,7 +151,7 @@ LiPo 4S (16.8V max)
       ├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W)
       │   (e.g., XL4016E1)
       │
-       ├─► DC-DC Buck → 5V 3A ──► STM32 + logic 5V rail
+       ├─► DC-DC Buck → 5V 3A ──► ESP32 + logic 5V rail
       │
       └─► Hoverboard ESC ──► Hub motors (48V loop)
 ```
--- a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml
@ -2,7 +2,7 @@
 # Used by both serial_bridge_node (RX-only) and saltybot_cmd_node (bidirectional)
 # ── Serial ─────────────────────────────────────────────────────────────────────
-# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied.
+# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied.
 serial_port:      /dev/ttyACM0
 baud_rate:        921600
 timeout:          0.05   # serial readline timeout (seconds)
@ -11,7 +11,7 @@ reconnect_delay:  2.0    # seconds between reconnect attempts on serial disconne
 # ── saltybot_cmd_node (bidirectional) only ─────────────────────────────────────
 # Heartbeat: H\n sent every heartbeat_period seconds.
-# STM32 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
+# ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
 heartbeat_period: 0.2    # seconds (= 200ms)
 # Twist → ESC command scaling
--- a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml
@ -1,5 +1,5 @@
 # cmd_vel_bridge_params.yaml
-# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 autonomous drive.
+# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE autonomous drive.
 #
 # Run with:
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py
@ -7,14 +7,14 @@
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=0.3
 # ── Serial ─────────────────────────────────────────────────────────────────────
-# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied.
+# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied.
 serial_port:      /dev/ttyACM0
 baud_rate:        921600
 timeout:          0.05       # serial readline timeout (s)
 reconnect_delay:  2.0        # seconds between reconnect attempts
 # ── Heartbeat ──────────────────────────────────────────────────────────────────
-# STM32 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
+# ESP32 BALANCE jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
 # Keep heartbeat well below that threshold.
 heartbeat_period: 0.2        # seconds (200ms)
@ -50,5 +50,5 @@ ramp_rate:        500        # ESC units/second
 # ── Deadman switch ─────────────────────────────────────────────────────────────
 # If /cmd_vel is not received for this many seconds, target speed/steer are
 # zeroed immediately. The ramp then drives the robot to a stop.
-# 500ms matches the STM32 jetson heartbeat timeout for consistency.
+# 500ms matches the ESP32 BALANCE jetson heartbeat timeout for consistency.
 cmd_vel_timeout:  0.5        # seconds
--- a/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml
@ -1,6 +1,6 @@
 remote_estop_node:
  ros__parameters:
-    serial_port:               /dev/stm32-bridge
+    serial_port:               /dev/esp32-bridge
    baud_rate:                 921600
    mqtt_host:                 "mqtt.example.com"
    mqtt_port:                 1883
--- a/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml
@ -1,8 +1,8 @@
 # stm32_cmd_params.yaml — Configuration for stm32_cmd_node (Issue #119)
-# Binary-framed Jetson↔STM32 bridge at 921600 baud.
+# Binary-framed Jetson↔ESP32 bridge at 921600 baud.
 # ── Serial port ────────────────────────────────────────────────────────────────
-# Use /dev/stm32-bridge if the udev rule is applied:
+# Use /dev/esp32-bridge if the udev rule is applied:
 #   SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",
 #   SYMLINK+="stm32-bridge", MODE="0660", GROUP="dialout"
 serial_port:      /dev/ttyACM0
@ -12,7 +12,7 @@ reconnect_delay:  2.0        # seconds between USB reconnect attempts
 # ── Heartbeat ─────────────────────────────────────────────────────────────────
 # HEARTBEAT frame sent every heartbeat_period seconds.
 # STM32 fires watchdog and reverts to safe state if no frame received for 500ms.
-heartbeat_period: 0.2        # 200ms → well within 500ms STM32 watchdog
+heartbeat_period: 0.2        # 200ms → well within 500ms ESP32 BALANCE watchdog
 # ── Watchdog (Jetson-side) ────────────────────────────────────────────────────
 # If no /cmd_vel message received for watchdog_timeout seconds,
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py
@ -6,7 +6,7 @@ Two deployment modes:
  1. Full bidirectional (recommended for Nav2):
       ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional
     Starts saltybot_cmd_node — owns serial port, handles both RX telemetry
-     and TX /cmd_vel → STM32 commands + heartbeat.
+     and TX /cmd_vel → ESP32 BALANCE commands + heartbeat.
  2. RX-only (telemetry monitor, no drive commands):
       ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
@ -40,7 +40,7 @@ def _launch_nodes(context, *args, **kwargs):
        return [Node(
            package="saltybot_bridge",
            executable="serial_bridge_node",
-            name="stm32_serial_bridge",
+            name="esp32_serial_bridge",
            output="screen",
            parameters=[params],
        )]
@ -65,7 +65,7 @@ def generate_launch_description():
        DeclareLaunchArgument("mode",         default_value="bidirectional",
                              description="bidirectional | rx_only"),
        DeclareLaunchArgument("serial_port",  default_value="/dev/ttyACM0",
-                              description="STM32 USB CDC device node"),
+                              description="ESP32 USB CDC device node"),
        DeclareLaunchArgument("baud_rate",    default_value="921600"),
        DeclareLaunchArgument("speed_scale",  default_value="1000.0",
                              description="m/s → ESC units (linear.x scale)"),
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py
@ -1,10 +1,10 @@
 """
-cmd_vel_bridge.launch.py — Nav2 cmd_vel → STM32 autonomous drive bridge.
+cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE autonomous drive bridge.
 Starts cmd_vel_bridge_node, which owns the serial port exclusively and provides:
  - /cmd_vel subscription with velocity limits + smooth ramp
  - Deadman switch (zero speed if /cmd_vel silent > cmd_vel_timeout)
-  - Mode gate (drives only when STM32 is in AUTONOMOUS mode, md=2)
+  - Mode gate (drives only when ESP32 BALANCE is in AUTONOMOUS mode, md=2)
  - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
  - /saltybot/cmd publisher (observability)
@ -72,12 +72,12 @@ def generate_launch_description():
            description="Full path to cmd_vel_bridge_params.yaml (overrides inline args)"),
        DeclareLaunchArgument(
            "serial_port",     default_value="/dev/ttyACM0",
-            description="STM32 USB CDC device node"),
+            description="ESP32 USB CDC device node"),
        DeclareLaunchArgument(
            "baud_rate",       default_value="921600"),
        DeclareLaunchArgument(
            "heartbeat_period",default_value="0.2",
-            description="Heartbeat interval (s); must be < STM32 HB timeout (0.5s)"),
+            description="Heartbeat interval (s); must be < ESP32 BALANCE HB timeout (0.5s)"),
        DeclareLaunchArgument(
            "max_linear_vel",  default_value="0.5",
            description="Hard speed cap before scaling (m/s)"),
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py
@ -1,4 +1,4 @@
-"""stm32_cmd.launch.py — Launch the binary-framed STM32 command node (Issue #119).
+"""stm32_cmd.launch.py — Launch the binary-framed ESP32 BALANCE command node (Issue #119).
 Usage:
  # Default (binary protocol, bidirectional):
--- a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py
@ -2,7 +2,7 @@
 uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
 Launches serial_bridge_node configured for Jetson Orin UART port.
-Bridges Flight Controller (STM32F722) telemetry from /dev/ttyTHS1 into ROS2.
+Bridges Flight Controller (ESP32) telemetry from /dev/ttyTHS1 into ROS2.
 Published topics (same as USB CDC bridge):
  /saltybot/imu              sensor_msgs/Imu         — pitch/roll/yaw as angular velocity
@ -20,7 +20,7 @@ Usage:
 Prerequisites:
  - Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
-  - STM32 firmware transmitting JSON telemetry frames (50 Hz)
+  - ESP32 BALANCE firmware transmitting JSON telemetry frames (50 Hz)
  - ROS2 environment sourced (source install/setup.bash)
 Note:
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py
@ -14,7 +14,7 @@ Alert levels (SoC thresholds):
   5%  EMERGENCY — publish zero /cmd_vel, disarm, log + alert
 SoC source priority:
-  1. soc_pct field from STM32 BATTERY telemetry (fuel gauge or lookup on STM32)
+  1. soc_pct field from ESP32 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE)
  2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known
 Parameters (config/battery_params.yaml):
@ -320,7 +320,7 @@ class BatteryNode(Node):
        self._speed_limit_pub.publish(msg)
    def _execute_safe_stop(self) -> None:
-        """Send zero /cmd_vel and disarm the STM32."""
+        """Send zero /cmd_vel and disarm the ESP32 BALANCE."""
        self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
        # Publish zero velocity
        zero_twist = Twist()
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py
@ -1,5 +1,5 @@
 """
-cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 drive command bridge.
+cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE drive command bridge.
 Extends the basic saltybot_cmd_node with four additions required for safe
 autonomous operation on a self-balancing robot:
@ -12,7 +12,7 @@ autonomous operation on a self-balancing robot:
  3. Deadman switch    — if /cmd_vel is silent for cmd_vel_timeout seconds,
                         zero targets immediately (Nav2 node crash / planner
                         stall → robot coasts to stop rather than running away).
-  4. Mode gate         — only issue non-zero drive commands when STM32 reports
+  4. Mode gate         — only issue non-zero drive commands when ESP32 BALANCE reports
                         md=2 (AUTONOMOUS). In any other mode (RC_MANUAL,
                         RC_ASSISTED) Jetson cannot override the RC pilot.
                         On mode re-entry current ramp state resets to 0 so
@ -20,9 +20,9 @@ autonomous operation on a self-balancing robot:
 Serial protocol (C<speed>,<steer>\\n / H\\n — same as saltybot_cmd_node):
  C<spd>,<str>\\n  — drive command. speed/steer: -1000..+1000 integers.
-  H\\n             — heartbeat. STM32 reverts steer to 0 after 500ms silence.
