AUTONOMOUS_ARMING.md

@@ -7,11 +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)
-<<<<<<< HEAD
 - Sent via USB CDC to the ESP32 BALANCE firmware
-=======
-- Sent via USB Serial (CH343) to the ESP32-S3 firmware
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
 - Works even when RC is not connected or not armed
 
@@ -46,11 +42,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
 
 ## Command Protocol
 
-<<<<<<< HEAD
 ### From Jetson to ESP32 BALANCE (USB CDC)
-=======
-### From Jetson to ESP32-S3 (USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ```
 A           — Request arm (triggers safety hold, then motors enable)
 D           — Request disarm (immediate motor stop)
@@ -60,11 +52,7 @@ H           — Heartbeat (refresh timeout timer, every 500ms)
 C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
 ```
 
-<<<<<<< HEAD
 ### From ESP32 BALANCE to Jetson (USB CDC)
-=======
-### From ESP32-S3 to Jetson (USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 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)

CLAUDE.md

@@ -1,7 +1,6 @@
 # SaltyLab Firmware — Agent Playbook
 
 ## Project
-<<<<<<< HEAD
 **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`
 
@@ -12,25 +11,16 @@ Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFE
 | **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/`.
-=======
-Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Team
 | Agent | Role | Focus |
 |-------|------|-------|
-<<<<<<< HEAD
 | **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
 | **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
 | **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
-=======
-| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader |
-| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
-| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Status
-USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
+USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
 
 ## Repo Structure
 - `projects/saltybot/SALTYLAB.md` — Design doc
@@ -48,11 +38,11 @@ USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region +
 | `saltyrover-dev` | Integration — rover variant |
 | `saltytank` | Stable — tracked tank variant |
 | `saltytank-dev` | Integration — tank variant |
-| `main` | Shared code only (IMU drivers, USB Serial (CH343), balance core, safety) |
+| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) |
 
 ### Rules
 - Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
-- Shared/infrastructure code (IMU drivers, USB Serial (CH343), balance core, safety) goes in `main`
+- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main`
 - Variant-specific code (motor topology, kinematics, config) goes in variant branches
 - Stable branches get promoted from `-dev` after review and hardware testing
 - **Current SaltyLab team** works against `saltylab-dev`

TEAM.md

@@ -1,7 +1,6 @@
 # SaltyLab — Ideal Team
 
 ## Project
-<<<<<<< HEAD
 **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`.
 
@@ -9,14 +8,6 @@ Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFE
 - **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
 - **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
 - **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
-=======
-Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM.
-
-## Current Status
-- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
-- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug
-- **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see `legacy/stm32/USB_CDC_BUG.md` for historical context
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ---
 
@@ -24,30 +15,18 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 
 ### 1. Embedded Firmware Engineer (Lead)
 **Must-have:**
-<<<<<<< HEAD
 - 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 ESP32
 - PlatformIO or bare-metal ESP32 toolchain
 - DFU bootloader implementation
-=======
-- Deep ESP-IDF experience (ESP32-S3 specifically)
-- USB Serial (CH343) / UART debugging on ESP32-S3
-- SPI + UART + USB coexistence on ESP32-S3
-- ESP-IDF / Arduino-ESP32 toolchain
-- OTA firmware update implementation
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 **Nice-to-have:**
-- ESP32-S3 peripheral coexistence (SPI + UART + USB)
+- Betaflight/iNav/ArduPilot codebase familiarity
 - PID control loop tuning for balance robots
 - FOC motor control (hoverboard ESC protocol)
 
-<<<<<<< HEAD
 **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.
-=======
-**Why:** The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ### 2. Control Systems / Robotics Engineer
 **Must-have:**
@@ -65,7 +44,7 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 
 ### 3. Perception / SLAM Engineer (Phase 2)
 **Must-have:**
-- Jetson Orin Nano Super / NVIDIA Jetson platform
+- Jetson Nano / NVIDIA Jetson platform
 - Intel RealSense D435i depth camera
 - RPLIDAR integration
 - SLAM (ORB-SLAM3, RTAB-Map, or similar)
@@ -76,23 +55,19 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 - Obstacle avoidance
 - Nav2 stack
 
-**Why:** Phase 2 goal is autonomous navigation. Jetson Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.
+**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
 
 ---
 
 ## Hardware Reference
 | Component | Details |
 |-----------|---------|
-<<<<<<< HEAD
 | FC | ESP32 BALANCE (ESP32RET6, MPU6000) |
-=======
-| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | Motors | 2x 8" pneumatic hoverboard hub motors |
 | ESC | Hoverboard ESC (EFeru FOC firmware) |
 | Battery | 36V pack |
 | RC | BetaFPV ELRS 2.4GHz TX + RX |
-| AI Brain | Jetson Orin Nano Super + Noctua fan |
+| AI Brain | Jetson Nano + Noctua fan |
 | Depth | Intel RealSense D435i |
 | LIDAR | RPLIDAR A1M8 |
 | Spare IMUs | BNO055, MPU6050 |
@@ -100,4 +75,4 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 ## Repo
 - Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
 - Design doc: `projects/saltybot/SALTYLAB.md`
-- Bug doc: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era)
+- Bug doc: `USB_CDC_BUG.md`

cad/assembly.scad

@@ -60,7 +60,7 @@ color("Purple", 0.9)
     translate([0, 0, h_fc])
         cube([36, 36, 5], center=true);
 
-// Jetson Orin Nano Super
+// Jetson Nano
 color("LimeGreen", 0.7)
     translate([0, 0, h_jetson])
         cube([100, 80, 29], center=true);

cad/dimensions.scad

@@ -20,7 +20,7 @@ fc_hole_dia = 3.2;      // M3 clearance
 fc_board_size = 36;      // Typical FC PCB
 fc_standoff_h = 5;       // Rubber standoff height
 
-// --- Jetson Orin Nano Super ---
+// --- Jetson Nano ---
 jetson_w = 100;
 jetson_d = 80;
 jetson_h = 29;           // With heatsink

cad/jetson_shelf.scad

@@ -1,7 +1,7 @@
 // ============================================
-// SaltyLab — Jetson Orin Nano Super Shelf
+// SaltyLab — Jetson Nano Shelf
 // 120×100×15mm PETG
-// Mounts Jetson Orin Nano Super to 2020 extrusion
+// Mounts Jetson Nano to 2020 extrusion
 // ============================================
 include <dimensions.scad>
 

chassis/ASSEMBLY.md

@@ -56,24 +56,20 @@
 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
 4. Insert battery pack; route Velcro straps through slots and cinch.
 
-<<<<<<< HEAD
 ### 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.
 
-=======
-### 7  FC mount (ESP32-S3 BALANCE)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
 2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only.
 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 Orin Nano Super mount plate
+### 8  Jetson Nano mount plate
 1. Press or thread M3 nylon standoffs (8mm) into plate holes.
 2. Bolt plate to deck: 4× M3×10 SHCS at deck corners.
-3. Set Jetson Orin Nano Super B01 carrier onto plate standoffs; fasten M3×6 BHCS.
+3. Set Jetson Nano B01 carrier onto plate standoffs; fasten M3×6 BHCS.
 
 ### 9  Bumper brackets
 1. Slide 22mm EMT conduit through saddle clamp openings.

chassis/BOM.md

@@ -41,11 +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 |
-<<<<<<< HEAD
 | 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) |
-=======
-| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
 
 ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
@@ -74,7 +70,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 | 10 | Motor fork bracket (R) | 1 | 8mm 6061 aluminium | Mirror of item 9 |
 | 11 | Battery tray | 1 | 3mm PETG FDM or 3mm aluminium fold | `chassis_frame.scad` — `battery_tray()` module |
 | 12 | FC mount plate / standoffs | 1 set | PETG or nylon FDM | Includes 4× M3 nylon standoffs, 6mm height |
-| 13 | Jetson Orin Nano Super mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
+| 13 | Jetson Nano mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
 | 14 | Front bumper bracket | 1 | 5mm PETG FDM | Saddle clamps for 22mm EMT conduit |
 | 15 | Rear bumper bracket | 1 | 5mm PETG FDM | Mirror of item 14 |
 
@@ -97,18 +93,11 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 
 | # | Part | Qty | Spec | Notes |
 |---|------|-----|------|-------|
-<<<<<<< HEAD
 | 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE |
 | 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O |
 | 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation |
 | 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 |
-=======
-| 13 | ESP32-S3 ESP32-S3 BALANCE FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
-| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
-| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
-| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
 
 ---

chassis/chassis_frame.scad

@@ -8,9 +8,9 @@
 // Requirements:
 //   - 600mm wheelbase
 //   - 2x hoverboard hub motors (170mm OD)
-//   - ESP32-S3 ESP32-S3 BALANCE FC mount (30.5x30.5mm pattern)
+//   - STM32 MAMBA F722S FC mount (30.5x30.5mm pattern)
 //   - Battery tray (24V 4Ah — ~180x70x50mm pack)
-//   - Jetson Orin Nano Super B01 mount plate (100x80mm, M3 holes)
+//   - Jetson Nano B01 mount plate (100x80mm, M3 holes)
 //   - Front/rear bumper brackets
 // =============================================================================
 
@@ -37,7 +37,7 @@ MOTOR_FORK_H       = 80;    // mm, total height of motor fork bracket
 MOTOR_FORK_T       = 8;     // mm, fork plate thickness
 AXLE_HEIGHT        = 310;   // mm, axle CL above ground (motor radius + clearance)
 
-// ── FC mount (ESP32-S3 BALANCE — 30.5 × 30.5 mm M3 pattern) ──────────────────────
+// ── FC mount (MAMBA F722S — 30.5 × 30.5 mm M3 pattern) ──────────────────────
 FC_MOUNT_SPACING   = 30.5;  // mm, hole pattern pitch
 FC_MOUNT_HOLE_D    = 3.2;   // mm, M3 clearance
 FC_STANDOFF_H      = 6;     // mm, standoff height
@@ -52,7 +52,7 @@ BATT_FLOOR         = 4;     // mm, tray floor thickness
 BATT_STRAP_W       = 20;    // mm, Velcro strap slot width
 BATT_STRAP_T       = 2;     // mm, strap slot depth
 
-// ── Jetson Orin Nano Super B01 mount plate ──────────────────────────────────────────────
+// ── Jetson Nano B01 mount plate ──────────────────────────────────────────────
 // B01 carrier board hole pattern: 58 x 58 mm M3 (inner) + corner pass-throughs
 JETSON_HOLE_PITCH  = 58;    // mm, M3 mounting hole pattern
 JETSON_HOLE_D      = 3.2;   // mm
@@ -210,7 +210,7 @@ module battery_tray() {
 
 // ─── FC mount holes helper ────────────────────────────────────────────────────
 module fc_mount_holes(z_offset=0, depth=10) {
-    // ESP32-S3 BALANCE: 30.5×30.5 mm M3 pattern, centred at origin
+    // MAMBA F722S: 30.5×30.5 mm M3 pattern, centred at origin
     for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
     for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
         translate([x, y, z_offset])
@@ -247,7 +247,7 @@ module fc_mount_plate() {
     }
 }
 
-// ─── Jetson Orin Nano Super B01 mount plate ─────────────────────────────────────────────
+// ─── Jetson Nano B01 mount plate ─────────────────────────────────────────────
 // Positioned rear of deck, elevated on standoffs
 module jetson_mount_plate() {
     jet_x =  60;   // offset toward rear

chassis/ip54_BOM.md

@@ -104,11 +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 |
-<<<<<<< HEAD
 | FC (ESP32 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
-=======
-| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
 | D435i | Passive; housing vent gap on rear cap | 45 °C surface | — |
 

chassis/prototype_baseplate.scad

@@ -65,7 +65,7 @@ CLAMP_ALIGN_D   =   4.1;   // Ø4 pin
 // D-cut bore clearance
 DCUT_CL         =  0.3;
 
-// FC mount — ESP32-S3 BALANCE 30.5 × 30.5 mm M3
+// FC mount — MAMBA F722S 30.5 × 30.5 mm M3
 FC_PITCH        = 30.5;
 FC_HOLE_D       =  3.2;
 // FC is offset toward front of plate (away from stem)
@@ -202,7 +202,7 @@ module base_plate() {
                 translate([STEM_FLANGE_BC/2, 0, -1])
                     cylinder(d=M5, h=PLATE_THICK + 2);
 
-        // ── FC mount (ESP32-S3 BALANCE 30.5 × 30.5 M3) ────────────────────────
+        // ── FC mount (MAMBA F722S 30.5 × 30.5 M3) ────────────────────────
         for (x = [FC_X_OFFSET - FC_PITCH/2, FC_X_OFFSET + FC_PITCH/2])
         for (y = [-FC_PITCH/2, FC_PITCH/2])
             translate([x, y, -1])

chassis/rover_electronics_bay.scad

@@ -11,7 +11,7 @@
 //          • Ventilation slots      — all 4 walls + lid
 //
 // Shared mounting patterns (swappable with SaltyLab):
-//   FC    : 30.5 × 30.5 mm M3 (ESP32-S3 BALANCE / Pixhawk)
+//   FC    : 30.5 × 30.5 mm M3 (MAMBA F722S / Pixhawk)
 //   Jetson: 58 × 49 mm M3    (Orin NX / Nano Devkit carrier)
 //
 // Coordinate: bay centred at origin; Z=0 = deck top face.

chassis/saltyrover_chassis_r2.scad

@@ -17,7 +17,7 @@
 //   • Weight target: <2 kg frame (excl. motors/electronics)
 //
 // Shared SaltyLab patterns (swappable electronics):
-//   FC  : 30.5 × 30.5 mm M3  (ESP32-S3 BALANCE / Pixhawk)
+//   FC  : 30.5 × 30.5 mm M3  (MAMBA F722S / Pixhawk)
 //   Jetson: 58 × 49 mm M3    (Orin NX / Nano carrier board)
 //   Stem  : Ø25 mm bore      (sensor head unchanged)
 //
@@ -87,7 +87,7 @@ STEM_COLLAR_OD = 50.0;
 STEM_COLLAR_H  = 20.0;   // raised boss height above deck top
 STEM_FLANGE_BC = 40.0;   // 4× M4 bolt circle for stem adapter
 
-// ── FC mount — ESP32-S3 BALANCE / Pixhawk (30.5 × 30.5 mm M3) ────────────────────
+// ── FC mount — MAMBA F722S / Pixhawk (30.5 × 30.5 mm M3) ────────────────────
 // Shared with SaltyLab — swappable electronics
 FC_PITCH    = 30.5;
 FC_HOLE_D   =  3.2;

docs/AGENTS.md

@@ -4,7 +4,6 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read
 
 ## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)
 
-<<<<<<< HEAD
 Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
 
 | Board | Role |
@@ -21,20 +20,6 @@ Jetson Orin ──CANable2──► CAN 500kbps ◄─────────
                                 │ CAN 500kbps
                       ┌─────────┴──────────┐
                  VESC Left (ID 68)    VESC Right (ID 56)
-=======
-A hoverboard-based balancing robot with two compute layers:
-1. **ESP32-S3 BALANCE** — ESP32-S3 BALANCE (ESP32-S3RET6 + 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 Orin Nano Super** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.
-
-```
-Jetson (speed+steer via UART1)  ←→  ELRS RC (UART3, kill switch)
-         │
-         ▼
-   ESP32-S3 BALANCE (MPU6000 IMU, PID balance)
-         │
-         ▼ UART2
-   Hoverboard ESC (FOC) → 2× 8" hub motors
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ```
 
 Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`  
@@ -57,14 +42,10 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
 ## Repository Layout
 
