fix: scrub remaining Mamba references in can_bridge and e2e test protocol files

- balance_protocol.py: Mamba→Orin / Mamba→VESC comments → ESP32-S3 BALANCE
- can_bridge_node.py: docstring and inline comments
- __init__.py: package description
- protocol_defs.py: all Mamba references in docstring and comments
- test_fc_vesc_broadcast.py, test_drive_command.py: test comments

Zero Mamba/STM32F722/BlackPill/stm32_protocol/mamba_protocol references
now exist outside legacy/stm32/.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

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

@@ -1,33 +1,14 @@
 # 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`
-
-| Board | Role |
-|-------|------|
-| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
-| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
-| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
-
-> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
-=======
 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).

TEAM.md

@@ -1,22 +1,12 @@
 # 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`.
-
-## Current Status
-- **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 +14,18 @@ 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)
 - 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:**
@@ -83,11 +61,7 @@ Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hove
 ## 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 |

chassis/ASSEMBLY.md

@@ -56,19 +56,10 @@
 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.
+2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque.
+3. Orient USB-C port toward front of robot for cable access.
 
 ### 8  Jetson Orin Nano Super mount plate
 1. Press or thread M3 nylon standoffs (8mm) into plate holes.
@@ -95,8 +86,7 @@
 | Wheelbase (axle C/L to C/L) | 600 mm | ±1 mm |
 | Motor fork slot width | 24 mm | +0.5 / 0 |
 | Motor fork dropout depth | 60 mm | ±0.5 mm |
-| ESP32 BALANCE hole pattern | TBD — await spec from max | ±0.2 mm |
-| ESP32 IO hole pattern | TBD — await spec from max | ±0.2 mm |
+| FC hole pattern | 30.5 × 30.5 mm | ±0.2 mm |
 | Jetson hole pattern | 58 × 58 mm | ±0.2 mm |
 | Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm |
 

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
@@ -92,23 +88,12 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 
 ## Electronics Mounts
 
-> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) is retired.
-> Replaced by **ESP32 BALANCE** + **ESP32 IO**. Board dimensions and hole patterns TBD — await spec from max.
-
 | # | Part | Qty | Spec | Notes |
 |---|------|-----|------|-------|
-<<<<<<< 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 |
 
 ---
@@ -159,8 +144,8 @@ Slide entire carousel up/down the stem with M6 collar bolts loosened. Tighten at
 | 26 | M6×60 SHCS  | 4  | ISO 4762, SS | Collar clamping bolts |
 | 27 | M6 hex nut  | 4  | ISO 4032, SS | Captured in collar pockets |
 | 28 | M6×12 set screw | 2 | ISO 4026, SS cup-point | Stem height lock (1 per collar half) |
-| 29 | M3×10 SHCS | 12 | ISO 4762, SS | ESP32 mount + miscellaneous |
-| 30 | M3×6 BHCS  | 4  | ISO 4762, SS | ESP32 board bolts (qty TBD pending board spec) |
+| 29 | M3×10 SHCS | 12 | ISO 4762, SS | FC mount + miscellaneous |
+| 30 | M3×6 BHCS  | 4  | ISO 4762, SS | FC board bolts |
 | 31 | Axle lock nut (match axle tip thread) | 4 | Flanged, confirm thread | 2 per motor |
 | 32 | Flat washer M5 | 32 | SS | |
 | 33 | Flat washer M4 | 32 | SS | |

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 | — |
 

docs/AGENTS.md

@@ -2,26 +2,8 @@
 
 You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read this entire file before touching anything.
 
-## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)
+## Project Overview
 
-<<<<<<< HEAD
-Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
-
-| Board | Role |
-|-------|------|
-| **ESP32-S3 BALANCE** | Waveshare Touch LCD 1.28 (CH343 USB). QMI8658 IMU, PID loop, CAN→VESC L(68)/R(56), GC9A01 LCD |
-| **ESP32-S3 IO** | Bare devkit (JTAG USB). TBS Crossfire RC (UART0), ELRS failover (UART2), BTS7960 motors, NFC/baro/ToF, WS2812, buzzer/horn/headlight/fan |
-| **Jetson Orin** | CANable2 USB→CAN. Cmds on 0x300–0x303, telemetry on 0x400–0x401 |
-
-```
-Jetson Orin ──CANable2──► CAN 500kbps ◄───────────────────────┐
-                                │                               │
-                         ESP32-S3 BALANCE ←─UART 460800─► ESP32-S3 IO
-                         (QMI8658, PID loop)              (BTS7960, RC, sensors)
-                                │ 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.
@@ -34,12 +16,8 @@ Jetson (speed+steer via UART1)  ←→  ELRS RC (UART3, kill switch)
          │
          ▼ 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]`  
-Legacy `src/` STM32 HAL code is **archived — do not extend.**
-
 ## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
 
 This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, and launch the frame. Every firmware change must preserve these invariants:
@@ -57,11 +35,7 @@ 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)
@@ -108,19 +82,11 @@ 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) |
@@ -194,11 +160,7 @@ PLATFORM.md            # Hardware platform reference
 ### Critical Lessons Learned (DON'T REPEAT THESE)
 
 1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times.
-<<<<<<< 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.
@@ -210,11 +172,7 @@ The firmware supports reboot-to-DFU via USB command:
 2. Firmware writes `0xDEADBEEF` to RTC backup register 0
 3. `NVIC_SystemReset()` — clean hardware reset
 4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic
-<<<<<<< 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

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/SALTYLAB.md

@@ -1,6 +1,6 @@
-# SAUL-TEE — Self-Balancing Wagon Robot 🔬
+# SaltyLab — Self-Balancing Indoor Bot 🔬
 
-Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
+Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
 
 ## ⚠️ SAFETY — TOP PRIORITY
 
@@ -102,11 +102,8 @@ balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super
 sends velocity commands over UART1. ELRS receiver on UART3 provides RC
 override and kill-switch capability.
 