+  H\\n             — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence.
-Telemetry (50 Hz from STM32):
+Telemetry (50 Hz from ESP32 BALANCE):
  Same RX/publish pipeline as saltybot_cmd_node.
  The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate.
@ -134,7 +134,7 @@ class CmdVelBridgeNode(Node):
        self._current_speed = 0   # ramped output actually sent
        self._current_steer = 0
        self._last_cmd_vel  = 0.0 # wall clock (seconds) of last /cmd_vel msg
-        self._stm32_mode    = 0   # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO
+        self._esp32_mode    = 0   # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO
        self._last_state    = -1
        self._frame_count   = 0
        self._error_count   = 0
@ -150,7 +150,7 @@ class CmdVelBridgeNode(Node):
        self._open_serial()
        # ── Timers ────────────────────────────────────────────────────────────
-        # Telemetry read at 100 Hz (STM32 sends at 50 Hz)
+        # Telemetry read at 100 Hz (ESP32 BALANCE sends at 50 Hz)
        self._read_timer    = self.create_timer(0.01,             self._read_cb)
        # Control loop at 50 Hz: ramp + deadman + mode gate + send
        self._control_timer = self.create_timer(1.0 / _CONTROL_HZ, self._control_cb)
@ -225,7 +225,7 @@ class CmdVelBridgeNode(Node):
        # Mode gate: in non-AUTONOMOUS mode, zero and reset ramp state so
        # re-entry always accelerates smoothly from 0.
-        if self._stm32_mode != MODE_AUTONOMOUS:
+        if self._esp32_mode != MODE_AUTONOMOUS:
            self._current_speed = 0
            self._current_steer = 0
            speed, steer = 0, 0
@ -238,7 +238,7 @@ class CmdVelBridgeNode(Node):
            speed = self._current_speed
            steer = self._current_steer
-        # Send to STM32
+        # Send to ESP32 BALANCE
        frame = f"C{speed},{steer}\n".encode("ascii")
        if not self._write(frame):
            self.get_logger().warn(
@ -256,7 +256,7 @@ class CmdVelBridgeNode(Node):
    # ── Heartbeat TX ──────────────────────────────────────────────────────────
    def _heartbeat_cb(self):
-        """H\\n keeps STM32 jetson_cmd heartbeat alive regardless of mode."""
+        """H\\n keeps ESP32 BALANCE jetson_cmd heartbeat alive regardless of mode."""
        self._write(b"H\n")
    # ── Telemetry RX ──────────────────────────────────────────────────────────
@ -319,7 +319,7 @@ class CmdVelBridgeNode(Node):
        state     = int(data["s"])
        mode      = int(data.get("md", 0))  # 0=MANUAL if not present
-        self._stm32_mode = mode
+        self._esp32_mode = mode
        self._frame_count += 1
        self._publish_imu(pitch_deg, roll_deg, yaw_deg, now)
@ -378,7 +378,7 @@ class CmdVelBridgeNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name        = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32"
        status.message     = f"{state_label} [{mode_label}]"
        status.level = (
            DiagnosticStatus.OK    if state == 1 else
@ -406,11 +406,11 @@ class CmdVelBridgeNode(Node):
        status = DiagnosticStatus()
        status.level       = DiagnosticStatus.ERROR
        status.name        = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32"
        status.message     = f"IMU fault errno={errno}"
        diag.status.append(status)
        self._diag_pub.publish(diag)
-        self.get_logger().error(f"STM32 IMU fault: errno={errno}")
+        self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
    # ── Lifecycle ─────────────────────────────────────────────────────────────
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py
@ -1,8 +1,8 @@
 """
-remote_estop_node.py -- Remote e-stop bridge: MQTT -> STM32 USB CDC
+remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 USB CDC
-{"kill": true}  -> writes 'E\n' to STM32 (ESTOP_REMOTE, immediate motor cutoff)
+{"kill": true}  -> writes 'E\n' to ESP32 BALANCE (ESTOP_REMOTE, immediate motor cutoff)
-{"kill": false} -> writes 'Z\n' to STM32 (clear latch, robot can re-arm)
+{"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm)
 Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in
 AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT).
@ -26,7 +26,7 @@ class RemoteEstopNode(Node):
    def __init__(self):
        super().__init__('remote_estop_node')
-        self.declare_parameter('serial_port', '/dev/stm32-bridge')
+        self.declare_parameter('serial_port', '/dev/esp32-bridge')
        self.declare_parameter('baud_rate', 921600)
        self.declare_parameter('mqtt_host', 'mqtt.example.com')
        self.declare_parameter('mqtt_port', 1883)
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py
@ -322,7 +322,7 @@ class SaltybotCanNode(Node):
        diag.header.stamp = stamp
        st = DiagnosticStatus()
        st.name        = "saltybot/balance_controller"
-        st.hardware_id = "stm32f722"
+        st.hardware_id = "esp32"
        st.message     = state_label
        st.level       = (DiagnosticStatus.OK    if state == 1 else
                          DiagnosticStatus.WARN   if state == 0 else
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py
@ -1,20 +1,20 @@
 """
-saltybot_cmd_node — full bidirectional STM32↔Jetson bridge
+saltybot_cmd_node — full bidirectional ESP32 BALANCE↔Jetson bridge
 Combines telemetry RX (from serial_bridge_node) with drive command TX.
 Owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node.
-RX path (50Hz from STM32):
+RX path (50Hz from ESP32 BALANCE):
  JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
 TX path:
-  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → STM32
+  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → ESP32 BALANCE
-  Heartbeat timer (200ms)        → H\\n                 → STM32
+  Heartbeat timer (200ms)        → H\\n                 → ESP32 BALANCE
 Protocol:
-  H\\n              — heartbeat. STM32 reverts steer to 0 if gap > 500ms.
+  H\\n              — heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms.
  C<spd>,<str>\\n   — drive command. speed/steer: -1000..+1000 integers.
-                      C command also refreshes STM32 heartbeat timer.
+                      C command also refreshes ESP32 BALANCE heartbeat timer.
 Twist mapping (configurable via ROS2 params):
  speed = clamp(linear.x  * speed_scale, -1000, 1000)
@ -100,7 +100,7 @@ class SaltybotCmdNode(Node):
        self._open_serial()
        # ── Timers ────────────────────────────────────────────────────────────
-        # Telemetry read at 100Hz (STM32 sends at 50Hz)
+        # Telemetry read at 100Hz (ESP32 BALANCE sends at 50Hz)
        self._read_timer = self.create_timer(0.01, self._read_cb)
        # Heartbeat TX at configured period (default 200ms)
        self._hb_timer   = self.create_timer(self._hb_period, self._heartbeat_cb)
@ -266,7 +266,7 @@ class SaltybotCmdNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32"
        status.message = state_label
        if state == 1:
            status.level = DiagnosticStatus.OK
@ -294,11 +294,11 @@ class SaltybotCmdNode(Node):
        status = DiagnosticStatus()
        status.level = DiagnosticStatus.ERROR
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32"
        status.message = f"IMU fault errno={errno}"
        diag.status.append(status)
        self._diag_pub.publish(diag)
-        self.get_logger().error(f"STM32 IMU fault: errno={errno}")
+        self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
    # ── TX — command send ─────────────────────────────────────────────────────
@ -316,7 +316,7 @@ class SaltybotCmdNode(Node):
            )
    def _heartbeat_cb(self):
-        """Send H\\n heartbeat. STM32 reverts steer to 0 if gap > 500ms."""
+        """Send H\\n heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms."""
        self._write(b"H\n")
    # ── Lifecycle ─────────────────────────────────────────────────────────────
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py
@ -1,6 +1,6 @@
 """
 saltybot_bridge — serial_bridge_node
-STM32F722 USB CDC → ROS2 topic publisher
+ESP32 USB CDC → ROS2 topic publisher
 Telemetry frame (50 Hz, newline-delimited JSON):
  {"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
@ -29,7 +29,7 @@ from sensor_msgs.msg import Imu
 from std_msgs.msg import String
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
-# Balance state labels matching STM32 balance_state_t enum
+# Balance state labels matching ESP32 BALANCE balance_state_t enum
 _STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
 # Sensor frame_id published in Imu header
@ -38,7 +38,7 @@ IMU_FRAME_ID = "imu_link"
 class SerialBridgeNode(Node):
    def __init__(self):
-        super().__init__("stm32_serial_bridge")
+        super().__init__("esp32_serial_bridge")
        # ── Parameters ────────────────────────────────────────────────────────
        self.declare_parameter("serial_port", "/dev/ttyACM0")
@ -83,7 +83,7 @@ class SerialBridgeNode(Node):
        # ── Open serial and start read timer ──────────────────────────────────
        self._open_serial()
-        # Poll at 100 Hz — STM32 sends at 50 Hz, so we never miss a frame
+        # Poll at 100 Hz — ESP32 BALANCE sends at 50 Hz, so we never miss a frame
        self._timer = self.create_timer(0.01, self._read_cb)
        self.get_logger().info(
@ -117,7 +117,7 @@ class SerialBridgeNode(Node):
    def write_serial(self, data: bytes) -> bool:
        """
-        Send raw bytes to STM32 over the open serial port.
+        Send raw bytes to ESP32 BALANCE over the open serial port.
        Returns False if port is not open (caller should handle gracefully).
        Note: for bidirectional use prefer saltybot_cmd_node which owns TX natively.
        """
@ -206,7 +206,7 @@ class SerialBridgeNode(Node):
        """
        Publish sensor_msgs/Imu.
-        The STM32 IMU gives Euler angles (pitch/roll from accelerometer+gyro
+        The ESP32 BALANCE IMU gives Euler angles (pitch/roll from accelerometer+gyro
        fusion, yaw from gyro integration). We publish them as angular_velocity
        for immediate use by slam_toolbox / robot_localization.