 ```
-<<<<<<< HEAD
 firmware/              # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived)
-=======
-firmware/              # ESP-IDF firmware (PlatformIO)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ├── src/
 │   ├── main.c         # Entry point, clock config, main loop
-│   ├── icm42688.c     # QMI8658-P SPI driver (backup IMU — currently broken)
+│   ├── icm42688.c     # ICM-42688-P SPI driver (backup IMU — currently broken)
 │   ├── bmp280.c       # Barometer driver (disabled)
 │   └── status.c       # LED + buzzer status patterns
 ├── include/
@@ -75,7 +56,7 @@ firmware/              # ESP-IDF firmware (PlatformIO)
 │   ├── crsf.h         # ELRS CRSF protocol
 │   ├── bmp280.h
 │   └── status.h
-├── lib/USB_CDC/       # USB Serial (CH343) stack (serial over USB)
+├── lib/USB_CDC/       # USB CDC stack (serial over USB)
 │   ├── src/           # CDC implementation, USB descriptors, PCD config
 │   └── include/
 └── platformio.ini     # Build config
@@ -108,24 +89,16 @@ PLATFORM.md            # Hardware platform reference
 
 ## Hardware Quick Reference
 
-<<<<<<< HEAD
 ### ESP32 BALANCE Flight Controller
 
 | Spec | Value |
 |------|-------|
 | MCU | ESP32RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
-=======
-### ESP32-S3 BALANCE Flight Controller
-
-| Spec | Value |
-|------|-------|
-| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
 | IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 |
 | IMU EXTI | PC4 (data ready interrupt) |
 | IMU Orientation | CW270 (Betaflight convention) |
-| Secondary IMU | QMI8658-P (on same SPI1, CS unknown — currently non-functional) |
+| Secondary IMU | ICM-42688-P (on same SPI1, CS unknown — currently non-functional) |
 | Betaflight Target | DIAT-MAMBAF722_2022B |
 | USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 |
 | VID/PID | 0x0483/0x5740 |
@@ -138,7 +111,7 @@ PLATFORM.md            # Hardware platform reference
 
 | UART | Pins | Connected To | Baud |
 |------|------|-------------|------|
-| USART1 | PA9/PA10 | Jetson Orin Nano Super | 115200 |
+| USART1 | PA9/PA10 | Jetson Nano | 115200 |
 | USART2 | PA2/PA3 | Hoverboard ESC | 115200 |
 | USART3 | PB10/PB11 | ELRS Receiver | 420000 (CRSF) |
 | UART4 | — | Spare | — |
@@ -159,7 +132,7 @@ PLATFORM.md            # Hardware platform reference
 | FC board size | ~36mm square |
 | Hub motor body | Ø200mm (~8") |
 | Motor axle | Ø12mm, 45mm long |
-| Jetson Orin Nano Super | 100×80×29mm, M2.5 holes at 86×58mm |
+| Jetson Nano | 100×80×29mm, M2.5 holes at 86×58mm |
 | RealSense D435i | 90×25×25mm, 1/4-20 tripod mount |
 | RPLIDAR A1 | Ø70×41mm, 4× M2.5 on Ø67mm circle |
 | Kill switch hole | Ø22mm panel mount |
@@ -194,27 +167,19 @@ 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.
-<<<<<<< HEAD
 2. **DCache breaks SPI on ESP32** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
-=======
-2. **DCache breaks SPI on ESP32-S3** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 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 Serial (CH343) needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
+5. **USB CDC needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
 
 ### DFU Reboot (Betaflight Method)
 
 The firmware supports reboot-to-DFU via USB command:
-1. Send `R` byte over USB Serial (CH343)
+1. Send `R` byte over USB CDC
 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
-<<<<<<< HEAD
 5. If magic found: clears it, remaps system memory, jumps to ESP32 BALANCE bootloader at `0x1FF00000`
-=======
-5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000`
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 6. Board appears as DFU device, ready for `dfu-util` flash
 
 ### Build & Flash
@@ -240,14 +205,14 @@ Fallback: HSI 16MHz if HSE fails (PLL M=16)
 ## Current Status & Known Issues
 
 ### Working
-- USB Serial (CH343) serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
+- USB CDC serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
 - Clock config with HSE + HSI fallback
 - Reboot-to-DFU via USB 'R' command
 - LED status patterns (status.c)
 - Web UI with WebSerial + Three.js 3D visualization
 
 ### Broken / In Progress
-- **QMI8658-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary.
+- **ICM-42688-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary.
 - **MPU6000 driver** — header exists but implementation needs completion
 - **PID balance loop** — not yet implemented
 - **Hoverboard ESC UART** — protocol defined, driver not written
@@ -285,7 +250,7 @@ T:12.3,P:45,L:100,R:-80,S:3\n
 // T=tilt°, P=PID output, L/R=motor commands, S=state (0-3)
 ```
 
-### FC → USB Serial (CH343) (50Hz JSON)
+### FC → USB CDC (50Hz JSON)
 ```json
 {"ax":123,"ay":-456,"az":16384,"gx":10,"gy":-5,"gz":3,"t":250,"p":0,"bt":0}
 // Raw IMU values (int16), t=temp×10, p=pressure, bt=baro temp

docs/FACE_LCD_ANIMATION.md

@@ -1,10 +1,6 @@
 # Face LCD Animation System (Issue #507)
 
-<<<<<<< HEAD
 Implements expressive face animations on an ESP32 LCD display with 5 core emotions and smooth transitions.
-=======
-Implements expressive face animations on an ESP32-S3 LCD display with 5 core emotions and smooth transitions.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Features
 
@@ -86,11 +82,7 @@ STATUS      → Echo current emotion + idle state
 - Colors: Monochrome (1-bit) or RGB565
 
 ### Microcontroller
-<<<<<<< HEAD
 - ESP32xx (ESP32 BALANCE)
-=======
-- ESP32-S3xx (ESP32-S3 BALANCE)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - Available UART: USART3 (PB10=TX, PB11=RX)
 - Clock: 216 MHz
 

docs/PLATFORM.md

@@ -81,7 +81,7 @@
    │                     │
    │  [RealSense D435i]  │   ← Front-facing, angled down ~10°
    │                     │     Height: ~400mm from ground
-   │  [Jetson Orin Nano Super]      │   ← Center, in ventilated enclosure
+   │  [Jetson Nano]      │   ← Center, in ventilated enclosure
    │  [WiFi/4G module]   │     Noctua fan draws air through
    │                     │
    │  [Speaker]  [LEDs]  │   ← Rear: audio feedback + status
@@ -173,7 +173,7 @@ PACK1 ═╤═ PACK2 (parallel, XT60)
         │     │
         │     └── UART TX/RX ──→ Jetson GPIO
         │
-        ├──→ DC-DC 36V→5V ──→ Jetson Orin Nano Super (barrel jack 5V/4A)
+        ├──→ DC-DC 36V→5V ──→ Jetson Nano (barrel jack 5V/4A)
         │                  ──→ USB hub (sensors)
         │
         ├──→ DC-DC 36V→12V ──→ LED strips