-The legacy STM32 firmware (Mamba F722S era) has been archived to
-=======
 The legacy STM32 firmware (STM32 era) has been archived to
 `legacy/stm32/` and is no longer built or deployed.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## LED Subsystem (ESP32-C3)
 

docs/SAUL-TEE-SYSTEM-REFERENCE.md

@@ -1,222 +0,0 @@
-# SAUL-TEE System Reference — SaltyLab ESP32 Architecture
-*Authoritative source of truth for hardware, pins, protocols, and CAN assignments.*
-*Spec from hal@Orin, 2026-04-04.*
-
----
-
-## Overview
-
-| Board | Role | MCU | USB chip |
-|-------|------|-----|----------|
-| **ESP32-S3 BALANCE** | PID balance loop, CAN→VESCs, LCD display | ESP32-S3 | CH343 USB-serial |
-| **ESP32-S3 IO** | RC input, motor drivers, sensors, LEDs, peripherals | ESP32-S3 | JTAG USB (native) |
-
-**Robot form factor:** 4-wheel wagon — 870 × 510 × 550 mm, ~23 kg
-**Power:** 36 V LiPo, DC-DC → 5 V and 12 V rails
-**Orin connection:** CANable2 USB → 500 kbps CAN (same bus as VESCs)
-
----
-
-## ESP32-S3 BALANCE
-
-### Board
-Waveshare ESP32-S3 Touch LCD 1.28
-- GC9A01 round 240×240 LCD
-- CST816S capacitive touch
-- QMI8658 6-axis IMU (accel + gyro, SPI)
-- CH343 USB-to-serial chip
-
-### Pin Assignments
-
-| Function | GPIO | Notes |
-|----------|------|-------|
-| **QMI8658 IMU (SPI)** | | |
-| SCK | IO39 | |
-| MOSI | IO38 | |
-| MISO | IO40 | |
-| CS | IO41 | |
-| INT1 | IO42 | data-ready interrupt |
-| **GC9A01 LCD (shares SPI bus)** | | |
-| CS | IO12 | |
-| DC | IO11 | |
-| RST | IO10 | |
-| BL | IO9 | PWM backlight |
-| **CST816S Touch (I2C)** | | |
-| SDA | IO4 | |
-| SCL | IO5 | |
-| INT | IO6 | |
-| RST | IO7 | |
-| **CAN — SN65HVD230 transceiver** | | 500 kbps |
-| TX | IO43 | → SN65HVD230 TXD |
-| RX | IO44 | ← SN65HVD230 RXD |
-| **Inter-board UART (to IO board)** | | 460800 baud |
-| TX | IO17 | |
-| RX | IO18 | |
-
-### Responsibilities
-- Read QMI8658 @ 1 kHz (SPI, INT1-driven)
-- Complementary filter → pitch angle
-- PID balance loop (configurable Kp / Ki / Kd)
-- Send VESC speed commands via CAN (ID 68 = left, ID 56 = right)
-- Receive Orin velocity+mode commands via CAN (0x300–0x303)
-- Receive IO board status (arming, RC, faults) via UART protocol
-- Drive GC9A01 LCD: pitch, speed, battery %, error state
-- Enforce tilt cutoff at ±25°; IWDG 50 ms timeout
-- Publish telemetry on CAN 0x400–0x401 at 10 Hz
-
----
-
-## ESP32-S3 IO
-
-### Board
-Bare ESP32-S3 devkit (JTAG USB)
-
-### Pin Assignments
-
-| Function | GPIO | Notes |
-|----------|------|-------|
-| **TBS Crossfire RC — UART0 (primary)** | | |
-| RX | IO44 | CRSF frames from Crossfire RX |
-| TX | IO43 | telemetry to Crossfire TX |
-| **ELRS failover — UART2** | | active if CRSF absent >100 ms |
-| RX | IO16 | |
-| TX | IO17 | |
-| **BTS7960 Motor Driver — Left** | | |
-| RPWM | IO1 | forward PWM |
-| LPWM | IO2 | reverse PWM |
-| R_EN | IO3 | right enable |
-| L_EN | IO4 | left enable |
-| **BTS7960 Motor Driver — Right** | | |
-| RPWM | IO5 | |
-| LPWM | IO6 | |
-| R_EN | IO7 | |
-| L_EN | IO8 | |
-| **I2C bus** | | |
-| SDA | IO11 | |
-| SCL | IO12 | |
-| NFC (PN532 or similar) | I2C | |
-| Barometer (BMP280/BMP388) | I2C | |
-| ToF (VL53L0X/VL53L1X) | I2C | |
-| **WS2812B LEDs** | | |
-| Data | IO13 | |
-| **Outputs** | | |
-| Horn / buzzer | IO14 | PWM tone |
-| Headlight | IO15 | PWM or digital |
-| Fan | IO16 | (if ELRS not fitted on UART2) |
-| **Inputs** | | |
-| Arming button | IO9 | active-low, hold 3 s to arm |
-| Kill switch sense | IO10 | hardware estop detect |
-| **Inter-board UART (to BALANCE board)** | | 460800 baud |
-| TX | IO18 | |
-| RX | IO21 | |
-
-### Responsibilities
-- Parse CRSF frames (TBS Crossfire, primary)
-- Parse ELRS frames (failover, activates if no CRSF for >100 ms)
-- Drive BTS7960 left/right PWM motor drivers
-- Read NFC, barometer, ToF via I2C
-- Drive WS2812B LEDs (armed/fault/idle patterns)
-- Control horn, headlight, fan, buzzer
-- Manage arming: hold button 3 s while upright → send ARM to BALANCE
-- Monitor kill switch input → immediate motor off + FAULT frame