@ -264,7 +264,7 @@ class SerialBridgeNode(Node):
        diag.header.stamp = stamp
        status = DiagnosticStatus()
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32"
        status.message = state_label
        if state == 1:   # ARMED
@ -293,11 +293,11 @@ class SerialBridgeNode(Node):
        status = DiagnosticStatus()
        status.level = DiagnosticStatus.ERROR
        status.name = "saltybot/balance_controller"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32"
        status.message = f"IMU fault errno={errno}"
        diag.status.append(status)
        self._diag_pub.publish(diag)
-        self.get_logger().error(f"STM32 reported IMU fault: errno={errno}")
+        self.get_logger().error(f"ESP32 BALANCE reported IMU fault: errno={errno}")
    def destroy_node(self):
        self._close_serial()
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
@ -5,7 +5,7 @@ framing protocol (STX/TYPE/LEN/PAYLOAD/CRC16/ETX) at 921600 baud.
 TX commands (Jetson → STM32):
  SPEED_STEER  — 50 Hz from /cmd_vel subscription
-  HEARTBEAT    — 200 ms timer (STM32 watchdog fires at 500 ms)
+  HEARTBEAT    — 200 ms timer (ESP32 BALANCE watchdog fires at 500 ms)
  ARM          — via /saltybot/arm service
  SET_MODE     — via /saltybot/set_mode service
  PID_UPDATE   — via /saltybot/pid_update topic
@ -75,7 +75,7 @@ def _clamp(v: float, lo: float, hi: float) -> float:
 # ── Node ──────────────────────────────────────────────────────────────────────
 class Stm32CmdNode(Node):
-    """Binary-framed Jetson↔STM32 bridge node."""
+    """Binary-framed Jetson↔ESP32 bridge node."""
    def __init__(self) -> None:
        super().__init__("stm32_cmd_node")
@ -283,7 +283,7 @@ class Stm32CmdNode(Node):
        msg.angular_velocity.x = math.radians(frame.pitch_deg)
        msg.angular_velocity.y = math.radians(frame.roll_deg)
        msg.angular_velocity.z = math.radians(frame.yaw_deg)
-        cov = math.radians(0.3) ** 2    # ±0.3° noise estimate from STM32 BMI088
+        cov = math.radians(0.3) ** 2    # ±0.3° noise estimate from ESP32 BMI088
        msg.angular_velocity_covariance[0] = cov
        msg.angular_velocity_covariance[4] = cov
        msg.angular_velocity_covariance[8] = cov
@ -340,7 +340,7 @@ class Stm32CmdNode(Node):
    def _publish_error(self, frame: ErrorFrame, stamp) -> None:
        self.get_logger().error(
-            f"STM32 error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
+            f"ESP32 BALANCE error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
        )
        payload = {
            "error_code": frame.error_code,
@ -432,7 +432,7 @@ class Stm32CmdNode(Node):
        status = DiagnosticStatus()
        status.name        = "saltybot/stm32_cmd_node"
-        status.hardware_id = "stm32f722"
+        status.hardware_id = "esp32"
        port_ok = self._ser is not None and self._ser.is_open
        if port_ok:
--- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py
@ -1,7 +1,11 @@
-"""stm32_protocol.py — Binary frame codec for Jetson↔STM32 communication.
+"""stm32_protocol.py — Binary frame codec for Jetson↔ESP32 BALANCE communication.
 # TODO(esp32-migration): This protocol was designed for STM32F722 USB CDC.
 # When ESP32 BALANCE protocol is defined, update frame layout and baud rate.
 Issue #119: defines the binary serial protocol between the Jetson Nano and the
-STM32F722 flight controller over USB CDC @ 921600 baud.
+ESP32 BALANCE over USB CDC @ 921600 baud.
 # TODO(esp32-migration): update when ESP32 BALANCE protocol is defined.
 Frame layout (all multi-byte fields are big-endian):
  ┌──────┬──────┬──────┬──────────────────┬───────────┬──────┐
@ -12,14 +16,14 @@ Frame layout (all multi-byte fields are big-endian):
 CRC16 covers: TYPE + LEN + PAYLOAD (not STX, ETX, or CRC bytes themselves).
 CRC algorithm: CCITT-16, polynomial=0x1021, init=0xFFFF, no final XOR.
-Command types (Jetson → STM32):
+Command types (Jetson → ESP32 BALANCE):
  0x01  HEARTBEAT   — no payload              (len=0)
  0x02  SPEED_STEER — int16 speed + int16 steer (len=4)  range: -1000..+1000
  0x03  ARM         — uint8 (0=disarm, 1=arm)  (len=1)
  0x04  SET_MODE    — uint8 mode               (len=1)
  0x05  PID_UPDATE  — float32 kp + ki + kd     (len=12)
-Telemetry types (STM32 → Jetson):
+Telemetry types (ESP32 BALANCE → Jetson):
  0x10  IMU         — int16×6: pitch,roll,yaw (×100 deg), ax,ay,az (×100 m/s²) (len=12)
  0x11  BATTERY     — uint16 voltage_mv + int16 current_ma + uint8 soc_pct (len=5)
  0x12  MOTOR_RPM   — int16 left_rpm + int16 right_rpm     (len=4)
@ -31,7 +35,7 @@ Usage:
  frame = encode_speed_steer(300, -150)
  ser.write(frame)
-  # Decoding (STM32 → Jetson), one byte at a time
+  # Decoding (ESP32 BALANCE → Jetson), one byte at a time
  parser = FrameParser()
  for byte in incoming_bytes:
      result = parser.feed(byte)
@ -183,7 +187,7 @@ class ParseError(Exception):
 class FrameParser:
-    """Byte-by-byte streaming parser for STM32 telemetry frames.
+    """Byte-by-byte streaming parser for ESP32 BALANCE telemetry frames.
    Feed individual bytes via feed(); returns a decoded TelemetryFrame (or raw
    bytes tuple) when a complete valid frame is received.
--- a/jetson/ros2_ws/src/saltybot_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py
@ -29,7 +29,7 @@ setup(
    zip_safe=True,
    maintainer="sl-jetson",
    maintainer_email="sl-jetson@saltylab.local",
-    description="STM32 USB CDC → ROS2 serial bridge for saltybot",
+    description="ESP32 USB CDC → ROS2 serial bridge for saltybot",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
@ -41,7 +41,7 @@ setup(
            # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
            "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
            "remote_estop_node  = saltybot_bridge.remote_estop_node:main",
-            # Binary-framed STM32 command node (Issue #119)
+            # Binary-framed ESP32 BALANCE command node (Issue #119)
            "stm32_cmd_node    = saltybot_bridge.stm32_cmd_node:main",
            # Battery management node (Issue #125)
            "battery_node      = saltybot_bridge.battery_node:main",
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
@ -1,5 +1,5 @@
 """
-Unit tests for Jetson→STM32 command serialization logic.
+Unit tests for Jetson→ESP32 BALANCE command serialization logic.
 Tests Twist→speed/steer conversion and frame formatting.
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
 """
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd_vel_bridge.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd_vel_bridge.py
@ -139,10 +139,10 @@ class TestModeGate:
    MODE_ASSISTED  = 1
    MODE_AUTONOMOUS = 2
-    def _apply_mode_gate(self, stm32_mode, current_speed, current_steer,
+    def _apply_mode_gate(self, esp32_mode, current_speed, current_steer,
                          target_speed, target_steer, step=10):
        """Mirror of _control_cb mode gate logic."""
-        if stm32_mode != self.MODE_AUTONOMOUS:
+        if esp32_mode != self.MODE_AUTONOMOUS:
            # Reset ramp state, send zero
            return 0, 0, 0, 0  # (current_speed, current_steer, sent_speed, sent_steer)
        new_s = _ramp_toward(current_speed, target_speed, step)
--- a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
@ -1,5 +1,5 @@
 """
-Unit tests for STM32 telemetry parsing logic.
+Unit tests for ESP32 BALANCE telemetry parsing logic.
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
 """
--- a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml
@ -19,7 +19,7 @@
 #   inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
 #   DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer)
 #
-# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic.
+# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
 bt_navigator:
  ros__parameters:
--- a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml
@ -2,12 +2,12 @@
 # Master configuration for full stack bringup
 # ────────────────────────────────────────────────────────────────────────────
-# HARDWARE — STM32 Bridge & Motor Control
+# HARDWARE — ESP32 BALANCE Bridge & Motor Control
 # ────────────────────────────────────────────────────────────────────────────
 saltybot_bridge_node:
  ros__parameters:
-    serial_port: "/dev/stm32-bridge"
+    serial_port: "/dev/esp32-bridge"
    baud_rate: 921600
    timeout: 0.05
    reconnect_delay: 2.0
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
@ -39,7 +39,7 @@ Modes
    ─ UWB driver (2-anchor DW3000, publishes /uwb/target)
    ─ YOLOv8n person detection (TensorRT)
    ─ Person follower with UWB+camera fusion
-    ─ cmd_vel bridge → STM32 (deadman + ramp + AUTONOMOUS gate)
+    ─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate)
    ─ rosbridge WebSocket (port 9090)
  outdoor
@ -57,8 +57,8 @@ Modes
 Launch sequence (wall-clock delays — conservative for cold start)
 ─────────────────────────────────────────────────────────────────
   t= 0s  robot_description   (URDF + TF tree)
-   t= 0s  STM32 bridge        (serial port owner — must be first)
+   t= 0s  ESP32 bridge        (serial port owner — must be first)
-   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs STM32 bridge up)
+   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32 bridge up)
   t= 2s  sensors             (RPLIDAR + RealSense)
   t= 4s  UWB driver          (independent serial device)
   t= 4s  CSI cameras         (optional, independent)
@ -71,10 +71,10 @@ Launch sequence (wall-clock delays — conservative for cold start)
 Safety wiring
 ─────────────
-  • STM32 bridge must be up before cmd_vel bridge sends any command.
+  • ESP32 bridge must be up before cmd_vel bridge sends any command.