docs/SALTYLAB-DETAILED.md

@@ -33,7 +33,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 
 | Component | Voltage | Current | Power (W) | Notes |
 |-----------|---------|---------|-----------|-------|
-| Jetson Orin Nano Super | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg |
+| Jetson Nano | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg |
 | RealSense D435i | 5V (USB) | 0.7A | 3.5W | Depth + RGB streaming |
 | RPLIDAR A1M8 | 5V | 0.5A | 2.5W | Spinning at 5.5Hz |
 | BNO055 IMU | 3.3V | 0.01A | 0.04W | Negligible |
@@ -80,7 +80,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 | Battery pack (1x) | 2500 | Estimated, weigh to verify |
 | 2x 8" hub motors | 2400 | ~1200g each with tire |
 | ESC board | 150 | Single board |
-| Jetson Orin Nano Super + heatsink | 280 | With Noctua fan |
+| Jetson Nano + heatsink | 280 | With Noctua fan |
 | RealSense D435i | 72 | Very light |
 | RPLIDAR A1M8 | 170 | With motor |
 | BNO055 breakout | 5 | Tiny |
@@ -233,7 +233,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
       0mm  — Base plate
      30mm  — Battery shelf (holds pack on its side)
     150mm  — ESC + DC-DC shelf  
-    250mm  — Jetson Orin Nano Super shelf
+    250mm  — Jetson Nano shelf
     300mm  — BNO055 (attached to spine directly)
     370mm  — RealSense bracket (front-facing arm)
     420mm  — LIDAR standoff begins
@@ -325,7 +325,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 - [ ] Assemble spine onto base plate
 - [ ] Mount battery to lowest shelf (velcro straps)
 - [ ] Mount ESC + DC-DC converters
-- [ ] Mount Jetson Orin Nano Super on shelf, connect 5V power
+- [ ] Mount Jetson Nano on shelf, connect 5V power
 - [ ] Wire Jetson UART → ESC UART
 - [ ] Install JetPack 4.6 on Jetson (if not already)
 - [ ] Write serial bridge: Jetson Python → ESC UART commands

docs/SALTYLAB.md

@@ -32,8 +32,10 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
 |------|--------|
 | 2x 8" pneumatic hub motors (36 PSI) | ✅ Have |
 | 1x hoverboard ESC (FOC firmware) | ✅ Have |
-| 1x Drone FC (ESP32-S3 + QMI8658) | ✅ Have — balance brain |
+| ~~1x Drone FC (ESP3245 + MPU-6000)~~ | ❌ RETIRED — replaced by ESP32 BALANCE |
-| 1x Jetson Orin Nano Super + 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 |
@@ -49,19 +51,20 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
 | 1x BetaFPV ELRS 2.4GHz 1W TX module | ✅ Have — RC control + kill switch |
 | 1x ELRS receiver (matching) | ✅ Have — mounts on FC UART |
 
-### ESP32-S3 BALANCE Board Details — Waveshare ESP32-S3 Touch LCD 1.28
+### Drone FC Details — GEPRC GEP-F7 AIO
-- **MCU:** ESP32-S3RET6 (Xtensa LX7 dual-core, 240MHz, 8MB Flash, 512KB SRAM)
+- **MCU:** ESP32RET6 (216MHz Cortex-M7, 512KB flash, 256KB RAM)
-- **IMU:** QMI8658 (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
+- **IMU:** TDK ICM-42688-P (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
-- **Display:** 1.28" round LCD (GC9A01 driver, 240x240)
+- **Flash:** 8MB Winbond W25Q64 (blackbox, unused)
-- **DFU mode:** Hold BOOT button while plugging USB
+- **OSD:** AT7456E (unused)
-- **Firmware:** Custom balance firmware (ESP-IDF / Arduino-ESP32)
+- **4-in-1 ESC:** Built into AIO board (unused — we use hoverboard ESC)
-- **USB:** USB Serial via CH343 chip
+- **DFU mode:** Hold yellow BOOT button while plugging USB
-- **UART assignments:**
+- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL) — LEGACY, see ESP32 BALANCE
-  - UART0 → USB Serial (CH343) → debug/flash
+- **UART pads (confirmed from silkscreen):**
-  - UART1 → Jetson Orin Nano Super
+  - T1/R1 (bottom) → USART1 (PA9/PA10) → Jetson
-  - UART2 → Hoverboard ESC
+  - T2/R2 (right top) → USART2 (PA2/PA3) → Hoverboard ESC
-  - UART3 → ELRS receiver
+  - T3/R3 (bottom) → USART3 (PB10/PB11) → ELRS receiver
-  - UART4/5 → spare
+  - T4/R4 (bottom) → UART4 → spare
+  - T5/R5 (right bottom) → UART5 → spare
 
 ## Architecture
 
@@ -73,7 +76,7 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
                     │ RealSense    │ ← Forward-facing depth+RGB
                     │ D435i        │
                     ├──────────────┤
-                    │ Jetson Orin Nano Super  │ ← AI brain: navigation, person tracking
+                    │ Jetson Nano  │ ← AI brain: navigation, person tracking
                     │              │   Sends velocity commands via UART
                     ├──────────────┤
                     │ Drone FC     │ ← Balance brain: IMU + PID @ 8kHz
@@ -91,22 +94,145 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
            └─────┘                   └─────┘
 ```
 
-## Self-Balancing Control — ESP32-S3 BALANCE Board
+## Self-Balancing Control — Custom Firmware on Drone FC
 
-> For full system architecture, firmware details, and protocol specs, see
+### Why a Drone FC?
-> **docs/SAUL-TEE-SYSTEM-REFERENCE.md**
+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).
 
-The balance controller runs on the Waveshare ESP32-S3 Touch LCD 1.28 board
+### Architecture
-(ESP32-S3 BALANCE). It reads the onboard QMI8658 IMU at 8kHz, runs a PID
+```
-balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super
+Jetson (speed+steer via UART1)
-sends velocity commands over UART1. ELRS receiver on UART3 provides RC
+    │
-override and kill-switch capability.
+    ▼
+Drone FC (F745 + MPU-6000)
+    │  - Reads IMU @ 8kHz (SPI)
+    │  - Runs PID balance loop
+    │  - Mixes balance correction + Jetson commands
+    │  - Outputs speed+steer via UART2
+    ▼
+Hoverboard ESC (FOC firmware)
+    │  - Receives UART commands
+    │  - Drives hub motors
+    ▼
+Left + Right wheels
+```
 
-The legacy STM32 firmware (Mamba F722S era) has been archived to
+- **No motor outputs used** — FC talks UART directly to hoverboard ESC
-=======
+- **Custom firmware only** — no third-party flight software
-The legacy STM32 firmware (STM32 era) has been archived to
+- **Dead motor output irrelevant** — not using any PWM channels
-`legacy/stm32/` and is no longer built or deployed.
+
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+### Wiring
+
+```
+Jetson UART1        Drone FC (UART1)
+────────────        ────────────────
+TX (Pin 8)   ──→   RX
+RX (Pin 10)  ──→   TX
+GND          ──→   GND
+
+Drone FC (UART2)    Hoverboard ESC
+────────────────    ──────────────
+TX           ──→   RX (serial input)
+GND          ──→   GND
+5V (BEC)     ←──   ESC 5V out (powers FC)
+
+ELRS Receiver       Drone FC (UART3)
+─────────────       ────────────────
+TX           ──→   RX
+RX           ←──   TX (for telemetry/binding)
+GND          ──→   GND
+5V           ←──   5V
+```
+
+### Custom Firmware (Legacy STM32 C — archived)
+
+```c
+// Core balance loop — runs in timer interrupt @ 1-8kHz
+void balance_loop(void) {
+    // 1. Read pitch angle from MPU-6000 (complementary filter)
+    float pitch = get_pitch_angle();  // SPI read + filter
+    
+    // 2. Get velocity command from Jetson (updated async via UART1 RX)
+    float target_speed = jetson_cmd.speed;   // -1000 to 1000
+    float target_steer = jetson_cmd.steer;   // -1000 to 1000
+    
+    // 3. PID on pitch error
+    //    Target angle shifts with speed command (lean forward = go forward)
+    float target_angle = target_speed * SPEED_TO_ANGLE_FACTOR;
+    float error = target_angle - pitch;
+    
+    integral += error * dt;
+    integral = clamp(integral, -MAX_I, MAX_I);  // anti-windup
+    float derivative = (error - prev_error) / dt;
+    prev_error = error;
+    
+    float output = Kp * error + Ki * integral + Kd * derivative;
+    
+    // 4. Mix balance + steering → hoverboard ESC UART command
+    int16_t left  = clamp(output + target_steer, -1000, 1000);
+    int16_t right = clamp(output - target_steer, -1000, 1000);
+    
+    // 5. Send to hoverboard ESC via UART2
+    send_hoverboard_cmd(left, right);
+    
+    // 6. Safety: kill motors if tipped beyond recovery
+    if (fabs(pitch) > MAX_TILT_DEG) {
+        send_hoverboard_cmd(0, 0);
+        disarm();
+    }
+    
+    // 7. Safety: RC kill switch (ELRS channel, checked every loop)
+    if (rc_channels.arm_switch == DISARMED) {
+        send_hoverboard_cmd(0, 0);
+        disarm();
+    }
+    
+    // 8. Safety: kill if Jetson UART heartbeat lost
+    if (millis() - jetson_last_rx > JETSON_TIMEOUT_MS) {
+        send_hoverboard_cmd(0, 0);
+        disarm();
+    }
+    
+    // 8. Safety: clamp output to max allowed speed
+    left  = clamp(left,  -max_speed_limit, max_speed_limit);
+    right = clamp(right, -max_speed_limit, max_speed_limit);
+}
+```
+
+### Hoverboard ESC UART Protocol
+```c
+typedef struct {
+    uint16_t start;    // 0xABCD
+    int16_t  speed;    // -1000 to 1000 (left)
+    int16_t  steer;    // -1000 to 1000 (right)
+    uint16_t checksum; // XOR of all bytes
+} HoverboardCmd;
+// 115200 baud, send at loop rate
+```
+
+### Jetson → FC Protocol (simple custom)
+```c
+typedef struct {
+    uint8_t  header;   // 0xAA
+    int16_t  speed;    // -1000 to 1000
+    int16_t  steer;    // -1000 to 1000
+    uint8_t  mode;     // 0=idle, 1=balance, 2=follow, 3=RC
+    uint8_t  checksum;
+} JetsonCmd;
+// 115200 baud, ~50Hz from Jetson is plenty
+```
+
+### PID Tuning
+| Param | Starting Value | Notes |
+|-------|---------------|-------|
+| Kp | 30-50 | Main balance response |
+| Ki | 0.5-2 | Drift correction |
+| Kd | 0.5-2 | Damping oscillation |
+| Loop rate | 1-8 kHz | Start at 1kHz, increase if needed |
+| Max tilt | ±25° | Beyond this = cut motors, require re-arm |
+| JETSON_TIMEOUT_MS | 200 | Kill motors if Jetson stops talking |
+| max_speed_limit | 100 | Start at 10% (100/1000), increase gradually |
+| SPEED_TO_ANGLE_FACTOR | 0.01-0.05 | How much lean per speed unit |
 
 ## LED Subsystem (ESP32-C3)
 
@@ -156,8 +282,8 @@ GND             ──→ Common ground
 ```
 
 ### Dev Tools
-- **Flashing:** ESP32-S3CubeProgrammer via USB (DFU mode) or SWD
+- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD (legacy)
-- **IDE:** PlatformIO + ESP-IDF, or ESP32-S3CubeIDE
+- **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
@@ -224,7 +350,7 @@ GND             ──→ Common ground
 
 ## Software Stack
 
-### Jetson Orin Nano Super
+### Jetson Nano
 - **OS:** JetPack 4.6.1 (Ubuntu 18.04)
 - **ROS2 Humble** (or Foxy) for:
   - `nav2` — navigation stack
@@ -251,8 +377,8 @@ 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 ESP32-S3 (ESP-IDF)
+- [ ] Set up PlatformIO project for ESP32 BALANCE (ESP-IDF)
-- [ ] Write QMI8658 SPI driver (read gyro+accel, complementary filter)
+- [ ] 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
   - Watchdog timer (50ms hardware WDT)

docs/board-viz.html

@@ -112,13 +112,8 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
 </style>
 </head>
 <body>
-<<<<<<< HEAD
 <h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout (Legacy / Archived)</h1>
 <p class="subtitle">ESP32RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
-=======
-<h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout</h1>
-<p class="subtitle">ESP32-S3RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 <div class="container">
   <div class="board-wrap">
@@ -130,11 +125,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
       <div class="mount br"></div>
 