-- Forward RC + sensor data to BALANCE via binary UART protocol
-- Report faults and RC-loss upstream
-
----
-
-## Inter-Board Binary Protocol (UART @ 460800 baud)
-
-```
-[0xAA][LEN][TYPE][PAYLOAD × LEN bytes][CRC8]
-```
-- `0xAA` — start byte
-- `LEN` — payload length in bytes (uint8)
-- `TYPE` — message type (uint8)
-- `CRC8` — CRC-8/MAXIM over TYPE + PAYLOAD bytes
-
-### IO → BALANCE Messages
-
-| TYPE | Name | Payload | Description |
-|------|------|---------|-------------|
-| 0x01 | RC_CMD | int16 throttle, int16 steer, uint8 flags | flags: bit0=armed, bit1=kill |
-| 0x02 | SENSOR | uint16 tof_mm, int16 baro_delta_pa, uint8 nfc_present | |
-| 0x03 | FAULT | uint8 fault_flags | bit0=rc_loss, bit1=motor_fault, bit2=estop |
-
-### BALANCE → IO Messages
-
-| TYPE | Name | Payload | Description |
-|------|------|---------|-------------|
-| 0x10 | STATE | int16 pitch_x100, int16 pid_out, uint8 error_state | |
-| 0x11 | LED_CMD | uint8 pattern, uint8 r, uint8 g, uint8 b | |
-| 0x12 | BUZZER | uint8 tone_id, uint16 duration_ms | |
-
----
-
-## CAN Bus — 500 kbps
-
-### Node Assignments
-
-| Node | CAN ID | Role |
-|------|--------|------|
-| VESC Left motor | **68** | Receives speed/duty via VESC CAN protocol |
-| VESC Right motor | **56** | Receives speed/duty via VESC CAN protocol |
-| ESP32-S3 BALANCE | — | Sends VESC commands; publishes telemetry |
-| Jetson Orin (CANable2) | — | Sends velocity commands; receives telemetry |
-
-### Frame Table
-
-| CAN ID | Direction | Description | Rate |
-|--------|-----------|-------------|------|
-| 0x300 | Orin → BALANCE | Velocity cmd: int16 speed_mmps, int16 steer_mrad | 20 Hz |
-| 0x301 | Orin → BALANCE | PID tuning: float Kp, float Ki, float Kd (3×4B IEEE-754) | on demand |
-| 0x302 | Orin → BALANCE | Mode: uint8 (0=off, 1=balance, 2=manual, 3=estop) | on demand |
-| 0x303 | Orin → BALANCE | Config: uint16 tilt_limit_x100, uint16 max_speed_mmps | on demand |
-| 0x400 | BALANCE → Orin | Telemetry A: int16 pitch_x100, int16 pid_out, int16 speed_mmps, uint8 state | 10 Hz |
-| 0x401 | BALANCE → Orin | Telemetry B: int16 vesc_l_rpm, int16 vesc_r_rpm, uint16 battery_mv, uint8 faults | 10 Hz |
-
----
-
-## RC Channel Mapping (TBS Crossfire / ELRS CRSF)
-
-| CH | Function | Range (µs) | Notes |
-|----|----------|------------|-------|
-| 1 | Steer (Roll) | 988–2012 | ±100% → ±max steer |
-| 2 | Throttle (Pitch) | 988–2012 | forward / back speed |
-| 3 | Spare | 988–2012 | |
-| 4 | Spare | 988–2012 | |
-| 5 | ARM switch | <1500=disarm, >1500=arm | SB on TX |
-| 6 | **ESTOP** | <1500=normal, >1500=kill | SC on TX — checked first every loop |
-| 7 | Speed limit | 988–2012 | maps to 10–100% speed cap |
-| 8 | Spare | | |
-
-**RC loss:** No valid CRSF frame >100 ms → IO sends FAULT(rc_loss) → BALANCE cuts motors.
-
----
-
-## Safety Invariants
-
-1. **Motors NEVER spin on power-on** — 3 s button hold required while upright
-2. **Tilt cutoff ±25°** — immediate motor zero, manual re-arm required
-3. **IWDG 50 ms** — firmware hang → motors cut
-4. **ESTOP RC channel** checked first in every loop iteration
-5. **Orin CAN timeout 500 ms** → revert to RC-only mode
-6. **Speed hard cap** — start at 10%, increase in 10% increments only after stable tethered testing
-7. **Never untethered** until stable for 5+ continuous minutes tethered
-
----
-
-## USB Debug Commands (both boards, serial console)
-
-```
-help                     list commands
-status                   print pitch, PID state, CAN stats, UART stats
-pid <Kp> <Ki> <Kd>      set PID gains
-arm                      arm (if upright and safe)
-disarm                   disarm immediately
-estop                    emergency stop (requires re-arm)
-tilt_limit <deg>         set tilt cutoff angle (default 25)
-speed_limit <pct>        set speed cap percentage (default 10)
-can_stats                CAN bus counters (tx/rx/errors/busoff)
-uart_stats               inter-board UART frame counters
-reboot                   soft reboot
-```