  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
-  • STM32 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
+  • ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
-    until STM32 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
+    until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel.
  • follow_enabled:=false disables person follower without stopping the node.
  • To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
@ -91,7 +91,7 @@ Topics published by this stack
  /person/target                   PoseStamped    (camera position, base_link)
  /person/detections               Detection2DArray
  /cmd_vel                         Twist          (from follower or Nav2)
-  /saltybot/cmd                    String         (to STM32)
+  /saltybot/cmd                    String         (to ESP32 BALANCE)
  /saltybot/imu                    Imu
  /saltybot/balance_state          String
 """
@ -209,7 +209,7 @@ def generate_launch_description():
    enable_bridge_arg = DeclareLaunchArgument(
        "enable_bridge",
        default_value="true",
-        description="Launch STM32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
+        description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
    )
    enable_rosbridge_arg = DeclareLaunchArgument(
@ -267,10 +267,10 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        description="UWB anchor-1 serial port (starboard/right side)",
    )
-    stm32_port_arg = DeclareLaunchArgument(
+    esp32_port_arg = DeclareLaunchArgument(
-        "stm32_port",
+        "esp32_port",
-        default_value="/dev/stm32-bridge",
+        default_value="/dev/esp32-bridge",
-        description="STM32 USB CDC serial port",
+        description="ESP32 USB CDC serial port",
    )
    # ── Shared substitution handles ───────────────────────────────────────────
@ -282,7 +282,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
    max_linear_vel  = LaunchConfiguration("max_linear_vel")
    uwb_port_a      = LaunchConfiguration("uwb_port_a")
    uwb_port_b      = LaunchConfiguration("uwb_port_b")
-    stm32_port      = LaunchConfiguration("stm32_port")
+    esp32_port      = LaunchConfiguration("esp32_port")
    # ── t=0s  Robot description (URDF + TF tree) ──────────────────────────────
    robot_description = IncludeLaunchDescription(
@ -290,15 +290,15 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        launch_arguments={"use_sim_time": use_sim_time}.items(),
    )
-    # ── t=0s  STM32 bidirectional serial bridge ────────────────────────────────
+    # ── t=0s  ESP32 bidirectional serial bridge ────────────────────────────────
-    stm32_bridge = GroupAction(
+    esp32_bridge = GroupAction(
        condition=IfCondition(LaunchConfiguration("enable_bridge")),
        actions=[
            IncludeLaunchDescription(
                _launch("saltybot_bridge", "launch", "bridge.launch.py"),
                launch_arguments={
                    "mode":        "bidirectional",
-                    "serial_port": stm32_port,
+                    "serial_port": esp32_port,
                }.items(),
            ),
        ],
@ -320,7 +320,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        ],
    )
-    # ── t=2s  cmd_vel safety bridge (depends on STM32 bridge) ────────────────
+    # ── t=2s  cmd_vel safety bridge (depends on ESP32 bridge) ────────────────
    cmd_vel_bridge = TimerAction(
        period=2.0,
        actions=[
@ -577,14 +577,14 @@ enable_mission_logging_arg,
        max_linear_vel_arg,
        uwb_port_a_arg,
        uwb_port_b_arg,
-        stm32_port_arg,
+        esp32_port_arg,
        # Startup banner
        banner,
        # t=0s
        robot_description,
-        stm32_bridge,
+        esp32_bridge,
        # t=0.5s
        mission_logging,
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py
@ -15,11 +15,11 @@ Usage
  ros2 launch saltybot_bringup saltybot_bringup.launch.py
  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=minimal
  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=debug
-  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full stm32_port:=/dev/ttyUSB0
+  ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full esp32_port:=/dev/ttyUSB0
 Startup sequence
 ────────────────
-  GROUP A — Drivers      t= 0 s  STM32 bridge, RealSense+RPLIDAR, motor daemon, IMU
+  GROUP A — Drivers      t= 0 s  ESP32 bridge, RealSense+RPLIDAR, motor daemon, IMU
  health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
  GROUP B — Perception   t= 8 s  UWB, person detection, object detection, depth costmap, gimbal
  health gate ───────────────────────────────────────────────── t=16 s (full/debug)
@ -35,7 +35,7 @@ Shutdown
 Hardware conditionals
 ─────────────────────
-  Missing devices (stm32_port, uwb_port_a/b, gimbal_port) skip that driver.
+  Missing devices (esp32_port, uwb_port_a/b, gimbal_port) skip that driver.
  All conditionals are evaluated at launch time via PathJoinSubstitution + IfCondition.
 """
@ -120,10 +120,10 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        description="Use /clock from rosbag/simulator",
    )
-    stm32_port_arg = DeclareLaunchArgument(
+    esp32_port_arg = DeclareLaunchArgument(
-        "stm32_port",
+        "esp32_port",
-        default_value="/dev/stm32-bridge",
+        default_value="/dev/esp32-bridge",
-        description="STM32 USART bridge serial device",
+        description="ESP32 UART bridge serial device",
    )
    uwb_port_a_arg = DeclareLaunchArgument(
@ -160,7 +160,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
    profile         = LaunchConfiguration("profile")
    use_sim_time    = LaunchConfiguration("use_sim_time")
-    stm32_port      = LaunchConfiguration("stm32_port")
+    esp32_port      = LaunchConfiguration("esp32_port")
    uwb_port_a      = LaunchConfiguration("uwb_port_a")
    uwb_port_b      = LaunchConfiguration("uwb_port_b")
    gimbal_port     = LaunchConfiguration("gimbal_port")
@ -198,7 +198,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
    # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
    # GROUP A — DRIVERS   (t = 0 s, all profiles)
-    # Dependency order: STM32 bridge first, then sensors, then motor daemon.
+    # Dependency order: ESP32 bridge first, then sensors, then motor daemon.
    # Health gate: subsequent groups delayed until t_perception (8 s full/debug).
    # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
@ -212,12 +212,12 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        launch_arguments={"use_sim_time": use_sim_time}.items(),
    )
-    # STM32 bidirectional bridge (JLINK USART1)
+    # ESP32 BALANCE bridge
-    stm32_bridge = IncludeLaunchDescription(
+    esp32_bridge = IncludeLaunchDescription(
        _launch("saltybot_bridge", "launch", "bridge.launch.py"),
        launch_arguments={
            "mode":        "bidirectional",
-            "serial_port": stm32_port,
+            "serial_port": esp32_port,
        }.items(),
    )
@ -232,7 +232,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        ],
    )
-    # Motor daemon: /cmd_vel → STM32 DRIVE frames (depends on bridge at t=0)
+    # Motor daemon: /cmd_vel → ESP32 BALANCE DRIVE frames (depends on bridge at t=0)
    motor_daemon = TimerAction(
        period=2.5,
        actions=[
@ -541,7 +541,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        # ── Arguments ──────────────────────────────────────────────────────────
        profile_arg,
        use_sim_time_arg,
-        stm32_port_arg,
+        esp32_port_arg,
        uwb_port_a_arg,
        uwb_port_b_arg,
        gimbal_port_arg,
@ -559,7 +559,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
        # ── GROUP A: Drivers (all profiles, t=0–4s) ───────────────────────────
        robot_description,
-        stm32_bridge,
+        esp32_bridge,
        sensors,
        motor_daemon,
        sensor_health,
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py
@ -20,7 +20,7 @@ theta is kept in (−π, π] after every step.
 Int32 rollover
 --------------
-STM32 encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
+ESP32 BALANCE encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
 this by detecting jumps larger than half the int32 range and adjusting by the
 full range:
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py
@ -29,7 +29,7 @@ class Profile:
    name: str
    # ── Group A: Drivers (always on in all profiles) ──────────────────────
-    enable_stm32_bridge: bool = True
+    enable_esp32_bridge: bool = True
    enable_sensors:      bool = True   # RealSense + RPLIDAR
    enable_motor_daemon: bool = True
    enable_imu:          bool = True
@ -69,14 +69,14 @@ class Profile:
    t_ui:         float = 22.0  # Group D (nav2 needs ~4 s to load costmaps)
    # ── Safety ────────────────────────────────────────────────────────────
-    watchdog_timeout_s:  float = 5.0   # max silence from STM32 bridge (s)
+    watchdog_timeout_s:  float = 5.0   # max silence from ESP32 bridge (s)
    cmd_vel_deadman_s:   float = 0.5   # cmd_vel watchdog in bridge
    max_linear_vel:      float = 0.5   # m/s cap passed to bridge + follower
    follow_distance_m:   float = 1.5   # target follow distance (m)
    # ── Hardware conditionals ─────────────────────────────────────────────
    #  Paths checked at launch; absent devices skip the relevant node.
-    stm32_port:  str = "/dev/stm32-bridge"
+    esp32_port:  str = "/dev/esp32-bridge"
    uwb_port_a:  str = "/dev/uwb-anchor0"
    uwb_port_b:  str = "/dev/uwb-anchor1"
    gimbal_port: str = "/dev/ttyTHS1"
@ -90,7 +90,7 @@ class Profile:
 # ── Profile factory ────────────────────────────────────────────────────────────
 def _minimal() -> Profile:
-    """Minimal: STM32 bridge + sensors + motor daemon.
+    """Minimal: ESP32 bridge + sensors + motor daemon.
    Safe drive control only.  No AI, no nav, no social.
    Boot time ~4 s.  RAM ~400 MB.
@ -115,7 +115,7 @@ def _full() -> Profile:
    return Profile(
        name="full",
        # Drivers
-        enable_stm32_bridge=True,
+        enable_esp32_bridge=True,
        enable_sensors=True,
        enable_motor_daemon=True,
        enable_imu=True,
--- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py
@ -1,7 +1,7 @@
 """
 wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184).
-Subscribes to raw encoder tick counts from the STM32 bridge, integrates
+Subscribes to raw encoder tick counts from the ESP32 bridge, integrates
 differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
 Optionally broadcasts the odom → base_link TF transform.