       <!-- MCU -->
-<<<<<<< HEAD
       <div class="mcu"><div class="dot"></div>ESP32<br>(legacy:<br>F722RET6)</div>
-=======
-      <div class="mcu"><div class="dot"></div>ESP32-S3<br>F722RET6<br>216MHz</div>
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
       <!-- IMU -->
       <div class="imu">ICM<br>42688</div>
@@ -215,7 +206,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
     <h2>🔌 UART Assignments</h2>
     <div class="legend-item">
       <div class="swatch" style="background:#2196F3"></div>
-      <span><b>USART1</b> T1/R1 → Jetson Orin Nano Super</span>
+      <span><b>USART1</b> T1/R1 → Jetson Nano</span>
     </div>
     <div class="legend-item">
       <div class="swatch" style="background:#FF9800"></div>

docs/wiring-diagram.md

@@ -14,12 +14,8 @@
 │                        ORIN NANO SUPER                              │
 │                     (Top Plate — 25W)                               │
 │                                                                     │
-<<<<<<< HEAD
 │  USB-A ──── CANable2 USB-CAN adapter (slcan0, 500 kbps)           │
 │  USB-A ──── ESP32-S3 IO (/dev/esp32-io, 460800 baud)              │
-=======
-│  USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud)            │
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 │  USB-A1 ─── RealSense D435i (USB 3.1)                             │
 │  USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200)             │
 │  USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP)     │
@@ -38,13 +34,8 @@
          │ 500 kbps                       │
          ▼                                ▼
 ┌─────────────────────────────────────────────────────────────────────┐
-<<<<<<< HEAD
 │                  ESP32-S3 BALANCE                                    │
 │          (Waveshare Touch LCD 1.28, Middle Plate)                   │
-=======
-│                     ESP32-S3 BALANCE (FC)                                 │
-│                  (Middle Plate — foam mounted)                       │
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 │                                                                     │
 │  CAN bus ──── CANable2 → Orin (primary link, ISO 11898)            │
 │  UART0 ──── Orin UART fallback (460800 baud, 3.3V)                │
@@ -77,11 +68,7 @@
 
 ## Wire-by-Wire Connections
 
-<<<<<<< HEAD
 ### 1. Orin <-> ESP32-S3 BALANCE (Primary: CAN Bus via CANable2)
-=======
-### 1. Orin ↔ FC (Primary: USB Serial (CH343))
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 | From | To | Wire | Notes |
 |------|----|------|-------|
@@ -89,16 +76,10 @@
 | CANable2 CAN-H | ESP32-S3 BALANCE CAN-H | twisted pair | ISO 11898 differential |
 | CANable2 CAN-L | ESP32-S3 BALANCE CAN-L | twisted pair | ISO 11898 differential |
 
-<<<<<<< HEAD
 - Interface: SocketCAN `slcan0`, 500 kbps
 - Device node: `/dev/canable2` (via udev, symlink to ttyUSBx)
 - Protocol: CAN frames --- ORIN_CMD_DRIVE (0x300), ORIN_CMD_MODE (0x301), ORIN_CMD_ESTOP (0x302)
 - Telemetry: BALANCE_STATUS (0x400), BALANCE_VESC (0x401), BALANCE_IMU (0x402), BALANCE_BATTERY (0x403)
-=======
-- Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge`
-- Baud: 921600, 8N1
-- Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ### 2. Orin <-> ESP32-S3 BALANCE (Fallback: Hardware UART)
 
@@ -164,7 +145,6 @@ BATTERY (36V) ──┬── VESC Left  (36V direct -> BLDC left motor)
 | CANable2 | USB-CAN | USB-A | `/dev/canable2` -> `slcan0` |
 
 
-<<<<<<< HEAD
 ## FC UART Summary (MAMBA F722S — OBSOLETE)
 
 | Interface | Pins | Baud/Rate | Assignment | Notes |
@@ -191,19 +171,6 @@ BATTERY (36V) ──┬── VESC Left  (36V direct -> BLDC left motor)
 | 0x910+ID | VESC Right -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 |
 
 VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
-=======
-## FC UART Summary (ESP32-S3 BALANCE)
-
-| UART | Pins | Baud | Assignment | Notes |
-|------|------|------|------------|-------|
-| USART1 | PB6=TX, PB7=RX | — | SmartAudio/VTX | Unused in SaltyLab |
-| USART2 | PA2=TX, PA3=RX | 26400 | Hoverboard ESC | Binary motor commands |
-| USART3 | PB10=TX, PB11=RX | — | Available | Was SBUS default |
-| UART4 | PA0=TX, PA1=RX | 420000 | ELRS RX (CRSF) | RC control |
-| UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional |
-| USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link |
-| USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 
 ### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header)
@@ -263,13 +230,9 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
 
 | Device | Interface | Power Draw |
 |--------|-----------|------------|
-<<<<<<< HEAD
 | CANable2 USB-CAN | USB-A | ~0.5W |
 | ESP32-S3 BALANCE | USB-C | ~0.8W (WiFi off) |
 | ESP32-S3 IO | USB-C | ~0.5W |
-=======
-| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | RealSense D435i | USB-A | ~1.5W (3.5W peak) |
 | RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
 | SIM7600A | USB | ~1W idle, 3W TX peak |
@@ -294,24 +257,15 @@ Orin Nano Super delivers up to 25W --- USB peripherals are well within budget.
                     └──────┬───────┘
                            │ UART
               ┌────────────▼────────────┐
-<<<<<<< HEAD
               │   ESP32-S3 BALANCE      │
               │  (Waveshare LCD 1.28)   │
-=======
-              │      ESP32-S3 BALANCE        │
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
               │                         │
               │  QMI8658 -> Balance PID │
               │  RC -> Mode Manager     │
               │  Safety Monitor         │
               │                         │
               └──┬──────────┬───────────┘
-<<<<<<< HEAD
     CAN 500kbps─┘          └───── CAN bus / UART fallback
-=======
-    USART2 ─────┘          └───── USB Serial (CH343) / USART6
-    26400 baud                    921600 baud
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
          │                              │
     ┌────┴────────────┐                 ▼
     │ CAN bus (500k)  │        ┌───────────────────┐

jetson/Dockerfile

@@ -2,7 +2,7 @@
 # Base: JetPack 6 (L4T R36.2.0) + CUDA 12.x / Ubuntu 22.04
 #
 # Hardware: Jetson Orin Nano Super 8GB (67 TOPS, 1024-core Ampere)
-# Previous: Jetson Orin Nano Super 4GB (JetPack 4.6 / L4T R32.6.1) — see git history
+# Previous: Jetson Nano 4GB (JetPack 4.6 / L4T R32.6.1) — see git history
 
 FROM nvcr.io/nvidia/l4t-jetpack:r36.2.0
 

jetson/README.md

@@ -1,12 +1,12 @@
-# Jetson Orin Nano Super — AI/SLAM Platform Setup
+# Jetson Nano — AI/SLAM Platform Setup
 
-Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack.
+Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
 
 ## Stack
 
 | Component | Version / Part |
 |-----------|---------------|
-| Platform | Jetson Orin Nano Super 4GB |
+| Platform | Jetson Nano 4GB |
 | JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
 | ROS2 | Humble Hawksbill |
 | DDS | CycloneDDS |
@@ -14,11 +14,7 @@ Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + S
 | Nav | Nav2 |
 | Depth camera | Intel RealSense D435i |
 | LiDAR | RPLIDAR A1M8 |
-<<<<<<< HEAD
 | MCU bridge | ESP32 (USB CDC @ 921600) |
-=======
-| MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Quick Start
 
@@ -46,11 +42,7 @@ bash scripts/build-and-run.sh shell
 ```
 jetson/
 ├── Dockerfile              # L4T base + ROS2 Humble + SLAM packages
-<<<<<<< HEAD
 ├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
-=======
-├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ├── README.md               # This file
 ├── docs/
 │   ├── pinout.md           # GPIO/I2C/UART pinout reference

jetson/config/RECOVERY_BEHAVIORS.md

@@ -34,11 +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.
 
-<<<<<<< HEAD
 Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.
-=======
-Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Behavior Tree Sequence
 

jetson/config/nav2_params.yaml

@@ -12,11 +12,7 @@
 #   /scan                    — RPLIDAR A1M8  (obstacle layer)
 #   /camera/depth/color/points — RealSense D435i (voxel layer)
 #
-<<<<<<< HEAD
 # Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
-=======
-# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 bt_navigator:
   ros__parameters:

jetson/docker-compose.yml

@@ -97,11 +97,7 @@ services:
           rgb_camera.profile:=640x480x30
       "
 
-<<<<<<< HEAD
   # ── ESP32 bridge node (bidirectional serial<->ROS2) ────────────────────────
-=======
-  # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ────────────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   esp32-bridge:
     image: saltybot/ros2-humble:jetson-orin
     build:
@@ -212,13 +208,8 @@ services:
       "
 
 
-<<<<<<< HEAD
   # -- Remote e-stop bridge (MQTT over 4G -> ESP32 CDC) ----------------------
   # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE.
-=======
-  # -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ----------------------
-  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
   remote-estop:
     image: saltybot/ros2-humble:jetson-orin

jetson/docs/pinout.md

@@ -1,9 +1,5 @@
 # Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference
-<<<<<<< HEAD
 ## Self-Balancing Robot: ESP32 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
-=======
-## Self-Balancing Robot: ESP32-S3 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Last updated: 2026-02-28
 JetPack version: 6.x (L4T R36.x / Ubuntu 22.04)
@@ -47,37 +43,21 @@ i2cdetect -l
 
 ---
 
-<<<<<<< HEAD
 ## 1. ESP32 Bridge (USB CDC — Primary)
 
 The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
-=======
-## 1. ESP32-S3 Bridge (USB Serial (CH343) — Primary)
 
-The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **USB Serial (CH343) serial**.
+### USB CDC Connection
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
-### USB Serial (CH343) Connection
 | Connection | Detail |
 |-----------|--------|
-<<<<<<< HEAD
 | Interface | USB on ESP32 BALANCE board → USB-A on Jetson |
 | Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
 | Baud rate | 921600 (configured in ESP32 BALANCE firmware) |
-=======
-| Interface | USB Micro-B on ESP32-S3 dev board → USB-A on Jetson |
-| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
-| Baud rate | 921600 (configured in ESP32-S3 firmware) |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 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)
-<<<<<<< HEAD
 | Jetson Pin | Signal | ESP32 Pin | Notes |
-=======
-| Jetson Pin | Signal | ESP32-S3 Pin | Notes |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 |-----------|--------|-----------|-------|
 | Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
 | Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
@@ -85,11 +65,7 @@ The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **
 
 **Jetson device node:** `/dev/ttyTHS0`
 **Baud rate:** 921600, 8N1
-<<<<<<< HEAD
 **Voltage level:** 3.3V — both Jetson Orin and ESP32 are 3.3V GPIO
-=======
-**Voltage level:** 3.3V — both Jetson Orin and ESP32-S3 are 3.3V GPIO
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ```bash
 # Verify UART
@@ -99,7 +75,6 @@ sudo usermod -aG dialout $USER
 picocom -b 921600 /dev/ttyTHS0
 ```
 