docs/board-viz.html

@@ -2,7 +2,7 @@
 <html>
 <head>
 <meta charset="utf-8">
-<title>GEPRC GEP-F722-45A AIO — Board Layout (Legacy / Archived)</title>
+<title>GEPRC GEP-F722-45A AIO — Board Layout</title>
 <style>
 * { margin: 0; padding: 0; box-sizing: border-box; }
 body { background: #1a1a2e; color: #eee; font-family: 'Courier New', monospace; display: flex; flex-direction: column; align-items: center; padding: 20px; }
@@ -112,13 +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>

docs/wiring-diagram.md

@@ -1,155 +1,131 @@
-# SaltyLab / SAUL-TEE Wiring Reference
+# SaltyLab Wiring Diagram
 
-> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S / STM32 retired.
-> New stack: **ESP32-S3 BALANCE** + **ESP32-S3 IO** + VESCs on 500 kbps CAN.
-> **Authoritative reference:** [`docs/SAUL-TEE-SYSTEM-REFERENCE.md`](SAUL-TEE-SYSTEM-REFERENCE.md)
-> Historical STM32/Mamba wiring below is **obsolete** — retained for reference only.
-
----
-
-## ~~System Overview~~ (OBSOLETE — see SAUL-TEE-SYSTEM-REFERENCE.md)
+## System Overview
 
 ```
 ┌─────────────────────────────────────────────────────────────────────┐
 │                        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)     │
 │  USB ─────── Leap Motion Controller (hand/gesture tracking)        │
-│  CSI-A ──── ArduCam adapter → 2x IMX219 (front + left)            │
-│  CSI-B ──── ArduCam adapter → 2x IMX219 (rear + right)            │
+│  CSI-A ──── ArduCam adapter → 2× IMX219 (front + left)            │
+│  CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right)            │
 │  M.2 ───── 1TB NVMe SSD                                            │
 │  40-pin ─── ReSpeaker 2-Mic HAT (I2S + I2C, WM8960 codec)         │
 │  Pin 8 ──┐                                                         │
-│  Pin 10 ─┤ UART fallback to ESP32-S3 BALANCE (ttyTHS0, 460800)    │
+│  Pin 10 ─┤ UART fallback to FC (ttyTHS0, 921600)                  │
 │  Pin 6 ──┘ GND                                                     │
 │                                                                     │
 └─────────────────────────────────────────────────────────────────────┘
-         │ USB-A (CANable2)               │ UART fallback (3 wires)
-         │ SocketCAN slcan0               │ 460800 baud, 3.3V
-         │ 500 kbps                       │
+         │ USB-C (data only)              │ UART fallback (3 wires)
+         │ 921600 baud                    │ 921600 baud, 3.3V
          ▼                                ▼
 ┌─────────────────────────────────────────────────────────────────────┐
-<<<<<<< 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)                │
-│  UART1 ──── VESC Left  (CAN ID 56) via UART/CAN bridge            │
-│  UART2 ──── VESC Right (CAN ID 68) via UART/CAN bridge            │
-│  I2C   ──── QMI8658 IMU (onboard, 6-DOF accel+gyro)               │
-│  SPI   ──── GC9A01 LCD (onboard, 240x240 round display)           │
-│  GPIO  ──── WS2812B LED strip                                      │
-│  GPIO  ──── Buzzer                                                  │
-│  ADC   ──── Battery voltage divider                                │
+│  USB-C ──── Orin (CDC serial, primary link)                        │
+│                                                                     │
+│  USART2 (PA2=TX, PA3=RX) ──── Hoverboard ESC (26400 baud)         │
+│  UART4  (PA0=TX, PA1=RX) ──── ELRS RX (CRSF, 420000 baud)        │
+│  USART6 (PC6=TX, PC7=RX) ──── Orin UART fallback                  │
+│  UART5  (PC12=TX, PD2=RX) ─── Debug (optional)                    │
+│                                                                     │
+│  SPI1 ─── MPU6000 IMU (on-board, CW270)                           │
+│  I2C1 ─── BMP280 baro (on-board, disabled)                        │
+│  ADC ──── Battery voltage (PC1) + Current (PC3)                    │
+│  PB3 ──── WS2812B LED strip                                        │
+│  PB2 ──── Buzzer                                                    │
 │                                                                     │
 └─────────────────────────────────────────────────────────────────────┘
-         │ CAN bus (ISO 11898)            │ UART (460800 baud)
-         │ 500 kbps                       │
+         │ USART2                         │ UART4
+         │ PA2=TX → ESC RX               │ PA0=TX → ELRS TX