--- a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md
+++ b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md
@ -61,7 +61,7 @@ kill %1
 ### Core System Components
 - Robot Description (URDF/TF tree)
- STM32 Serial Bridge
+- ESP32 Serial Bridge
 - cmd_vel Bridge  
 - Rosbridge WebSocket
@ -125,11 +125,11 @@ free -h
 ### cmd_vel bridge not responding
 ```bash
-# Verify STM32 bridge is running first
+# Verify ESP32 bridge is running first
 ros2 node list | grep bridge
 # Check serial port
-ls -l /dev/stm32-bridge
+ls -l /dev/esp32-bridge
 ```
 ## Performance Baseline
--- a/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py
@ -74,7 +74,7 @@ class TestMinimalProfile:
        assert self.p.name == "minimal"
    def test_drivers_enabled(self):
-        assert self.p.enable_stm32_bridge is True
+        assert self.p.enable_esp32_bridge is True
        assert self.p.enable_sensors is True
        assert self.p.enable_motor_daemon is True
        assert self.p.enable_imu is True
@ -124,7 +124,7 @@ class TestFullProfile:
        assert self.p.name == "full"
    def test_drivers_enabled(self):
-        assert self.p.enable_stm32_bridge is True
+        assert self.p.enable_esp32_bridge is True
        assert self.p.enable_sensors is True
        assert self.p.enable_motor_daemon is True
        assert self.p.enable_imu is True
@ -312,9 +312,9 @@ class TestSafetyDefaults:
 # ─── Hardware port defaults ────────────────────────────────────────────────────
 class TestHardwarePortDefaults:
-    def test_stm32_port_set(self):
+    def test_esp32_port_set(self):
        p = _minimal()
-        assert p.stm32_port.startswith("/dev/")
+        assert p.esp32_port.startswith("/dev/")
    def test_uwb_ports_set(self):
        p = _full()
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/init.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/init.py
@ -1 +1 @@
-"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""
+"""SaltyBot CAN bridge package — ESP32 IO motor controller and VESC telemetry via python-can."""
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the Mamba motor
+can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32 IO motor
 controller and VESC motor controllers over CAN bus.
 The node opens the SocketCAN interface (slcan0 by default), spawns a background
@ -9,12 +9,12 @@ reader thread to process incoming telemetry, and exposes the following interface
 Subscriptions
 -------------
  /cmd_vel          geometry_msgs/Twist          → VESC speed commands (CAN)
-  /estop            std_msgs/Bool                → Mamba e-stop (CAN)
+  /estop            std_msgs/Bool                → ESP32 IO e-stop (CAN)
 Publications
 ------------
-  /can/imu                sensor_msgs/Imu              Mamba IMU telemetry
+  /can/imu                sensor_msgs/Imu              ESP32 IO IMU telemetry
-  /can/battery            sensor_msgs/BatteryState     Mamba battery telemetry
+  /can/battery            sensor_msgs/BatteryState     ESP32 IO battery telemetry
  /can/vesc/left/state    std_msgs/Float32MultiArray   Left VESC state
  /can/vesc/right/state   std_msgs/Float32MultiArray   Right VESC state
  /can/connection_status  std_msgs/String              "connected" | "disconnected"
@ -64,7 +64,7 @@ _WATCHDOG_HZ: float = 10.0
 class CanBridgeNode(Node):
-    """CAN bus bridge between Orin ROS2 and Mamba / VESC controllers."""
+    """CAN bus bridge between Orin ROS2 and ESP32 IO / VESC controllers."""
    def __init__(self) -> None:
        super().__init__("can_bridge_node")
@ -214,18 +214,18 @@ class CanBridgeNode(Node):
        # Forward left = forward right for pure translation; for rotation
        # left slows and right speeds up (positive angular = CCW = left turn).
-        # The Mamba velocity command carries both wheels independently.
+        # The ESP32 IO velocity command carries both wheels independently.
        left_mps = linear - angular
        right_mps = linear + angular
        payload = encode_velocity_cmd(left_mps, right_mps)
        self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
-        # Keep Mamba in DRIVE mode while receiving commands
+        # Keep ESP32 IO in DRIVE mode while receiving commands
        self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
    def _estop_cb(self, msg: Bool) -> None:
-        """Forward /estop to Mamba over CAN."""
+        """Forward /estop to ESP32 IO over CAN."""
        if not self._connected:
            return
        payload = encode_estop_cmd(msg.data)
@ -234,7 +234,7 @@ class CanBridgeNode(Node):
            self._send_can(
                MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
            )
-            self.get_logger().warning("E-stop asserted — sent ESTOP to Mamba")
+            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32 IO")
    # ── Watchdog ──────────────────────────────────────────────────────────
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py
@ -1,16 +1,19 @@
 #!/usr/bin/env python3
 """
-mamba_protocol.py — CAN message encoding/decoding for the Mamba motor controller
+mamba_protocol.py — CAN message encoding/decoding for the ESP32 IO motor controller
 and VESC telemetry.
 # TODO(esp32-migration): CAN IDs and struct layouts below are for the legacy Mamba
 # controller. When ESP32 IO CAN protocol is defined, update CAN IDs and frame formats.
 CAN message layout
 ------------------
-Command frames  (Orin → Mamba / VESC):
+Command frames  (Orin → ESP32 IO / VESC):
  MAMBA_CMD_VELOCITY  0x100  8 bytes  left_speed (f32, m/s) | right_speed (f32, m/s)
  MAMBA_CMD_MODE      0x101  1 byte   mode (0=idle, 1=drive, 2=estop)
  MAMBA_CMD_ESTOP     0x102  1 byte   0x01 = stop
-Telemetry frames (Mamba → Orin):
+Telemetry frames (ESP32 IO → Orin):
  MAMBA_TELEM_IMU     0x200  24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
  MAMBA_TELEM_BATTERY 0x201   8 bytes voltage (f32, V) | current (f32, A)
@ -56,7 +59,7 @@ MODE_ESTOP: int = 2
@dataclass
 class ImuTelemetry:
-    """Decoded IMU telemetry from Mamba (MAMBA_TELEM_IMU)."""
+    """Decoded IMU telemetry from ESP32 IO (MAMBA_TELEM_IMU)."""
    accel_x: float = 0.0  # m/s²
    accel_y: float = 0.0
@ -68,7 +71,7 @@ class ImuTelemetry:
@dataclass
 class BatteryTelemetry:
-    """Decoded battery telemetry from Mamba (MAMBA_TELEM_BATTERY)."""
+    """Decoded battery telemetry from ESP32 IO (MAMBA_TELEM_BATTERY)."""
    voltage: float = 0.0   # V
    current: float = 0.0   # A
--- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
@ -15,7 +15,7 @@ setup(
    zip_safe=True,
    maintainer="sl-controls",
    maintainer_email="sl-controls@saltylab.local",
-    description="CAN bus bridge for Mamba controller and VESC telemetry",
+    description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py
@ -1,28 +1,28 @@
 #!/usr/bin/env python3
 """
 protocol_defs.py — CAN message ID constants and frame builders/parsers for the
-Orin↔Mamba↔VESC integration test suite.
+Orin↔ESP32 IO↔VESC integration test suite.
 All IDs and payload formats are derived from:
-  include/orin_can.h   — Orin↔FC (Mamba) protocol
+  include/orin_can.h   — Orin↔FC (ESP32 IO) protocol
  include/vesc_can.h   — VESC CAN protocol
  saltybot_can_bridge/mamba_protocol.py — existing bridge constants
 CAN IDs used in tests
 ---------------------
-Orin → FC (Mamba) commands (standard 11-bit, matching orin_can.h):
+Orin → FC (ESP32 IO) commands (standard 11-bit, matching orin_can.h):
  ORIN_CMD_HEARTBEAT  0x300
  ORIN_CMD_DRIVE      0x301    int16 speed (−1000..+1000), int16 steer (−1000..+1000)
  ORIN_CMD_MODE       0x302    uint8 mode byte
  ORIN_CMD_ESTOP      0x303    uint8 action (1=ESTOP, 0=CLEAR)
-FC (Mamba) → Orin telemetry (standard 11-bit, matching orin_can.h):
+FC (ESP32 IO) → Orin telemetry (standard 11-bit, matching orin_can.h):
  FC_STATUS           0x400    8 bytes (see orin_can_fc_status_t)
  FC_VESC             0x401    8 bytes (see orin_can_fc_vesc_t)
  FC_IMU              0x402    8 bytes
  FC_BARO             0x403    8 bytes
-Mamba ↔ VESC internal commands (matching mamba_protocol.py):
+ESP32 IO ↔ VESC internal commands (matching mamba_protocol.py):
  MAMBA_CMD_VELOCITY  0x100    8 bytes  left_mps (f32) | right_mps (f32) big-endian
  MAMBA_CMD_MODE      0x101    1 byte   mode (0=idle,1=drive,2=estop)
  MAMBA_CMD_ESTOP     0x102    1 byte   0x01=stop
@ -36,7 +36,7 @@ import struct
 from typing import Tuple
 # ---------------------------------------------------------------------------
-# Orin → FC (Mamba) command IDs  (from orin_can.h)
+# Orin → FC (ESP32 IO) command IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 ORIN_CMD_HEARTBEAT: int = 0x300
@ -45,7 +45,7 @@ ORIN_CMD_MODE: int      = 0x302
 ORIN_CMD_ESTOP: int     = 0x303
 # ---------------------------------------------------------------------------
-# FC (Mamba) → Orin telemetry IDs  (from orin_can.h)
+# FC (ESP32 IO) → Orin telemetry IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 FC_STATUS: int = 0x400
@ -54,7 +54,7 @@ FC_IMU: int    = 0x402
 FC_BARO: int   = 0x403
 # ---------------------------------------------------------------------------
-# Mamba → VESC internal command IDs  (from mamba_protocol.py)
+# ESP32 IO → VESC internal command IDs  (from mamba_protocol.py)
 # ---------------------------------------------------------------------------
 MAMBA_CMD_VELOCITY: int = 0x100
@ -136,7 +136,7 @@ def build_estop_cmd(action: int = 1) -> bytes:
 # ---------------------------------------------------------------------------
-# Frame builders — Mamba velocity commands (mamba_protocol.py encoding)
+# Frame builders — ESP32 IO velocity commands (mamba_protocol.py encoding)
 # ---------------------------------------------------------------------------
 def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py
@ -14,7 +14,7 @@ setup(
    zip_safe=True,
    maintainer="sl-jetson",
    maintainer_email="sl-jetson@saltylab.local",
-    description="End-to-end CAN integration tests for Orin↔Mamba↔VESC full loop",
+    description="End-to-end CAN integration tests for Orin↔ESP32 IO↔VESC full loop",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py
@ -3,7 +3,7 @@
 test_drive_command.py — Integration tests for the drive command path.