-<<<<<<< HEAD
 **ROS2 topics (ESP32 bridge node):**
 | ROS2 Topic | Direction | Content |
 |-----------|-----------|---------
@@ -107,15 +82,6 @@ picocom -b 921600 /dev/ttyTHS0
 | `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state |
 | `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C<spd>,<str>\n` |
 | `/saltybot/estop` | Jetson→ESP32 BALANCE | Emergency stop |
-=======
-**ROS2 topics (ESP32-S3 bridge node):**
-| ROS2 Topic | Direction | Content |
-|-----------|-----------|---------
-| `/saltybot/imu` | ESP32-S3→Jetson | IMU data (accel, gyro) at 50Hz |
-| `/saltybot/balance_state` | ESP32-S3→Jetson | Motor cmd, pitch, state |
-| `/cmd_vel` | Jetson→ESP32-S3 | Velocity commands → `C<spd>,<str>\n` |
-| `/saltybot/estop` | Jetson→ESP32-S3 | Emergency stop |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ---
 
@@ -300,11 +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) |
-<<<<<<< HEAD
 | USB-C | USB 3.1 Gen 1 (+ DP) | ESP32 CDC or host flash |
-=======
-| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | Micro-USB | Debug/flash | JetPack flash only |
 
 ---
@@ -315,17 +277,10 @@ sudo mkdir -p /mnt/nvme
 |-------------|----------|---------|----------|
 | 3 | SDA1 | 3.3V | I2C data (i2c-7) |
 | 5 | SCL1 | 3.3V | I2C clock (i2c-7) |
-<<<<<<< HEAD
 | 8 | TXD0 | 3.3V | UART TX → ESP32 BALANCE (fallback) |
 | 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) |
 | USB-A ×2 | — | 5V | D435i, RPLIDAR |
 | USB-C | — | 5V | ESP32 CDC |
-=======
-| 8 | TXD0 | 3.3V | UART TX → ESP32-S3 (fallback) |
-| 10 | RXD0 | 3.3V | UART RX ← ESP32-S3 (fallback) |
-| USB-A ×2 | — | 5V | D435i, RPLIDAR |
-| USB-C | — | 5V | ESP32-S3 CDC |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 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 |
@@ -343,11 +298,7 @@ Apply stable device names:
 KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
   SYMLINK+="rplidar", MODE="0666"
 
-<<<<<<< HEAD
 # ESP32 USB CDC (STMicroelectronics)
-=======
-# ESP32-S3 USB Serial (CH343) (STMicroelectronics)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
   SYMLINK+="esp32-bridge", MODE="0666"
 

jetson/docs/power-budget.md

@@ -56,11 +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 |
-<<<<<<< HEAD
 | ESP32 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
-=======
-| ESP32-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | Self-powered from robot 5V |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 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** | | |
 