+         │ PA3=RX ← ESC TX               │ PA1=RX ← ELRS RX
+         │ GND ─── GND                   │ GND ─── GND
          ▼                                ▼
 ┌────────────────────────┐    ┌──────────────────────────┐
-│   VESC Left (ID 56)    │    │   VESC Right (ID 68)     │
-│   (Bottom Plate)       │    │   (Bottom Plate)          │
-│                        │    │                            │
-│  BLDC hub motor        │    │  BLDC hub motor            │
-│  CAN 500 kbps          │    │  CAN 500 kbps             │
-│  FOC current control   │    │  FOC current control      │
-│  VESC Status 1 (0x900) │    │  VESC Status 1 (0x910)   │
+│   HOVERBOARD ESC       │    │   ELRS 2.4GHz RX         │
+│   (Bottom Plate)       │    │   (beside FC)             │
 │                        │    │                            │
+│  2× BLDC hub motors    │    │  CRSF protocol            │
+│  26400 baud UART       │    │  420000 baud              │
+│  Frame: [0xABCD]       │    │  BetaFPV 1W TX → RX      │
+│  [steer][speed][csum]  │    │  CH3=speed CH4=steer      │
+│                        │    │  CH5=arm   CH6=mode       │
 └────────────────────────┘    └──────────────────────────┘
-         │                              │
-    LEFT MOTOR                    RIGHT MOTOR
-```
+         │                              
+    ┌────┴────┐                         
+    ▼         ▼                         
+  🛞 LEFT   RIGHT 🛞                    
+  MOTOR     MOTOR                       
 
 
 ## 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 |
-|------|----|------|-------|
-| Orin USB-A | CANable2 USB | USB cable | SocketCAN slcan0 @ 500 kbps |
-| 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 |
+| From | To | Wire Color | Notes |
+|------|----|-----------|-------|
+| Orin USB-C port | FC USB-C port | USB cable | Data only, FC powered from 5V bus |
 
-<<<<<<< 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)
+### 2. Orin ↔ FC (Fallback: Hardware UART)
 
-| Orin Pin | Signal | ESP32-S3 Pin | Notes |
-|----------|--------|--------------|-------|
-| Pin 8 | TXD0 | GPIO17 (UART0 RX) | Orin TX -> BALANCE RX |
-| Pin 10 | RXD0 | GPIO18 (UART0 TX) | Orin RX <- BALANCE TX |
-| Pin 6 | GND | GND | Common ground |
+| Orin Pin | Signal | FC Pin | FC Signal |
+|----------|--------|--------|-----------|
+| Pin 8 | TXD0 | PC7 | USART6 RX |
+| Pin 10 | RXD0 | PC6 | USART6 TX |
+| Pin 6 | GND | GND | GND |
 
 - Jetson device: `/dev/ttyTHS0`
-- Baud: 460800, 8N1
+- Baud: 921600, 8N1
 - Voltage: 3.3V both sides (no level shifter needed)
-- Cross-connect: Orin TX -> BALANCE RX, Orin RX <- BALANCE TX
+- **Cross-connect:** Orin TX → FC RX, Orin RX ← FC TX
 
-### 3. Orin <-> ESP32-S3 IO (USB Serial)
+### 3. FC ↔ Hoverboard ESC
 
-| From | To | Notes |
-|------|----|-------|
-| Orin USB-A | ESP32-S3 IO USB-C | USB cable, /dev/esp32-io |
-
-- Device node: `/dev/esp32-io` (udev symlink)
-- Baud: 460800, 8N1
-- Protocol: Binary frames `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`
-- Use: IO expansion, GPIO control, sensor polling
-
-### 4. ESP32-S3 BALANCE <-> VESC Motors (CAN Bus)
-
-| BALANCE Pin | Signal | VESC Pin | Notes |
-|-------------|--------|----------|-------|
-| GPIO21 | CAN-H | CAN-H | ISO 11898 differential pair |
-| GPIO22 | CAN-L | CAN-L | ISO 11898 differential pair |
+| FC Pin | Signal | ESC Pin | Notes |
+|--------|--------|---------|-------|
+| PA2 | USART2 TX | RX | FC sends speed/steer commands |
+| PA3 | USART2 RX | TX | ESC sends feedback (optional) |
 | GND | GND | GND | Common ground |
 
-- Baud: 500 kbps CAN
-- VESC Left: CAN ID 56, VESC Right: CAN ID 68
-- Commands: COMM_SET_RPM, COMM_SET_CURRENT, COMM_SET_DUTY
-- Telemetry: VESC Status 1 at 50 Hz (RPM, current, duty)
+- Baud: 26400, 8N1
+- Protocol: Binary frame — `[0xABCD][steer:int16][speed:int16][checksum:uint16]`
+- Speed range: -1000 to +1000
+- **Keep wires short and twisted** (EMI from ESC)
+
+### 4. FC ↔ ELRS Receiver
+
+| FC Pin | Signal | ELRS Pin | Notes |
+|--------|--------|----------|-------|
+| PA0 | UART4 TX | RX | Telemetry to TX (optional) |
+| PA1 | UART4 RX | TX | CRSF frames from RX |
+| GND | GND | GND | Common ground |
+| 5V | — | VCC | Power ELRS from 5V bus |
+
+- Baud: 420000 (CRSF protocol)
+- Failsafe: disarm after 300ms without frame
 
 ### 5. Power Distribution
 