 Tests verify:
-  DRIVE cmd → Mamba receives velocity command frame → mock VESC status response
+  DRIVE cmd → ESP32 IO receives velocity command frame → mock VESC status response
  → FC_VESC broadcast contains correct RPMs.
 All tests run without real hardware or a running ROS2 system.
@ -61,7 +61,7 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None:
 class TestDriveForward:
    def test_drive_forward_velocity_frame_sent(self, mock_can_bus):
        """
-        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify Mamba receives
+        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32 IO receives
        a MAMBA_CMD_VELOCITY frame with correct payload.
        """
        _send_drive(mock_can_bus, 1.0, 1.0)
@ -84,7 +84,7 @@ class TestDriveForward:
    def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus):
        """
        Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct.
-        (In the real loop Mamba computes RPM from m/s and broadcasts FC_VESC.)
+        (In the real loop ESP32 IO computes RPM from m/s and broadcasts FC_VESC.)
        This test checks the FC_VESC frame format and parser.
        """
        # Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py
@ -47,7 +47,7 @@ class VescStatusAggregator:
      2. Builds an FC_VESC broadcast payload
      3. Injects the FC_VESC frame onto the mock bus
-    This represents the Mamba → Orin telemetry path.
+    This represents the ESP32 IO → Orin telemetry path.
    """
    def __init__(self, bus: MockCANBus):
--- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py
+++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py
@ -90,7 +90,7 @@ class HeartbeatSimulator:
 def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
    """
    Simulate the firmware-side logic: when heartbeat timeout expires,
-    the FC sends an e-stop command by setting estop mode on the Mamba bus.
+    the FC sends an e-stop command by setting estop mode on the ESP32 IO bus.
    We model this as the bridge sending zero velocity + ESTOP mode.
    """
--- a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml
+++ b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml
@ -27,7 +27,7 @@ robot:
  stem_od:     0.0381          # m  STEM_OD = 38.1mm
  stem_height: 1.050           # m  nominal cut length
-  # ── FC / IMU (MAMBA F722S) ──────────────────────────────────────────────────
+  # ── FC / IMU (ESP32 BALANCE) ──────────────────────────────────────────────────
  # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
  # z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
  imu_x:  0.050                # m  forward of base_link center
--- a/jetson/ros2_ws/src/saltybot_diagnostics/README.md
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/README.md
@ -5,7 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot.
 ## Features
 ### Startup Checks
- RPLIDAR, RealSense, VESC, Jabra mic, STM32, servos
+- RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos
 - WiFi, GPS, disk space, RAM
 - Boot result TTS + face animation
 - JSON logging
--- a/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml
@ -6,7 +6,7 @@ startup_checks:
    - realsense
    - vesc
    - jabra_microphone
-    - stm32_bridge
+    - esp32_bridge
    - servos
    - wifi
    - gps
--- a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py
+++ b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py
@ -138,7 +138,7 @@ class DiagnosticsNode(Node):
            self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})
    def _check_stm32(self):
-        self.hardware_checks["stm32"] = ("OK", "STM32 bridge online", {})
+        self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {})
    def _check_servos(self):
        try:
--- a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml
@ -7,7 +7,7 @@
 #   ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2
 #
 # IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46)
-# applies the ESC ramp, deadman switch, and STM32 AUTONOMOUS mode gate.
+# applies the ESC ramp, deadman switch, and ESP32 BALANCE AUTONOMOUS mode gate.
 # Do not run this node without the cmd_vel bridge running on the same robot.
 # ── Follow geometry ────────────────────────────────────────────────────────────
@ -70,5 +70,5 @@ control_rate:     20.0        # Hz — lower than cmd_vel bridge (50Hz) by desig
 # ── Mode integration ──────────────────────────────────────────────────────────
 # Master enable for the follow controller. When false, node publishes zero cmd_vel.
 # Toggle at runtime: ros2 param set /person_follower follow_enabled false
-# The cmd_vel bridge independently gates on STM32 AUTONOMOUS mode (md=2).
+# The cmd_vel bridge independently gates on ESP32 BALANCE AUTONOMOUS mode (md=2).
 follow_enabled:   true
--- a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py
+++ b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py
@ -28,7 +28,7 @@ State machine
 Safety wiring
 -------------
-  * cmd_vel bridge (PR #46) applies ramp + deadman + STM32 AUTONOMOUS mode gate --
+  * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32 BALANCE AUTONOMOUS mode gate --
    this node publishes raw /cmd_vel, the bridge handles hardware safety.
  * follow_enabled param (default True) lets the operator disable the controller
    at runtime: ros2 param set /person_follower follow_enabled false
--- a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml
@ -1,6 +1,6 @@
 gimbal_node:
  ros__parameters:
-    # Serial port connecting to STM32 over JLINK protocol
+    # Serial port connecting to ESP32 BALANCE over JLINK protocol
    serial_port: "/dev/ttyTHS1"
    baud_rate: 921600
--- a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py
@ -14,7 +14,7 @@ def generate_launch_description() -> LaunchDescription:
    serial_port_arg = DeclareLaunchArgument(
        "serial_port",
        default_value="/dev/ttyTHS1",
-        description="JLINK serial port to STM32",
+        description="JLINK serial port to ESP32 BALANCE",
    )
    pan_limit_arg = DeclareLaunchArgument(
        "pan_limit_deg",
--- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 """gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548).
-Controls pan/tilt gimbal via JLINK binary protocol over serial to STM32.
+Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32 BALANCE.
 Implements smooth trapezoidal motion profiles with configurable axis limits.
 Subscribed topics:
--- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py
+++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py
@ -1,14 +1,14 @@
 """jlink_gimbal.py — JLINK binary frame codec for gimbal commands (Issue #548).
-Matches the JLINK protocol defined in include/jlink.h (Issue #547 STM32 side).
+Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32 side).
-Command type (Jetson → STM32):
+Command type (Jetson → ESP32 BALANCE):
  0x0B  GIMBAL_POS  — int16 pan_x10 + int16 tilt_x10 + uint16 speed   (6 bytes)
                       pan_x10  = pan_deg  * 10  (±1500 for ±150°)
                       tilt_x10 = tilt_deg * 10  (±450  for ±45°)
                       speed    = servo speed register 0–4095 (0 = max)
-Telemetry type (STM32 → Jetson):
+Telemetry type (ESP32 BALANCE → Jetson):
  0x84  GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 +
                        uint16 pan_speed_raw + uint16 tilt_speed_raw +
                        uint8 torque_en + uint8 rx_err_pct             (10 bytes)
@ -31,8 +31,8 @@ ETX = 0x03
 # ── Command / telemetry type codes ─────────────────────────────────────────────
-CMD_GIMBAL_POS   = 0x0B   # Jetson → STM32: set pan/tilt target
+CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32 BALANCE: set pan/tilt target
-TLM_GIMBAL_STATE = 0x84   # STM32 → Jetson: measured state
+TLM_GIMBAL_STATE = 0x84   # ESP32 BALANCE → Jetson: measured state
 # Speed register: 0 = maximum servo speed; 4095 = slowest non-zero speed.
 # Map deg/s to this register: speed_reg = max(0, 4095 - int(deg_s * 4095 / 360))
--- a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml
@ -5,7 +5,7 @@
 #
 # Topic wiring:
 #   /rc/joy                          → mode_switch_node (CRSF channels)
-#   /saltybot/balance_state          → mode_switch_node (STM32 state)
+#   /saltybot/balance_state          → mode_switch_node (ESP32 BALANCE state)
 #   /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix)
 #   /saltybot/control_mode           ← mode_switch_node (JSON mode + alpha)
 #   /saltybot/led_pattern            ← mode_switch_node (LED name)
--- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py
@ -13,7 +13,7 @@ Topic graph
 In RC mode (blend_alpha ≈ 0) the node publishes Twist(0,0) so the bridge
 receives zeros — this is harmless because the bridge's mode gate already
-prevents autonomous commands when the STM32 is in RC_MANUAL.
+prevents autonomous commands when the ESP32 BALANCE is in RC_MANUAL.
 The bridge's existing ESC ramp handles hardware-level smoothing;
 the blend_alpha here provides the higher-level cmd_vel policy ramp.
--- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py
@ -6,9 +6,9 @@ state machine can be exercised in unit tests without a ROS2 runtime.
 Mode vocabulary
 ---------------
-  "RC"            — STM32 executing RC pilot commands; Jetson cmd_vel blocked.
+  "RC"            — ESP32 BALANCE executing RC pilot commands; Jetson cmd_vel blocked.
  "RAMP_TO_AUTO"  — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
-  "AUTO"          — STM32 executing Jetson cmd_vel; RC sticks idle.
+  "AUTO"          — ESP32 BALANCE executing Jetson cmd_vel; RC sticks idle.
  "RAMP_TO_RC"    — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s.
 Blend alpha
--- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py
+++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py
@ -9,7 +9,7 @@ Inputs
        axes[stick_axes...]   Roll/Pitch/Throttle/Yaw — override detection
  /saltybot/balance_state  (std_msgs/String JSON)
-      Parsed for RC link health (field "rc_link") and STM32 mode.