@@ -76,7 +72,7 @@ sudo jtop
 
 ## Budget Analysis vs Previous Platform
 
-| Metric | Jetson Orin Nano Super | Jetson Orin Nano Super |
+| Metric | Jetson Nano | Jetson Orin Nano Super |
 |--------|------------|------------------------|
 | TDP | 10W | 25W |
 | CPU | 4× Cortex-A57 @ 1.43GHz | 6× A78AE @ 1.5GHz |
@@ -155,11 +151,7 @@ LiPo 4S (16.8V max)
        ├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W)
        │   (e.g., XL4016E1)
        │
-<<<<<<< HEAD
        ├─► DC-DC Buck → 5V 3A ──► ESP32 + logic 5V rail
-=======
-       ├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
        │
        └─► Hoverboard ESC ──► Hub motors (48V loop)
 ```

jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml

@@ -11,11 +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.
-<<<<<<< HEAD
 # ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
-=======
-# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 heartbeat_period: 0.2    # seconds (= 200ms)
 
 # Twist → ESC command scaling

jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml

@@ -1,9 +1,5 @@
 # cmd_vel_bridge_params.yaml
-<<<<<<< HEAD
 # Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE autonomous drive.
-=======
-# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #
 # Run with:
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py
@@ -18,11 +14,7 @@ timeout:          0.05       # serial readline timeout (s)
 reconnect_delay:  2.0        # seconds between reconnect attempts
 
 # ── Heartbeat ──────────────────────────────────────────────────────────────────
-<<<<<<< HEAD
 # ESP32 BALANCE jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
-=======
-# ESP32-S3 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # Keep heartbeat well below that threshold.
 heartbeat_period: 0.2        # seconds (200ms)
 
@@ -58,9 +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.
-<<<<<<< HEAD
 # 500ms matches the ESP32 BALANCE jetson heartbeat timeout for consistency.
-=======
-# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 cmd_vel_timeout:  0.5        # seconds

jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml

@@ -1,49 +0,0 @@
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml
-# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge)
-# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud.
-# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]
-# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
-
-# ── Serial port ────────────────────────────────────────────────────────────────
-# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md).
-# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed.
-serial_port:      /dev/esp32-io
-baud_rate:        460800
-reconnect_delay:  2.0        # seconds between reconnect attempts
-
-# ── Heartbeat ─────────────────────────────────────────────────────────────────
-# HEARTBEAT (0x20) sent every heartbeat_period.
-# ESP32 IO watchdog fires if no heartbeat for ~500 ms.
-heartbeat_period: 0.2        # 200 ms → well within 500 ms watchdog
-=======
-# esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119)
-# Binary-framed Jetson↔ESP32-S3 bridge at 921600 baud.
-
-# ── Serial port ────────────────────────────────────────────────────────────────
-# Use /dev/esp32-bridge if the udev rule is applied:
-#   SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",
-#   SYMLINK+="esp32-bridge", MODE="0660", GROUP="dialout"
-serial_port:      /dev/ttyACM0
-baud_rate:        921600
-reconnect_delay:  2.0        # seconds between USB reconnect attempts
-
-# ── Heartbeat ─────────────────────────────────────────────────────────────────
-# HEARTBEAT frame sent every heartbeat_period seconds.
-# ESP32-S3 fires watchdog and reverts to safe state if no frame received for 500ms.
-heartbeat_period: 0.2        # 200ms → well within 500ms ESP32-S3 watchdog
-
-# ── Watchdog (Jetson-side) ────────────────────────────────────────────────────
-# If no /cmd_vel message received for watchdog_timeout seconds,
-# send SPEED_STEER(0,0) to stop the robot.
-watchdog_timeout: 0.5        # 500ms
-
-# ── Twist velocity scaling ────────────────────────────────────────────────────
-# speed = clamp(linear.x  * speed_scale, -1000, 1000)  (m/s → ESC units)
-# steer = clamp(angular.z * steer_scale, -1000, 1000)  (rad/s → ESC units)
-#
-# Default: 1 m/s → 1000 ESC units, ±2 rad/s → ±1000 steer.
-# Negative steer_scale flips ROS2 CCW+ convention to match ESC steer direction.
-# Tune speed_scale to set the physical top speed.
-speed_scale:  1000.0
-steer_scale:  -500.0
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml

jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml

@@ -0,0 +1,16 @@
+# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge)
+# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud.
+# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]
+# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
+
+# ── Serial port ────────────────────────────────────────────────────────────────
+# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md).
+# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed.
+serial_port:      /dev/esp32-io
+baud_rate:        460800
+reconnect_delay:  2.0        # seconds between reconnect attempts
+
+# ── Heartbeat ─────────────────────────────────────────────────────────────────
+# HEARTBEAT (0x20) sent every heartbeat_period.
+# ESP32 IO watchdog fires if no heartbeat for ~500 ms.
+heartbeat_period: 0.2        # 200 ms → well within 500 ms watchdog

jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py

@@ -6,11 +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
-<<<<<<< HEAD
      and TX /cmd_vel → ESP32 BALANCE commands + heartbeat.
-=======
-     and TX /cmd_vel → ESP32-S3 commands + heartbeat.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   2. RX-only (telemetry monitor, no drive commands):
        ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
@@ -69,11 +65,7 @@ def generate_launch_description():
         DeclareLaunchArgument("mode",         default_value="bidirectional",
                               description="bidirectional | rx_only"),
         DeclareLaunchArgument("serial_port",  default_value="/dev/ttyACM0",
-<<<<<<< HEAD
                               description="ESP32 USB CDC device node"),
-=======
-                              description="ESP32-S3 USB CDC device node"),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         DeclareLaunchArgument("baud_rate",    default_value="921600"),
         DeclareLaunchArgument("speed_scale",  default_value="1000.0",
                               description="m/s → ESC units (linear.x scale)"),

jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py

@@ -1,18 +1,10 @@
 """
-<<<<<<< HEAD
 cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE autonomous drive bridge.
-=======
-cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32-S3 autonomous drive bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 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)
-<<<<<<< HEAD
   - Mode gate (drives only when ESP32 BALANCE is in AUTONOMOUS mode, md=2)
-=======
-  - Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
   - /saltybot/cmd publisher (observability)
 
@@ -80,20 +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",
-<<<<<<< HEAD
             description="ESP32 USB CDC device node"),
-=======
-            description="ESP32-S3 USB CDC device node"),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         DeclareLaunchArgument(
             "baud_rate",       default_value="921600"),
         DeclareLaunchArgument(
             "heartbeat_period",default_value="0.2",
-<<<<<<< HEAD
             description="Heartbeat interval (s); must be < ESP32 BALANCE HB timeout (0.5s)"),
-=======
-            description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         DeclareLaunchArgument(
             "max_linear_vel",  default_value="0.5",
             description="Hard speed cap before scaling (m/s)"),

jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py

@@ -1,4 +1,3 @@
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py
 """stm32_cmd.launch.py — Launch the ESP32-S3 IO auxiliary bridge node.
 
 Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud (inter-board protocol).
@@ -10,19 +9,6 @@ Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
 Usage:
   ros2 launch saltybot_bridge stm32_cmd.launch.py
   ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM0
-=======
-"""esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119).
-
-Usage:
-  # Default (binary protocol, bidirectional):
-  ros2 launch saltybot_bridge esp32_cmd.launch.py
-
-  # Override serial port:
-  ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1
-
-  # Custom velocity scales:
-  ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
 """
 
 import os
@@ -35,7 +21,7 @@ from launch_ros.actions import Node
 
 def generate_launch_description() -> LaunchDescription:
     pkg = get_package_share_directory("saltybot_bridge")
-    params_file = os.path.join(pkg, "config", "esp32_cmd_params.yaml")
+    params_file = os.path.join(pkg, "config", "stm32_cmd_params.yaml")
 
     return LaunchDescription([
         DeclareLaunchArgument("serial_port",     default_value="/dev/esp32-io"),
@@ -44,8 +30,8 @@ def generate_launch_description() -> LaunchDescription:
 
         Node(
             package="saltybot_bridge",
-            executable="esp32_cmd_node",
+            executable="stm32_cmd_node",
-            name="esp32_cmd_node",
+            name="stm32_cmd_node",
             output="screen",
             emulate_tty=True,
             parameters=[

jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py

@@ -2,11 +2,7 @@
 uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
 
 Launches serial_bridge_node configured for Jetson Orin UART port.
-<<<<<<< HEAD
 Bridges Flight Controller (ESP32) telemetry from /dev/ttyTHS1 into ROS2.
-=======
-Bridges Flight Controller (ESP32-S3) telemetry from /dev/ttyTHS1 into ROS2.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Published topics (same as USB CDC bridge):
   /saltybot/imu              sensor_msgs/Imu         — pitch/roll/yaw as angular velocity
@@ -24,11 +20,7 @@ Usage:
 
 Prerequisites:
   - Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
-<<<<<<< HEAD
   - ESP32 BALANCE firmware transmitting JSON telemetry frames (50 Hz)
-=======
-  - ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   - ROS2 environment sourced (source install/setup.bash)
 
 Note:

jetson/ros2_ws/src/saltybot_bridge/package.xml

@@ -4,9 +4,9 @@
   <name>saltybot_bridge</name>
   <version>0.1.0</version>
   <description>
-    ESP32-S3 USB CDC serial bridge for saltybot.
+    STM32F722 USB CDC serial bridge for saltybot.
     serial_bridge_node: JSON telemetry RX → sensor_msgs/Imu + diagnostics.
-    esp32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX,
+    stm32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX,
       commands: HEARTBEAT, SPEED_STEER, ARM, SET_MODE, PID_UPDATE;
       telemetry: IMU, BATTERY, MOTOR_RPM, ARM_STATE, ERROR; watchdog 500ms.
     battery_node (Issue #125): SoC tracking, threshold alerts, SQLite history.

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py

@@ -1,6 +1,6 @@
 """battery_node.py — Battery management for saltybot (Issue #125).
 
-Subscribes to /saltybot/telemetry/battery (JSON from esp32_cmd_node) and:
+Subscribes to /saltybot/telemetry/battery (JSON from stm32_cmd_node) and:
   - Publishes sensor_msgs/BatteryState on /saltybot/battery
   - Publishes JSON alerts on /saltybot/battery/alert at threshold crossings
   - Reduces speed limit at low SoC via /saltybot/speed_limit (std_msgs/Float32)
@@ -14,11 +14,7 @@ Alert levels (SoC thresholds):
    5%  EMERGENCY — publish zero /cmd_vel, disarm, log + alert
 
 SoC source priority:
-<<<<<<< HEAD
   1. soc_pct field from ESP32 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE)
-=======
-  1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known
 
 Parameters (config/battery_params.yaml):
@@ -324,11 +320,7 @@ class BatteryNode(Node):
         self._speed_limit_pub.publish(msg)
 
     def _execute_safe_stop(self) -> None:
-<<<<<<< HEAD
         """Send zero /cmd_vel and disarm the ESP32 BALANCE."""
-=======
-        """Send zero /cmd_vel and disarm the ESP32-S3."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
         # Publish zero velocity
         zero_twist = Twist()

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py

@@ -1,9 +1,5 @@
 """
-<<<<<<< HEAD
 cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE drive command bridge.
-=======
-cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 drive command bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Extends the basic saltybot_cmd_node with four additions required for safe
 autonomous operation on a self-balancing robot:
@@ -16,11 +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).
-<<<<<<< HEAD
   4. Mode gate         — only issue non-zero drive commands when ESP32 BALANCE reports
-=======
-  4. Mode gate         — only issue non-zero drive commands when ESP32-S3 reports
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
                          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
@@ -28,15 +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.
-<<<<<<< HEAD
   H\\n             — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence.
 
 Telemetry (50 Hz from ESP32 BALANCE):
-=======
-  H\\n             — heartbeat. ESP32-S3 reverts steer to 0 after 500ms silence.
-
-Telemetry (50 Hz from ESP32-S3):
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   Same RX/publish pipeline as saltybot_cmd_node.
   The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate.
 
@@ -164,11 +150,7 @@ class CmdVelBridgeNode(Node):
         self._open_serial()
 
         # ── Timers ────────────────────────────────────────────────────────────
-<<<<<<< HEAD
         # Telemetry read at 100 Hz (ESP32 BALANCE sends at 50 Hz)
-=======
-        # Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         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)
@@ -256,11 +238,7 @@ class CmdVelBridgeNode(Node):
             speed = self._current_speed
             steer = self._current_steer
 
-<<<<<<< HEAD
         # Send to ESP32 BALANCE
-=======
-        # Send to ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         frame = f"C{speed},{steer}\n".encode("ascii")
         if not self._write(frame):
             self.get_logger().warn(
@@ -278,11 +256,7 @@ class CmdVelBridgeNode(Node):
     # ── Heartbeat TX ──────────────────────────────────────────────────────────
 
     def _heartbeat_cb(self):
-<<<<<<< HEAD
         """H\\n keeps ESP32 BALANCE jetson_cmd heartbeat alive regardless of mode."""
-=======
-        """H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._write(b"H\n")
 
     # ── Telemetry RX ──────────────────────────────────────────────────────────
@@ -404,11 +378,7 @@ class CmdVelBridgeNode(Node):
         diag.header.stamp = stamp
         status = DiagnosticStatus()
         status.name        = "saltybot/balance_controller"
-<<<<<<< HEAD
         status.hardware_id = "esp32"
-=======
-        status.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         status.message     = f"{state_label} [{mode_label}]"