 ```
-BATTERY (36V) ──┬── VESC Left  (36V direct -> BLDC left motor)
-                ├── VESC Right (36V direct -> BLDC right motor)
+BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
                 │
                 ├── 5V BEC/regulator ──┬── Orin (USB-C PD or barrel jack)
-                │                      ├── ESP32-S3 BALANCE (5V via USB-C)
-                │                      ├── ESP32-S3 IO (5V via USB-C)
+                │                      ├── FC (via USB or 5V pad)
+                │                      ├── ELRS RX (5V)
                 │                      ├── WS2812B LEDs (5V)
                 │                      └── RPLIDAR (5V via USB)
                 │
-                └── Battery monitor ──── ESP32-S3 BALANCE ADC (voltage divider)
+                └── Battery monitor ──── FC ADC (PC1=voltage, PC3=current)
 ```
 
 ### 6. Sensors on Orin (USB/CSI)
@@ -160,38 +136,9 @@ BATTERY (36V) ──┬── VESC Left  (36V direct -> BLDC left motor)
 | RPLIDAR A1M8 | USB-UART | USB-A | `/dev/rplidar` |
 | IMX219 front+left | MIPI CSI-2 | CSI-A (J5) | `/dev/video0,2` |
 | IMX219 rear+right | MIPI CSI-2 | CSI-B (J8) | `/dev/video4,6` |
-| 1TB NVMe | PCIe Gen3 x4 | M.2 Key M | `/dev/nvme0n1` |
-| CANable2 | USB-CAN | USB-A | `/dev/canable2` -> `slcan0` |
+| 1TB NVMe | PCIe Gen3 ×4 | M.2 Key M | `/dev/nvme0n1` |
 
 
-<<<<<<< HEAD
-## FC UART Summary (MAMBA F722S — OBSOLETE)
-
-| Interface | Pins | Baud/Rate | Assignment | Notes |
-|-----------|------|-----------|------------|-------|
-| UART0 | GPIO17=RX, GPIO18=TX | 460800 | Orin UART fallback | 3.3V, cross-connect |
-| UART1 | GPIO19=RX, GPIO20=TX | 115200 | Debug serial | Optional |
-| CAN (TWAI) | GPIO21=H, GPIO22=L | 500 kbps | CAN bus (VESCs + Orin) | SN65HVD230 transceiver |
-| I2C | GPIO4=SDA, GPIO5=SCL | 400 kHz | QMI8658 IMU (addr 0x6B) | Onboard |
-| SPI | GPIO36=MOSI, GPIO37=SCLK, GPIO35=CS | 40 MHz | GC9A01 LCD (onboard) | 240x240 round |
-| USB CDC | USB-C | 460800 | Orin USB fallback | /dev/esp32-balance |
-
-## CAN Frame ID Map
-
-| CAN ID | Direction | Name | Contents |
-|--------|-----------|------|----------|
-| 0x300 | Orin -> BALANCE | ORIN_CMD_DRIVE | left_rpm_f32, right_rpm_f32 (8 bytes LE) |
-| 0x301 | Orin -> BALANCE | ORIN_CMD_MODE | mode byte (0=IDLE, 1=DRIVE, 2=ESTOP) |
-| 0x302 | Orin -> BALANCE | ORIN_CMD_ESTOP | flags byte (bit0=stop, bit1=clear) |
-| 0x400 | BALANCE -> Orin | BALANCE_STATUS | pitch x10:i16, motor_cmd:u16, vbat_mv:u16, state:u8, flags:u8 |
-| 0x401 | BALANCE -> Orin | BALANCE_VESC | l_rpm x10:i16, r_rpm x10:i16, l_cur x10:i16, r_cur x10:i16 |
-| 0x402 | BALANCE -> Orin | BALANCE_IMU | pitch x100:i16, roll x100:i16, yaw x100:i16, ax x100:i16, ay x100:i16, az x100:i16 |
-| 0x403 | BALANCE -> Orin | BALANCE_BATTERY | vbat_mv:u16, current_ma:i16, soc_pct:u8 |
-| 0x900+ID | VESC Left -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 |
-| 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 |
@@ -203,7 +150,6 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
 | 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)
@@ -221,63 +167,57 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
 | Pin 2, 4 | 5V | Power |
 | Pin 6, 9 | GND | Ground |
 
-- Codec: Wolfson WM8960 (I2C addr 0x1A)
-- Mics: 2x MEMS (left + right) --- basic stereo / sound localization
-- Speaker: 3W class-D amp output (JST connector)
-- Headset: 3.5mm TRRS jack
-- Requires: WM8960 device tree overlay for Jetson (community port)
-- Use: Voice commands (faster-whisper), wake word (openWakeWord), audio feedback, status announcements
+- **Codec:** Wolfson WM8960 (I2C addr 0x1A)
+- **Mics:** 2× MEMS (left + right) — basic stereo / sound localization
+- **Speaker:** 3W class-D amp output (JST connector)
+- **Headset:** 3.5mm TRRS jack
+- **Requires:** WM8960 device tree overlay for Jetson (community port)
+- **Use:** Voice commands (faster-whisper), wake word (openWakeWord), audio feedback, status announcements
 
 ### 8. SIM7600A 4G/LTE HAT (via USB)
 
 | Connection | Detail |
 |-----------|--------|
-| Interface | USB (micro-B on HAT -> USB-A/C on Orin) |
+| Interface | USB (micro-B on HAT → USB-A/C on Orin) |
 | Device nodes | `/dev/ttyUSB0` (AT), `/dev/ttyUSB1` (PPP/data), `/dev/ttyUSB2` (GPS NMEA) |
 | Power | 5V from USB or separate 5V supply (peak 2A during TX) |
 | SIM | Nano-SIM slot on HAT |
-| Antenna | 4G LTE + GPS/GNSS (external SMA antennas --- mount high on chassis) |
+| Antenna | 4G LTE + GPS/GNSS (external SMA antennas — mount high on chassis) |
 
-- Data: PPP or QMI for internet connectivity
-- GPS/GNSS: Built-in receiver, NMEA sentences on ttyUSB2 --- outdoor positioning
-- AT commands: `AT+CGPS=1` (enable GPS), `AT+CGPSINFO` (get fix)
-- Connected via USB (not 40-pin) --- avoids UART conflict with BALANCE fallback, flexible antenna placement
-- Use: Remote telemetry, 4G connectivity outdoors, GPS positioning, remote SSH/control
+- **Data:** PPP or QMI for internet connectivity
+- **GPS/GNSS:** Built-in receiver, NMEA sentences on ttyUSB2 — outdoor positioning
+- **AT commands:** `AT+CGPS=1` (enable GPS), `AT+CGPSINFO` (get fix)
+- **Connected via USB** (not 40-pin) — avoids UART conflict with FC fallback, flexible antenna placement
+- **Use:** Remote telemetry, 4G connectivity outdoors, GPS positioning, remote SSH/control
 
-### 9. Leap Motion Controller (USB)
+### 10. Leap Motion Controller (USB)
 
 | Connection | Detail |
 |-----------|--------|
-| Interface | USB 3.0 (micro-B on controller -> USB-A on Orin) |
+| Interface | USB 3.0 (micro-B on controller → USB-A on Orin) |
 | Power | ~0.5W |
-| Range | ~80cm, 150 deg FOV |
+| Range | ~80cm, 150° FOV |
 | SDK | Ultraleap Gemini V5+ (Linux ARM64 support) |
 | ROS2 | `leap_motion_ros2` wrapper available |
 
-- 2x IR cameras + 3x IR LEDs --- tracks all 10 fingers in 3D, sub-mm precision
-- Mount: Forward-facing on sensor tower or upward on Orin plate
-- Use: Gesture control (palm=stop, point=go, fist=arm), hand-following mode, demos
-- Combined with ReSpeaker: Voice + gesture control with zero hardware in hand
+- **2× IR cameras + 3× IR LEDs** — tracks all 10 fingers in 3D, sub-mm precision
+- **Mount:** Forward-facing on sensor tower or upward on Orin plate
+- **Use:** Gesture control (palm=stop, point=go, fist=arm), hand-following mode, demos
+- **Combined with ReSpeaker:** Voice + gesture control with zero hardware in hand
 
-### 10. Power Budget (USB)
+### 11. Power Budget (USB)
 
 | 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 |
-| Leap Motion | USB-A | ~0.5W |
+| Leap Motion | USB | ~0.5W |
 | ReSpeaker HAT | 40-pin | ~0.5W |
-| **Total USB** | | **~7.9W typical, ~11W peak** |
+| **Total USB** | | **~6.5W typical, ~10.5W peak** |
 
-Orin Nano Super delivers up to 25W --- USB peripherals are well within budget.
+Orin Nano Super delivers up to 25W — USB peripherals are well within budget.
 
 ---
 
@@ -285,46 +225,38 @@ Orin Nano Super delivers up to 25W --- USB peripherals are well within budget.
 