+      Parsed for RC link health (field "rc_link") and ESP32 BALANCE mode.
  <slam_fix_topic>         (geometry_msgs/PoseWithCovarianceStamped)
      Any message received within slam_fix_timeout_s → SLAM fix valid.
@ -106,7 +106,7 @@ class ModeSwitchNode(Node):
        self._last_joy_t: float   = 0.0      # monotonic; 0 = never
        self._last_slam_t: float  = 0.0
        self._joy_axes: list      = []
-        self._stm32_mode: int     = 0        # from balance_state JSON
+        self._esp32_mode: int     = 0        # from balance_state JSON
        # ── QoS ───────────────────────────────────────────────────────────────
        best_effort = QoSProfile(
@ -187,7 +187,7 @@ class ModeSwitchNode(Node):
            data = json.loads(msg.data)
            # "mode" is a label string; map back to int for reference
            mode_label = data.get("mode", "RC_MANUAL")
-            self._stm32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1,
+            self._esp32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1,
                                "AUTONOMOUS": 2}.get(mode_label, 0)
        except (json.JSONDecodeError, TypeError):
            pass
--- a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
@ -1,8 +1,8 @@
 vesc_can_odometry:
  ros__parameters:
    # ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
-    left_can_id:        56      # left  motor VESC CAN ID (Mamba F722S)
+    left_can_id:        56      # left  motor VESC CAN ID (ESP32 BALANCE)
-    right_can_id:       68      # right motor VESC CAN ID (Mamba F722S)
+    right_can_id:       68      # right motor VESC CAN ID (ESP32 BALANCE)
    # ── State topic names (must match VESC telemetry publisher) ──────────────
    left_state_topic:   /vesc/left/state
--- a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml
+++ b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml
@ -12,7 +12,7 @@
 # Hardware:
 #   IMU:  RealSense D435i BMI055 → /imu/data
 #   GPS:  SIM7600X cellular     → /gps/fix  (±2.5 m CEP)
-#   Odom: STM32 wheel encoders  → /odom
+#   Odom: ESP32 BALANCE wheel encoders  → /odom
 #   RTK:  ZED-F9P (optional)    → /gps/fix  (±2 cm CEP when use_rtk: true)
 # ── Local EKF: fuses wheel odometry + IMU in odom frame ──────────────────────
--- a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py
+++ b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py
@ -70,8 +70,8 @@ class ParameterServer(Node):
        """Load parameter definitions from config file"""
        defs = {
            'hardware': {
-                'serial_port': ParamInfo('serial_port', '/dev/stm32-bridge', 'string',
+                'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string',
-                                        'hardware', description='STM32 bridge serial port'),
+                                        'hardware', description='ESP32 bridge serial port'),
                'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware',
                                      min_val=9600, max_val=3000000,
                                      description='Serial baud rate'),
--- a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py
+++ b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py
@ -370,7 +370,7 @@ class PIDAutotuneNode(Node):
                ser.write(frame_set)
                time.sleep(0.05)   # allow FC to process PID_SET
                ser.write(frame_save)
-                # Flash erase takes ~1s on STM32F7; wait for it
+                # Flash erase takes ~1s on ESP32; wait for it
                time.sleep(1.5)
            self.get_logger().info(
--- a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml
@ -9,7 +9,7 @@
 #
 # GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65
 # Heading:    D435i IMU → /imu/data, converted yaw → route waypoint heading_deg
-# Odometry:   STM32 wheel encoders → /odom
+# Odometry:   ESP32 BALANCE wheel encoders → /odom
 # UWB:        /uwb/target (follow-me reference, logged for context)
 route_recorder:
--- a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py
+++ b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py
@ -10,7 +10,7 @@ Depends on:
  saltybot-nav2 container (Nav2 action server /navigate_through_poses)
  saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65)
  saltybot_uwb (/uwb/target — PR #66, used for context during recording)
-  STM32 bridge (/odom from wheel encoders)
+  ESP32 bridge (/odom from wheel encoders)
  D435i (/imu/data for heading)
 Usage — record a route:
--- a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py
+++ b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py
@ -5,7 +5,7 @@ Hardware
 ────────
  SaltyRover: 4-wheel ground robot with individual brushless ESCs.
  ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
-  Communication: USB CDC serial to STM32 or Raspberry Pi Pico GPIO PWM bridge.
+  Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
  ESC channel assignments (configurable):
    CH1 = left-front
--- a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml
@ -39,6 +39,6 @@ safety_zone:
    # ── cmd_vel topics ───────────────────────────────────────────────────────
    # Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop.
    # Typical chain:
-    #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → STM32
+    #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32 BALANCE
    cmd_vel_input_topic:  /cmd_vel_input   # upstream velocity (remap as needed)
-    cmd_vel_output_topic: /cmd_vel         # downstream (to STM32 bridge)
+    cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32 bridge)
--- a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml
+++ b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml
@ -10,7 +10,7 @@
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
 #
 # Data flow:
-#   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → STM32
+#   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
 # ── Controller ─────────────────────────────────────────────────────────────────
 control_rate:   50.0           # Hz — 50ms tick, same as cmd_vel_bridge
@ -83,11 +83,11 @@ ride:
  target_vel_max:   15.0    # m/s  — cap; EUC max ~30 km/h = 8.3 m/s typical
 # ── Notes ─────────────────────────────────────────────────────────────────────
-# 1. To enable ride profile, the Jetson → STM32 cmd_vel_bridge must also be
+# 1. To enable ride profile, the Jetson → ESP32 BALANCE cmd_vel_bridge must also be
 #    reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
 #    at ride speed (slower ramp = smoother balance).
 #
-# 2. The STM32 balance PID gains likely need retuning for ride speed. Expect
+# 2. The ESP32 BALANCE balance PID gains likely need retuning for ride speed. Expect
 #    increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s.
 #
 # 3. Test sequence recommendation:
--- a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py
+++ b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py
@ -10,7 +10,7 @@ cmd_vel_bridge with matching limits:
  ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
 Prerequisite node pipeline:
-  person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → STM32
+  person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
 Usage:
  # Defaults (walk profile initially, adapts via UWB + GPS):
--- a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py
+++ b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py
@ -5,7 +5,7 @@ Hardware
 ────────
  SaltyTank: tracked robot with left/right independent brushless ESCs.
  ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
-  Communication: USB CDC serial to STM32 or Raspberry Pi Pico GPIO PWM bridge.
+  Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
  ESC channel assignments (configurable):
    CH1 = left-front  (or left-track in 2WD/tracked mode)
--- a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py
+++ b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py
@ -298,7 +298,7 @@ class TestBatteryMonitoring(unittest.TestCase):
            rclpy.spin_once(self.node, timeout_sec=0.1)
    def test_01_battery_topic_advertised(self):
-        """Battery topic must be advertised (from STM32 bridge)."""
+        """Battery topic must be advertised (from ESP32 bridge)."""
        self._spin(5.0)
        all_topics = {name for name, _ in self.node.get_topic_names_and_types()}
@ -327,7 +327,7 @@ class TestBatteryMonitoring(unittest.TestCase):
        self.node.destroy_subscription(sub)
        if not received:
-            pytest.skip("Battery data not publishing (STM32 bridge may be disabled in test mode)")
+            pytest.skip("Battery data not publishing (ESP32 bridge may be disabled in test mode)")
 class TestDockingServices(unittest.TestCase):
--- a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml
@ -1,5 +1,5 @@
 # VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6)
-# SocketCAN interface: can0 (SN65HVD230 transceiver on MAMBA F722S CAN2)
+# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32 BALANCE CAN2)
 vesc_telemetry:
  ros__parameters:
--- a/platformio.ini
+++ b/platformio.ini
@ -8,7 +8,7 @@ monitor_speed = 115200
 board_build.mcu = stm32f722ret6
 board_build.f_cpu = 216000000L
 build_flags = 
-    -DSTM32F722xx
+    -DESP32xx
    -DUSE_HAL_DRIVER
    -DHSE_VALUE=8000000U
    -DUSE_USB_FS
--- a/projects/saltybot/SLAM-SETUP-PLAN.md
+++ b/projects/saltybot/SLAM-SETUP-PLAN.md
@ -16,7 +16,7 @@
 | Depth Cam | Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU |
 | LIDAR | RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz |
 | Wide Cams | 4× IMX219 160° CSI — front/right/rear/left 90° intervals *(arriving)* |
-| FC | STM32F722 — UART bridge `/dev/ttyACM0` @ 921600 |
+| FC | ESP32 — UART bridge `/dev/ttyACM0` @ 921600 |
 ---
@ -76,7 +76,7 @@ Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x)
                   ▼
             Nav2 stack            (Phase 2b)
             20Hz costmap
-             /cmd_vel → STM32
+             /cmd_vel → ESP32 BALANCE
  4× IMX219 CSI               (Phase 2c — pending hardware)
  front/right/rear/left 160°
--- a/scripts/flash_firmware.py
+++ b/scripts/flash_firmware.py
@ -22,7 +22,7 @@ Requirements:
    dfu-util >= 0.9 installed and in PATH
 Dual-bank note:
-    STM32F722 has single-bank 512 KB flash; hardware A/B rollback is not
+    ESP32 has single-bank 512 KB flash; hardware A/B rollback is not
    supported.  Rollback is implemented here by saving a backup of the
    previous binary (.firmware_backup.bin) before each flash.
 """
@ -36,11 +36,11 @@ import subprocess
 import sys
 import time
-# ---- STM32F722 flash constants ----
+# ---- ESP32 flash constants ----
 FLASH_BASE  = 0x08000000
 FLASH_SIZE  = 0x80000       # 512 KB
-# ---- DFU device defaults (STM32 system bootloader) ----
+# ---- DFU device defaults (ESP32/STM32 system bootloader) ----
 DFU_VID     = 0x0483        # STMicroelectronics
 DFU_PID     = 0xDF11        # DFU mode
@ -62,16 +62,16 @@ def crc32_file(path: str) -> int:
 def stm32_crc32(data: bytes) -> int:
    """
-    Compute CRC-32/MPEG-2 matching STM32F7 hardware CRC unit.