         status.level = (
             DiagnosticStatus.OK    if state == 1 else
@@ -436,19 +406,11 @@ class CmdVelBridgeNode(Node):
         status = DiagnosticStatus()
         status.level       = DiagnosticStatus.ERROR
         status.name        = "saltybot/balance_controller"
-<<<<<<< HEAD
         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"ESP32 BALANCE IMU fault: errno={errno}")
-=======
-        status.hardware_id = "esp32s322"
-        status.message     = f"IMU fault errno={errno}"
-        diag.status.append(status)
-        self._diag_pub.publish(diag)
-        self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     # ── Lifecycle ─────────────────────────────────────────────────────────────
 

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py

@@ -1,332 +0,0 @@
-"""esp32_protocol.py — Binary frame codec for Jetson↔ESP32-S3 communication.
-
-Issue #119: defines the binary serial protocol between the Jetson Orin Nano Super and the
-ESP32-S3 ESP32-S3 BALANCE over USB CDC @ 921600 baud.
-
-Frame layout (all multi-byte fields are big-endian):
-  ┌──────┬──────┬──────┬──────────────────┬───────────┬──────┐
-  │  STX │ TYPE │  LEN │     PAYLOAD      │  CRC16    │  ETX │
-  │ 0x02 │  1B  │  1B  │    LEN bytes     │   2B BE   │ 0x03 │
-  └──────┴──────┴──────┴──────────────────┴───────────┴──────┘
-
-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 → ESP32-S3):
-  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 (ESP32-S3 → 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)
-  0x13  ARM_STATE   — uint8 state + uint8 error_flags       (len=2)
-  0x14  ERROR       — uint8 error_code + uint8 subcode      (len=2)
-
-Usage:
-  # Encoding (Jetson → ESP32-S3)
-  frame = encode_speed_steer(300, -150)
-  ser.write(frame)
-
-  # Decoding (ESP32-S3 → Jetson), one byte at a time
-  parser = FrameParser()
-  for byte in incoming_bytes:
-      result = parser.feed(byte)
-      if result is not None:
-          handle_frame(result)
-"""
-
-from __future__ import annotations
-
-import struct
-from dataclasses import dataclass
-from enum import IntEnum
-from typing import Optional
-
-# ── Frame constants ───────────────────────────────────────────────────────────
-
-STX = 0x02
-ETX = 0x03
-MAX_PAYLOAD_LEN = 64       # hard limit; any frame larger is corrupt
-
-
-# ── Command / telemetry type codes ────────────────────────────────────────────
-
-class CmdType(IntEnum):
-    HEARTBEAT   = 0x01
-    SPEED_STEER = 0x02
-    ARM         = 0x03
-    SET_MODE    = 0x04
-    PID_UPDATE  = 0x05
-
-
-class TelType(IntEnum):
-    IMU       = 0x10
-    BATTERY   = 0x11
-    MOTOR_RPM = 0x12
-    ARM_STATE = 0x13
-    ERROR     = 0x14
-
-
-# ── Parsed telemetry objects ──────────────────────────────────────────────────
-
-@dataclass
-class ImuFrame:
-    pitch_deg: float      # degrees (positive = forward tilt)
-    roll_deg:  float
-    yaw_deg:   float
-    accel_x:   float      # m/s²
-    accel_y:   float
-    accel_z:   float
-
-
-@dataclass
-class BatteryFrame:
-    voltage_mv:  int      # millivolts (e.g. 11100 = 11.1 V)
-    current_ma:  int      # milliamps (negative = charging)
-    soc_pct:     int      # state of charge 0–100 (from ESP32-S3 fuel gauge or lookup)
-
-
-@dataclass
-class MotorRpmFrame:
-    left_rpm:   int
-    right_rpm:  int
-
-
-@dataclass
-class ArmStateFrame:
-    state:       int      # 0=DISARMED 1=ARMED 2=TILT_FAULT
-    error_flags: int      # bitmask
-
-
-@dataclass
-class ErrorFrame:
-    error_code: int
-    subcode:    int
-
-
-# Union type for decoded results
-TelemetryFrame = ImuFrame | BatteryFrame | MotorRpmFrame | ArmStateFrame | ErrorFrame
-
-
-# ── CRC16 CCITT ───────────────────────────────────────────────────────────────
-
-def _crc16_ccitt(data: bytes, init: int = 0xFFFF) -> int:
-    """CRC16-CCITT: polynomial 0x1021, init 0xFFFF, no final XOR."""
-    crc = init
-    for byte in data:
-        crc ^= byte << 8
-        for _ in range(8):
-            if crc & 0x8000:
-                crc = (crc << 1) ^ 0x1021
-            else:
-                crc <<= 1
-        crc &= 0xFFFF
-    return crc
-
-
-# ── Frame encoder ─────────────────────────────────────────────────────────────
-
-def _build_frame(cmd_type: int, payload: bytes) -> bytes:
-    """Assemble a complete binary frame with CRC16."""
-    assert len(payload) <= MAX_PAYLOAD_LEN, "Payload too large"
-    length = len(payload)
-    header = bytes([cmd_type, length])
-    crc = _crc16_ccitt(header + payload)
-    return bytes([STX, cmd_type, length]) + payload + struct.pack(">H", crc) + bytes([ETX])
-
-
-def encode_heartbeat() -> bytes:
-    """HEARTBEAT frame — no payload."""
-    return _build_frame(CmdType.HEARTBEAT, b"")
-
-
-def encode_speed_steer(speed: int, steer: int) -> bytes:
-    """SPEED_STEER frame — int16 speed + int16 steer, both in -1000..+1000."""
-    speed = max(-1000, min(1000, int(speed)))
-    steer = max(-1000, min(1000, int(steer)))
-    return _build_frame(CmdType.SPEED_STEER, struct.pack(">hh", speed, steer))
-
-
-def encode_arm(arm: bool) -> bytes:
-    """ARM frame — 0=disarm, 1=arm."""
-    return _build_frame(CmdType.ARM, struct.pack("B", 1 if arm else 0))
-
-
-def encode_set_mode(mode: int) -> bytes:
-    """SET_MODE frame — mode byte."""
-    return _build_frame(CmdType.SET_MODE, struct.pack("B", mode & 0xFF))
-
-
-def encode_pid_update(kp: float, ki: float, kd: float) -> bytes:
-    """PID_UPDATE frame — three float32 values."""
-    return _build_frame(CmdType.PID_UPDATE, struct.pack(">fff", kp, ki, kd))
-
-
-# ── Frame decoder (state-machine parser) ─────────────────────────────────────
-
-class ParserState(IntEnum):
-    WAIT_STX  = 0
-    WAIT_TYPE = 1
-    WAIT_LEN  = 2
-    PAYLOAD   = 3
-    CRC_HI    = 4
-    CRC_LO    = 5
-    WAIT_ETX  = 6
-
-
-class ParseError(Exception):
-    pass
-
-
-class FrameParser:
-    """Byte-by-byte streaming parser for ESP32-S3 telemetry frames.
-
-    Feed individual bytes via feed(); returns a decoded TelemetryFrame (or raw
-    bytes tuple) when a complete valid frame is received.
-
-    Thread-safety: single-threaded — wrap in a lock if shared across threads.
-
-    Usage::
-        parser = FrameParser()
-        for b in incoming:
-            result = parser.feed(b)
-            if result is not None:
-                process(result)
-    """
-
-    def __init__(self) -> None:
-        self._state    = ParserState.WAIT_STX
-        self._type     = 0
-        self._length   = 0
-        self._payload  = bytearray()
-        self._crc_rcvd = 0
-        self.frames_ok    = 0
-        self.frames_error = 0
-
-    def reset(self) -> None:
-        """Reset parser to initial state (call after error or port reconnect)."""
-        self._state   = ParserState.WAIT_STX
-        self._payload = bytearray()
-
-    def feed(self, byte: int) -> Optional[TelemetryFrame | tuple]:
-        """Process one byte. Returns decoded frame on success, None otherwise.
-
-        On CRC error, increments frames_error and resets. The return value on
-        success is a dataclass (ImuFrame, BatteryFrame, etc.) or a
-        (type_code, raw_payload) tuple for unknown type codes.
-        """
-        s = self._state
-
-        if s == ParserState.WAIT_STX:
-            if byte == STX:
-                self._state = ParserState.WAIT_TYPE
-            return None
-
-        if s == ParserState.WAIT_TYPE:
-            self._type  = byte
-            self._state = ParserState.WAIT_LEN
-            return None
-
-        if s == ParserState.WAIT_LEN:
-            self._length  = byte
-            self._payload = bytearray()
-            if self._length > MAX_PAYLOAD_LEN:
-                # Corrupt frame — too big; reset
-                self.frames_error += 1
-                self.reset()
-                return None
-            if self._length == 0:
-                self._state = ParserState.CRC_HI
-            else:
-                self._state = ParserState.PAYLOAD
-            return None
-
-        if s == ParserState.PAYLOAD:
-            self._payload.append(byte)
-            if len(self._payload) == self._length:
-                self._state = ParserState.CRC_HI
-            return None
-
-        if s == ParserState.CRC_HI:
-            self._crc_rcvd = byte << 8
-            self._state    = ParserState.CRC_LO
-            return None
-
-        if s == ParserState.CRC_LO:
-            self._crc_rcvd |= byte
-            self._state     = ParserState.WAIT_ETX
-            return None
-
-        if s == ParserState.WAIT_ETX:
-            self.reset()   # always reset so we look for next STX
-            if byte != ETX:
-                self.frames_error += 1
-                return None
-
-            # Verify CRC
-            crc_data = bytes([self._type, self._length]) + self._payload
-            expected = _crc16_ccitt(crc_data)
-            if expected != self._crc_rcvd:
-                self.frames_error += 1
-                return None
-
-            # Decode
-            self.frames_ok += 1
-            return _decode_telemetry(self._type, bytes(self._payload))
-
-        # Should never reach here
-        self.reset()
-        return None
-
-
-# ── Telemetry decoder ─────────────────────────────────────────────────────────
-
-def _decode_telemetry(type_code: int, payload: bytes) -> Optional[TelemetryFrame | tuple]:
-    """Decode a validated telemetry payload into a typed dataclass."""
-    try:
-        if type_code == TelType.IMU:
-            if len(payload) < 12:
-                return None
-            p, r, y, ax, ay, az = struct.unpack_from(">hhhhhh", payload)
-            return ImuFrame(
-                pitch_deg=p  / 100.0,
-                roll_deg=r   / 100.0,
-                yaw_deg=y    / 100.0,
-                accel_x=ax   / 100.0,
-                accel_y=ay   / 100.0,
-                accel_z=az   / 100.0,
-            )
-
-        if type_code == TelType.BATTERY:
-            if len(payload) < 5:
-                return None
-            v_mv, i_ma, soc = struct.unpack_from(">HhB", payload)
-            return BatteryFrame(voltage_mv=v_mv, current_ma=i_ma, soc_pct=soc)
-
-        if type_code == TelType.MOTOR_RPM:
-            if len(payload) < 4:
-                return None
-            left, right = struct.unpack_from(">hh", payload)
-            return MotorRpmFrame(left_rpm=left, right_rpm=right)
-
-        if type_code == TelType.ARM_STATE:
-            if len(payload) < 2:
-                return None
-            state, flags = struct.unpack_from("BB", payload)
-            return ArmStateFrame(state=state, error_flags=flags)
-
-        if type_code == TelType.ERROR:
-            if len(payload) < 2:
-                return None
-            code, sub = struct.unpack_from("BB", payload)
-            return ErrorFrame(error_code=code, subcode=sub)
-
-    except struct.error:
-        return None
-
-    # Unknown telemetry type — return raw
-    return (type_code, payload)

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py

@@ -1,15 +1,8 @@
 """
-<<<<<<< HEAD
 remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 USB CDC
 
 {"kill": true}  -> writes 'E\n' to ESP32 BALANCE (ESTOP_REMOTE, immediate motor cutoff)
 {"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm)
-=======
-remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32-S3 USB CDC
-
-{"kill": true}  -> writes 'E\n' to ESP32-S3 (ESTOP_REMOTE, immediate motor cutoff)
-{"kill": false} -> writes 'Z\n' to ESP32-S3 (clear latch, robot can re-arm)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in
 AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT).

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py

@@ -322,11 +322,7 @@ class SaltybotCanNode(Node):
         diag.header.stamp = stamp
         st = DiagnosticStatus()
         st.name        = "saltybot/balance_controller"
-<<<<<<< HEAD
         st.hardware_id = "esp32"
-=======
-        st.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         st.message     = state_label
         st.level       = (DiagnosticStatus.OK    if state == 1 else
                           DiagnosticStatus.WARN   if state == 0 else

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py

@@ -1,14 +1,9 @@
 """
-<<<<<<< HEAD
 saltybot_cmd_node — full bidirectional ESP32 BALANCE↔Jetson bridge
-=======
-saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridge
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Combines telemetry RX (from serial_bridge_node) with drive command TX.
 
 Owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node.
 
-<<<<<<< HEAD
 RX path (50Hz from ESP32 BALANCE):
   JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
 
@@ -20,19 +15,6 @@ Protocol:
   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 ESP32 BALANCE heartbeat timer.
-=======
-RX path (50Hz from ESP32-S3):
-  JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
-
-TX path:
-  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → ESP32-S3
-  Heartbeat timer (200ms)        → H\\n                 → ESP32-S3
-
-Protocol:
-  H\\n              — heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms.
-  C<spd>,<str>\\n   — drive command. speed/steer: -1000..+1000 integers.
-                      C command also refreshes ESP32-S3 heartbeat timer.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Twist mapping (configurable via ROS2 params):
   speed = clamp(linear.x  * speed_scale, -1000, 1000)
@@ -118,11 +100,7 @@ class SaltybotCmdNode(Node):
         self._open_serial()
 
         # ── Timers ────────────────────────────────────────────────────────────
-<<<<<<< HEAD
         # Telemetry read at 100Hz (ESP32 BALANCE sends at 50Hz)
-=======
-        # Telemetry read at 100Hz (ESP32-S3 sends at 50Hz)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         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)
@@ -288,11 +266,7 @@ class SaltybotCmdNode(Node):
         diag.header.stamp = stamp
         status = DiagnosticStatus()
         status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
         status.hardware_id = "esp32"
-=======
-        status.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         status.message = state_label
         if state == 1:
             status.level = DiagnosticStatus.OK
@@ -320,19 +294,11 @@ class SaltybotCmdNode(Node):
         status = DiagnosticStatus()
         status.level = DiagnosticStatus.ERROR
         status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
         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"ESP32 BALANCE IMU fault: errno={errno}")
-=======
-        status.hardware_id = "esp32s322"
-        status.message = f"IMU fault errno={errno}"
-        diag.status.append(status)
-        self._diag_pub.publish(diag)
-        self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     # ── TX — command send ─────────────────────────────────────────────────────
 
@@ -350,11 +316,7 @@ class SaltybotCmdNode(Node):
             )
 
     def _heartbeat_cb(self):
-<<<<<<< HEAD
         """Send H\\n heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms."""
-=======
-        """Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._write(b"H\n")
 
     # ── Lifecycle ─────────────────────────────────────────────────────────────