 ```
                     ┌──────────────┐
-                    │  RC TX       │ (in your hand)
+                    │  ELRS TX     │ (in your hand)
                     │  (2.4GHz)    │
                     └──────┬───────┘
                            │ radio
                     ┌──────▼───────┐
-                    │  RC RX       │ CRSF 420kbaud (future)
+                    │  ELRS RX     │ CRSF 420kbaud
                     └──────┬───────┘
-                           │ UART
+                           │ UART4
               ┌────────────▼────────────┐
-<<<<<<< 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     │
+              │  MPU6000 → Balance PID  │
+              │  CRSF → 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)  │        ┌───────────────────┐
-    ├─ VESC Left  56  │        │   Orin Nano Super  │
-    └─ VESC Right 68  │        │                     │
-         │    │                │  SLAM / Nav2 / AI  │
-         ▼    ▼                │  Person following   │
-       LEFT  RIGHT             │  Voice commands     │
-       MOTOR MOTOR             │  4G telemetry       │
-                               └──┬──────────┬───────┘
-                                  │          │
-                       ┌──────────▼─┐   ┌────▼──────────┐
-                       │ ReSpeaker  │   │  SIM7600A     │
-                       │ 2-Mic HAT  │   │  4G/LTE + GPS │
-                       └────────────┘   └───────────────┘
+         ▼                              ▼
+┌────────────────┐          ┌───────────────────┐
+│ Hoverboard ESC │          │   Orin Nano Super  │
+│                │          │                     │
+│ L motor  R motor│         │  SLAM / Nav2 / AI  │
+│    🛞      🛞   │         │  Person following   │
+└────────────────┘          │  Voice commands     │
+                            │  4G telemetry       │
+                            └──┬──────────┬───────┘
+                               │          │
+                    ┌──────────▼─┐   ┌────▼──────────┐
+                    │ ReSpeaker  │   │  SIM7600A     │
+                    │ 2-Mic HAT  │   │  4G/LTE + GPS │
+                    │ 🎤 🔊      │   │  📡 🛰️        │
+                    └────────────┘   └───────────────┘
 ```

jetson/README.md

@@ -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**.
->>>>>>> 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
@@ -99,15 +75,6 @@ sudo usermod -aG dialout $USER
 picocom -b 921600 /dev/ttyTHS0
 ```
 
-<<<<<<< HEAD
-**ROS2 topics (ESP32 bridge node):**
-| ROS2 Topic | Direction | Content |
-|-----------|-----------|---------
-| `/saltybot/imu` | ESP32 BALANCE→Jetson | IMU data (accel, gyro) at 50Hz |
-| `/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 |
 |-----------|-----------|---------
@@ -115,7 +82,6 @@ picocom -b 921600 /dev/ttyTHS0
 | `/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** | | |
 
@@ -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

@@ -1,21 +1,3 @@
-<<<<<<< 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.
 