+    Compute CRC-32/MPEG-2 matching ESP32 hardware CRC unit.
-    STM32 algorithm:
+    ESP32/STM32 algorithm:
        Polynomial : 0x04C11DB7
        Initial    : 0xFFFFFFFF
        Width      : 32 bits
        Reflection : none (MSB-first)
        Feed size  : 32-bit words from flash (little-endian CPU read)
-    When the STM32 reads a flash word it gets a little-endian uint32;
+    When the ESP32 BALANCE reads a flash word it gets a little-endian uint32;
    the hardware CRC unit processes bits[31:24] first, then [23:16],
    [15:8], [7:0].  This Python implementation replicates that behaviour.
@ -214,11 +214,11 @@ def main() -> int:
              f'({FLASH_SIZE} bytes)', file=sys.stderr)
        return 1
-    # STM32 hardware CRC (for cross-checking with firmware telemetry)
+    # ESP32/STM32 hardware CRC (for cross-checking with firmware telemetry)
    with open(target, 'rb') as fh:
        bin_data = fh.read()
    crc_hw = stm32_crc32(bin_data.ljust(FLASH_SIZE, b'\xff'))
-    print(f'CRC-32 : 0x{crc_hw:08X}  (MPEG-2 / STM32 HW, padded to {FLASH_SIZE // 1024} KB)')
+    print(f'CRC-32 : 0x{crc_hw:08X}  (MPEG-2 / ESP32/STM32 HW, padded to {FLASH_SIZE // 1024} KB)')
    # Save backup before flashing (skip when rolling back)
    if not args.rollback:
--- a/test/test_bno055_data.py
+++ b/test/test_bno055_data.py
@ -4,7 +4,7 @@ test_bno055_data.py — Issue #135: BNO055 driver unit tests.
 Tests data scaling, byte parsing, calibration status extraction,
 calibration offset packing/unpacking, and temperature handling.
-No HAL or STM32 hardware required — pure Python logic.
+No HAL or STM32/ESP32 hardware required — pure Python logic.
 """
 import struct
--- a/test/test_jlink_frames.py
+++ b/test/test_jlink_frames.py
@ -4,7 +4,7 @@ test_jlink_frames.py — Issue #120: JLink binary protocol unit tests.
 Tests CRC16-XModem, frame building, frame parsing (state machine),
 command payload encoding, and telemetry frame layout.
-No HAL or STM32 hardware required — pure Python logic.
+No HAL or STM32/ESP32 hardware required — pure Python logic.
 """
 import struct
--- a/test/test_ota.py
+++ b/test/test_ota.py
@ -3,7 +3,7 @@ test_ota.py — OTA firmware update utilities (Issue #124)
 Tests:
  - CRC-32/ISO-HDLC  (crc32_file / binascii.crc32)
-  - CRC-32/MPEG-2    (stm32_crc32 — matches STM32F7 hardware CRC unit)
+  - CRC-32/MPEG-2    (stm32_crc32 — matches ESP32 hardware CRC unit)
  - CRC-16/XMODEM    (_crc16_xmodem — JLink frame integrity)
  - DFU_ENTER frame  (JLINK_CMD_DFU_ENTER = 0x06, no payload)
  - Safety constants (BKP index, flash region, magic value)
@ -233,8 +233,8 @@ class TestOtaConstants:
        BNO055_BKP_RANGE  = range(0, 7)
        assert OTA_DFU_BKP_IDX not in BNO055_BKP_RANGE
-    def test_bkp_idx_valid_stm32f7(self):
+    def test_bkp_idx_valid_esp32(self):
-        """STM32F7 has 32 backup registers (BKP0R–BKP31R)."""
+        """ESP32 has 32 backup registers (BKP0R–BKP31R)."""
        OTA_DFU_BKP_IDX = 15
        assert 0 <= OTA_DFU_BKP_IDX <= 31
@ -252,7 +252,7 @@ class TestOtaConstants:
        assert DFU_VID == 0x0483
    def test_dfu_pid_dfu_mode(self):
-        """Default PID = 0xDF11 (STM32 DFU mode)."""
+        """Default PID = 0xDF11 (ESP32 DFU mode)."""
        assert DFU_PID == 0xDF11
    def test_bkp_idx_not_zero(self):
--- a/test/test_power_mgmt.py
+++ b/test/test_power_mgmt.py
@ -471,7 +471,7 @@ class TestJlinkProtocol:
 # Tests: Wake latency and IWDG budget
 # ---------------------------------------------------------------------------
 class TestWakeLatencyBudget:
-    # STM32F722 STOP-mode wakeup: HSI ready ~2 ms + PLL lock ~2 ms ≈ 4 ms
+    # ESP32 STOP-mode wakeup: HSI ready ~2 ms + PLL lock ~2 ms ≈ 4 ms
    ESTIMATED_WAKE_MS = 10   # conservative upper bound
    def test_wake_latency_within_50ms(self):
@ -493,7 +493,7 @@ class TestWakeLatencyBudget:
        assert PM_FADE_MS < PM_IDLE_TIMEOUT_MS
    def test_stop_mode_wake_much_less_than_50ms(self):
-        # PLL startup on STM32F7: HSI on (0 ms, already running) +
+        # PLL startup on ESP32: HSI on (0 ms, already running) +
        # PLL lock ~2 ms + SysTick re-init ~0.1 ms ≈ 3 ms
        pll_lock_ms = 3
        overhead_ms = 1
@ -539,7 +539,7 @@ class TestHardwareConstants:
        assert 216 / 2 == 108
    def test_flash_latency_7_required_at_216mhz(self):
-        """STM32F7 at 2.7-3.3 V: 7 wait states for 210-216 MHz."""
+        """ESP32 at 2.7-3.3 V: 7 wait states for 210-216 MHz."""
        FLASH_LATENCY = 7
        assert FLASH_LATENCY == 7
--- a/ui/can_monitor_panel.html
+++ b/ui/can_monitor_panel.html
@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — CAN Monitor</title>
 <link rel="stylesheet" href="can_monitor_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
--- a/ui/diagnostics_panel.html
+++ b/ui/diagnostics_panel.html
@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — System Diagnostics</title>
 <link rel="stylesheet" href="diagnostics_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
@ -112,7 +112,7 @@
        <div class="temp-bar-track"><div class="temp-bar-fill" id="gpu-temp-bar" style="width:0%"></div></div>
      </div>
      <div class="temp-box" id="board-temp-box">
-        <div class="temp-label">Board / STM32</div>
+        <div class="temp-label">Board / ESP32</div>
        <div class="temp-value" id="board-temp-val">—</div>
        <div class="temp-bar-track"><div class="temp-bar-fill" id="board-temp-bar" style="width:0%"></div></div>
      </div>
--- a/ui/event_log_panel.html
+++ b/ui/event_log_panel.html
@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Event Log</title>
 <link rel="stylesheet" href="event_log_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
--- a/ui/gamepad_panel.html
+++ b/ui/gamepad_panel.html
@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Gamepad Teleop</title>
 <link rel="stylesheet" href="gamepad_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
--- a/ui/gimbal_panel.html
+++ b/ui/gimbal_panel.html
@ -6,7 +6,7 @@
 <title>Saltybot — Gimbal Control</title>
 <link rel="stylesheet" href="gimbal_panel.css">
 <!-- roslib from CDN -->
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 <style>
 /* Cam button active state (can't use CSS-only with JS-toggled class without Tailwind) */
 .cam-btn { padding: 3px 10px; border-radius: 4px; border: 1px solid #1e3a5f;
--- a/ui/gps_map_panel.html
+++ b/ui/gps_map_panel.html
@ -7,7 +7,7 @@
 <link rel="stylesheet" href="gps_map_panel.css">
 <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
 <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
--- a/ui/index.html
+++ b/ui/index.html
@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Dashboard</title>
 <link rel="stylesheet" href="dashboard.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
--- a/ui/map_panel.html
+++ b/ui/map_panel.html
@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Map View</title>
 <link rel="stylesheet" href="map_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
--- a/ui/settings_panel.html
+++ b/ui/settings_panel.html
@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Settings</title>
 <link rel="stylesheet" href="settings_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
 </head>
 <body>
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
sl-jetson	19be6bbe11	Merge pull request 'docs: SAUL-TEE full ESP32-S3 system reference (arch migration)' (#712 ) from sl-firmware/arch-esp32-migration into main	2026-04-04 08:57:11 -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-mechanical	bfca6d1d92	docs: Add SAUL-TEE system reference + update wiring diagram - docs/SAUL-TEE-SYSTEM-REFERENCE.md: authoritative architecture doc for the new 4-wheel wagon. Covers ESP32-S3 BALANCE (Waveshare LCD 1.28, QMI8658, SN65HVD230 CAN), ESP32-S3 IO (TBS Crossfire, ELRS, BTS7960, NFC/baro/ToF, WS2812), inter-board UART protocol (460800 baud, [0xAA][len][type][payload][crc8]), CAN IDs (VESCs 68/56, Orin 0x300-0x303 cmd / 0x400-0x401 telemetry), RC channel map, power architecture, safety systems, and firmware layout. - docs/wiring-diagram.md: banner pointing to new reference doc; old Mamba F722S UART summary marked OBSOLETE. 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-mechanical	5e97676703	docs: Update chassis docs for ESP32 architecture (retire Mamba F722S) Replace Mamba F722S / STM32F722 references in BOM.md and ASSEMBLY.md with ESP32 BALANCE + ESP32 IO. Board dimensions marked TBD pending spec from max. 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
`@ -1 +1 @@`
	`"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""`	`"""SaltyBot CAN bridge package — ESP32 IO motor controller and VESC telemetry via python-can."""`