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py

@@ -1,10 +1,6 @@
 """
 saltybot_bridge — serial_bridge_node
-<<<<<<< HEAD
 ESP32 USB CDC → ROS2 topic publisher
-=======
-ESP32-S3 USB CDC → ROS2 topic publisher
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Telemetry frame (50 Hz, newline-delimited JSON):
   {"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
@@ -33,11 +29,7 @@ from sensor_msgs.msg import Imu
 from std_msgs.msg import String
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 
-<<<<<<< HEAD
 # Balance state labels matching ESP32 BALANCE balance_state_t enum
-=======
-# Balance state labels matching ESP32-S3 balance_state_t enum
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 _STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
 
 # Sensor frame_id published in Imu header
@@ -91,11 +83,7 @@ class SerialBridgeNode(Node):
 
         # ── Open serial and start read timer ──────────────────────────────────
         self._open_serial()
-<<<<<<< HEAD
         # Poll at 100 Hz — ESP32 BALANCE sends at 50 Hz, so we never miss a frame
-=======
-        # Poll at 100 Hz — ESP32-S3 sends at 50 Hz, so we never miss a frame
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._timer = self.create_timer(0.01, self._read_cb)
 
         self.get_logger().info(
@@ -129,11 +117,7 @@ class SerialBridgeNode(Node):
 
     def write_serial(self, data: bytes) -> bool:
         """
-<<<<<<< HEAD
         Send raw bytes to ESP32 BALANCE over the open serial port.
-=======
-        Send raw bytes to ESP32-S3 over the open serial port.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         Returns False if port is not open (caller should handle gracefully).
         Note: for bidirectional use prefer saltybot_cmd_node which owns TX natively.
         """
@@ -222,11 +206,7 @@ class SerialBridgeNode(Node):
         """
         Publish sensor_msgs/Imu.
 
-<<<<<<< HEAD
         The ESP32 BALANCE IMU gives Euler angles (pitch/roll from accelerometer+gyro
-=======
-        The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         fusion, yaw from gyro integration). We publish them as angular_velocity
         for immediate use by slam_toolbox / robot_localization.
 
@@ -284,11 +264,7 @@ class SerialBridgeNode(Node):
         diag.header.stamp = stamp
         status = DiagnosticStatus()
         status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
         status.hardware_id = "esp32"
-=======
-        status.hardware_id = "esp32s322"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         status.message = state_label
 
         if state == 1:   # ARMED
@@ -317,19 +293,11 @@ class SerialBridgeNode(Node):
         status = DiagnosticStatus()
         status.level = DiagnosticStatus.ERROR
         status.name = "saltybot/balance_controller"
-<<<<<<< HEAD
         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"ESP32 BALANCE reported IMU fault: errno={errno}")
-=======
-        status.hardware_id = "esp32s322"
-        status.message = f"IMU fault errno={errno}"
-        diag.status.append(status)
-        self._diag_pub.publish(diag)
-        self.get_logger().error(f"ESP32-S3 reported IMU fault: errno={errno}")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     def destroy_node(self):
         self._close_serial()

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py

@@ -1,61 +1,27 @@
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 """stm32_cmd_node.py — Orin ↔ ESP32-S3 IO auxiliary bridge node.
-=======
-"""esp32_cmd_node.py — Full bidirectional binary-framed ESP32-S3↔Jetson bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
 Connects to the ESP32-S3 IO board via USB-CDC (/dev/esp32-io) using the
 inter-board binary protocol (docs/SAUL-TEE-SYSTEM-REFERENCE.md §5).
 
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 This node is NOT the primary drive path (that is CAN via can_bridge_node).
 It handles auxiliary I/O: RC monitoring, sensor data, LED/output control.
-=======
-TX commands (Jetson → ESP32-S3):
-  SPEED_STEER  — 50 Hz from /cmd_vel subscription
-  HEARTBEAT    — 200 ms timer (ESP32-S3 watchdog fires at 500 ms)
-  ARM          — via /saltybot/arm service
-  SET_MODE     — via /saltybot/set_mode service
-  PID_UPDATE   — via /saltybot/pid_update topic
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
 Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]  @ 460800 baud
 
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 RX from ESP32 IO:
   RC_CHANNELS (0x01) → /saltybot/rc_channels  (std_msgs/String JSON)
   SENSORS     (0x02) → /saltybot/sensors       (std_msgs/String JSON)
-=======
-RX telemetry (ESP32-S3 → Jetson):
-  IMU          → /saltybot/imu           (sensor_msgs/Imu)
-  BATTERY      → /saltybot/telemetry/battery (std_msgs/String JSON)
-  MOTOR_RPM    → /saltybot/telemetry/motor_rpm (std_msgs/String JSON)
-  ARM_STATE    → /saltybot/arm_state     (std_msgs/String JSON)
-  ERROR        → /saltybot/error         (std_msgs/String JSON)
-  All frames   → /diagnostics            (diagnostic_msgs/DiagnosticArray)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
 TX to ESP32 IO:
   LED_CMD     (0x10) ← /saltybot/leds          (std_msgs/String JSON)
   OUTPUT_CMD  (0x11) ← /saltybot/outputs       (std_msgs/String JSON)
   HEARTBEAT   (0x20)  — sent every heartbeat_period (keep IO watchdog alive)
 
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 Parameters (config/stm32_cmd_params.yaml):
   serial_port       /dev/esp32-io
   baud_rate         460800
   reconnect_delay   2.0
   heartbeat_period  0.2   (ESP32 IO watchdog fires at ~500 ms)
-=======
-Parameters (config/esp32_cmd_params.yaml):
-  serial_port       /dev/ttyACM0
-  baud_rate         921600
-  reconnect_delay   2.0   (seconds)
-  heartbeat_period  0.2   (seconds)
-  watchdog_timeout  0.5   (seconds — no /cmd_vel → send zero-speed)
-  speed_scale       1000.0 (linear.x m/s → ESC units)
-  steer_scale      -500.0  (angular.z rad/s → ESC units, neg to flip convention)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 """
 
 from __future__ import annotations
@@ -73,12 +39,8 @@ import serial
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from std_msgs.msg import String
 
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 from .stm32_protocol import (
     BAUD_RATE,
-=======
-from .esp32_protocol import (
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
     FrameParser,
     RcChannels,
     SensorData,
@@ -89,14 +51,10 @@ from .esp32_protocol import (
 
 
 class Stm32CmdNode(Node):
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
     """Orin ↔ ESP32-S3 IO auxiliary bridge node."""
-=======
-    """Binary-framed Jetson↔ESP32-S3 bridge node."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
     def __init__(self) -> None:
-        super().__init__("esp32_cmd_node")
+        super().__init__("stm32_cmd_node")
 
         # ── Parameters ────────────────────────────────────────────────────
         self.declare_parameter("serial_port",      "/dev/esp32-io")
@@ -138,12 +96,7 @@ class Stm32CmdNode(Node):
         self._diag_timer = self.create_timer(1.0,             self._publish_diagnostics)
 
         self.get_logger().info(
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
             f"stm32_cmd_node started — {self._port_name} @ {self._baud} baud"
-=======
-            f"esp32_cmd_node started — {port} @ {baud} baud | "
-            f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms"
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
         )
 
     # ── Serial management ─────────────────────────────────────────────────
@@ -245,120 +198,7 @@ class Stm32CmdNode(Node):
             type_code, _ = msg
             self.get_logger().debug(f"Unknown inter-board type 0x{type_code:02X}")
 
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
     # ── TX ────────────────────────────────────────────────────────────────
-=======
-        elif isinstance(frame, ArmStateFrame):
-            self._publish_arm_state(frame, now)
-
-        elif isinstance(frame, ErrorFrame):
-            self._publish_error(frame, now)
-
-        elif isinstance(frame, tuple):
-            type_code, payload = frame
-            self.get_logger().debug(
-                f"Unknown telemetry type 0x{type_code:02X} len={len(payload)}"
-            )
-
-    # ── Telemetry publishers ──────────────────────────────────────────────────
-
-    def _publish_imu(self, frame: ImuFrame, stamp) -> None:
-        msg = Imu()
-        msg.header.stamp    = stamp
-        msg.header.frame_id = IMU_FRAME_ID
-
-        # orientation: unknown — signal with -1 in first covariance
-        msg.orientation_covariance[0] = -1.0
-
-        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 ESP32-S3 BMI088
-        msg.angular_velocity_covariance[0] = cov
-        msg.angular_velocity_covariance[4] = cov
-        msg.angular_velocity_covariance[8] = cov
-
-        msg.linear_acceleration.x = frame.accel_x
-        msg.linear_acceleration.y = frame.accel_y
-        msg.linear_acceleration.z = frame.accel_z
-        acov = 0.05 ** 2    # ±0.05 m/s² noise
-        msg.linear_acceleration_covariance[0] = acov
-        msg.linear_acceleration_covariance[4] = acov
-        msg.linear_acceleration_covariance[8] = acov
-
-        self._imu_pub.publish(msg)
-
-    def _publish_battery(self, frame: BatteryFrame, stamp) -> None:
-        payload = {
-            "voltage_v":  round(frame.voltage_mv / 1000.0, 3),
-            "voltage_mv": frame.voltage_mv,
-            "current_ma": frame.current_ma,
-            "soc_pct":    frame.soc_pct,
-            "charging":   frame.current_ma < -100,
-            "ts":         f"{stamp.sec}.{stamp.nanosec:09d}",
-        }
-        self._last_battery_mv = frame.voltage_mv
-        msg = String()
-        msg.data = json.dumps(payload)
-        self._battery_pub.publish(msg)
-
-    def _publish_motor_rpm(self, frame: MotorRpmFrame, stamp) -> None:
-        payload = {
-            "left_rpm":  frame.left_rpm,
-            "right_rpm": frame.right_rpm,
-            "ts":        f"{stamp.sec}.{stamp.nanosec:09d}",
-        }
-        msg = String()
-        msg.data = json.dumps(payload)
-        self._rpm_pub.publish(msg)
-
-    def _publish_arm_state(self, frame: ArmStateFrame, stamp) -> None:
-        label = _ARM_LABEL.get(frame.state, f"UNKNOWN({frame.state})")
-        if frame.state != self._last_arm_state:
-            self.get_logger().info(f"Arm state → {label} (flags=0x{frame.error_flags:02X})")
-            self._last_arm_state = frame.state
-
-        payload = {
-            "state":       frame.state,
-            "state_label": label,
-            "error_flags": frame.error_flags,
-            "ts":          f"{stamp.sec}.{stamp.nanosec:09d}",
-        }
-        msg = String()
-        msg.data = json.dumps(payload)
-        self._arm_pub.publish(msg)
-
-    def _publish_error(self, frame: ErrorFrame, stamp) -> None:
-        self.get_logger().error(
-            f"ESP32-S3 error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
-        )
-        payload = {
-            "error_code": frame.error_code,
-            "subcode":    frame.subcode,
-            "ts":         f"{stamp.sec}.{stamp.nanosec:09d}",
-        }
-        msg = String()
-        msg.data = json.dumps(payload)
-        self._error_pub.publish(msg)
-
-    # ── TX — command send ─────────────────────────────────────────────────────
-
-    def _on_cmd_vel(self, msg: Twist) -> None:
-        """Convert /cmd_vel Twist to SPEED_STEER frame at up to 50 Hz."""
-        speed = int(_clamp(msg.linear.x  * self._speed_scale, -1000.0, 1000.0))
-        steer = int(_clamp(msg.angular.z * self._steer_scale, -1000.0, 1000.0))
-        self._last_speed    = speed
-        self._last_steer    = steer
-        self._last_cmd_t    = time.monotonic()
-        self._watchdog_sent = False
-
-        frame = encode_speed_steer(speed, steer)
-        if not self._write(frame):
-            self.get_logger().warn(
-                "SPEED_STEER dropped — serial not open",
-                throttle_duration_sec=2.0,
-            )
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
     def _heartbeat_cb(self) -> None:
         self._write(encode_heartbeat())
@@ -399,14 +239,8 @@ class Stm32CmdNode(Node):
         diag = DiagnosticArray()
         diag.header.stamp = self.get_clock().now().to_msg()
         status = DiagnosticStatus()
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
         status.name        = "saltybot/esp32_io_bridge"
         status.hardware_id = "esp32-s3-io"
-=======
-        status.name        = "saltybot/esp32_cmd_node"
-        status.hardware_id = "esp32s322"
-
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
         port_ok = self._ser is not None and self._ser.is_open
         status.level   = DiagnosticStatus.OK if port_ok else DiagnosticStatus.ERROR
         status.message = "Serial OK" if port_ok else f"Disconnected: {self._port_name}"

jetson/ros2_ws/src/saltybot_bridge/setup.py

@@ -13,7 +13,7 @@ setup(
             "launch/bridge.launch.py",
             "launch/cmd_vel_bridge.launch.py",
             "launch/remote_estop.launch.py",
-            "launch/esp32_cmd.launch.py",
+            "launch/stm32_cmd.launch.py",
             "launch/battery.launch.py",
             "launch/uart_bridge.launch.py",
         ]),
@@ -21,7 +21,7 @@ setup(
             "config/bridge_params.yaml",
             "config/cmd_vel_bridge_params.yaml",
             "config/estop_params.yaml",
-            "config/esp32_cmd_params.yaml",
+            "config/stm32_cmd_params.yaml",
             "config/battery_params.yaml",
         ]),
     ],
@@ -29,11 +29,7 @@ setup(
     zip_safe=True,
     maintainer="sl-jetson",
     maintainer_email="sl-jetson@saltylab.local",
-<<<<<<< HEAD
     description="ESP32 USB CDC → ROS2 serial bridge for saltybot",
-=======
-    description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     license="MIT",
     tests_require=["pytest"],
     entry_points={
@@ -45,13 +41,8 @@ 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",
-<<<<<<< HEAD
             # Binary-framed ESP32 BALANCE command node (Issue #119)
             "stm32_cmd_node    = saltybot_bridge.stm32_cmd_node:main",
-=======
-            # Binary-framed ESP32-S3 command node (Issue #119)
-            "esp32_cmd_node    = saltybot_bridge.esp32_cmd_node:main",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
             # Battery management node (Issue #125)
             "battery_node      = saltybot_bridge.battery_node:main",
             # Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)

jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py

@@ -1,9 +1,5 @@
 """
-<<<<<<< HEAD
 Unit tests for Jetson→ESP32 BALANCE command serialization logic.
-=======
-Unit tests for Jetson→ESP32-S3 command serialization logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Tests Twist→speed/steer conversion and frame formatting.
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
 """

jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py

@@ -1,9 +1,5 @@
 """
-<<<<<<< HEAD
 Unit tests for ESP32 BALANCE telemetry parsing logic.
-=======
-Unit tests for ESP32-S3 telemetry parsing logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
 """