@@ -46,4 +28,3 @@ watchdog_timeout: 0.5        # 500ms
 # 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/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
@@ -44,7 +40,7 @@ def _launch_nodes(context, *args, **kwargs):
         return [Node(
             package="saltybot_bridge",
             executable="serial_bridge_node",
-            name="esp32_serial_bridge",
+            name="stm32_serial_bridge",
             output="screen",
             parameters=[params],
         )]
@@ -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/esp32_cmd.launch.py

@@ -1,16 +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).
-Handles RC monitoring, sensor data, LED/output commands.
-Primary drive path uses CAN (can_bridge_node / saltybot_can_node), not this node.
-
-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:
@@ -22,7 +9,6 @@ Usage:
 
   # 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
@@ -38,9 +24,12 @@ def generate_launch_description() -> LaunchDescription:
     params_file = os.path.join(pkg, "config", "esp32_cmd_params.yaml")
 
     return LaunchDescription([
-        DeclareLaunchArgument("serial_port",     default_value="/dev/esp32-io"),
-        DeclareLaunchArgument("baud_rate",        default_value="460800"),
-        DeclareLaunchArgument("heartbeat_period", default_value="0.2"),
+        DeclareLaunchArgument("serial_port",      default_value="/dev/ttyACM0"),
+        DeclareLaunchArgument("baud_rate",         default_value="921600"),
+        DeclareLaunchArgument("speed_scale",       default_value="1000.0"),
+        DeclareLaunchArgument("steer_scale",       default_value="-500.0"),
+        DeclareLaunchArgument("watchdog_timeout",  default_value="0.5"),
+        DeclareLaunchArgument("heartbeat_period",  default_value="0.2"),
 
         Node(
             package="saltybot_bridge",
@@ -53,6 +42,9 @@ def generate_launch_description() -> LaunchDescription:
                 {
                     "serial_port":      LaunchConfiguration("serial_port"),
                     "baud_rate":        LaunchConfiguration("baud_rate"),
+                    "speed_scale":      LaunchConfiguration("speed_scale"),
+                    "steer_scale":      LaunchConfiguration("steer_scale"),
+                    "watchdog_timeout": LaunchConfiguration("watchdog_timeout"),
                     "heartbeat_period": LaunchConfiguration("heartbeat_period"),
                 },
             ],

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/saltybot_bridge/battery_node.py

@@ -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.
 
@@ -148,7 +134,7 @@ class CmdVelBridgeNode(Node):
         self._current_speed = 0   # ramped output actually sent
         self._current_steer = 0
         self._last_cmd_vel  = 0.0 # wall clock (seconds) of last /cmd_vel msg
-        self._esp32_mode    = 0   # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO
+        self._stm32_mode    = 0   # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO
         self._last_state    = -1
         self._frame_count   = 0
         self._error_count   = 0
@@ -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)
@@ -243,7 +225,7 @@ class CmdVelBridgeNode(Node):
 
         # Mode gate: in non-AUTONOMOUS mode, zero and reset ramp state so
         # re-entry always accelerates smoothly from 0.
-        if self._esp32_mode != MODE_AUTONOMOUS:
+        if self._stm32_mode != MODE_AUTONOMOUS:
             self._current_speed = 0
             self._current_steer = 0
             speed, steer = 0, 0
@@ -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 ──────────────────────────────────────────────────────────
@@ -345,7 +319,7 @@ class CmdVelBridgeNode(Node):
         state     = int(data["s"])
         mode      = int(data.get("md", 0))  # 0=MANUAL if not present
 
-        self._esp32_mode = mode
+        self._stm32_mode = mode
         self._frame_count += 1
 
         self._publish_imu(pitch_deg, roll_deg, yaw_deg, now)
@@ -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_cmd_node.py

@@ -1,31 +1,17 @@
-<<<<<<< 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).
+Issue #119: replaces the ASCII-protocol saltybot_cmd_node with a robust binary
+framing protocol (STX/TYPE/LEN/PAYLOAD/CRC16/ETX) at 921600 baud.
 
-<<<<<<< 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
+Watchdog: if /cmd_vel is silent for 500 ms, send SPEED_STEER(0,0) and log warning.
 
-<<<<<<< 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)
@@ -33,20 +19,13 @@ RX telemetry (ESP32-S3 → Jetson):
   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)
+Auto-reconnect: USB disconnect is detected when serial.read() raises; node
+continuously retries at reconnect_delay interval.
+
+This node owns /dev/ttyACM0 exclusively — do NOT run alongside
+serial_bridge_node or saltybot_cmd_node on the same port.
 
-<<<<<<< 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
@@ -55,12 +34,12 @@ Parameters (config/esp32_cmd_params.yaml):
   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
 
 import json
+import math
 import threading
 import time
 
@@ -71,82 +50,119 @@ from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
 import serial
 
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+from geometry_msgs.msg import Twist
+from sensor_msgs.msg import Imu
 from std_msgs.msg import String
+from std_srvs.srv import SetBool, Trigger
 
-<<<<<<< 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,
-    encode_heartbeat,
-    encode_led_cmd,
-    encode_output_cmd,
+    ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame,
+    encode_heartbeat, encode_speed_steer, encode_arm, encode_set_mode,
+    encode_pid_update,
 )
 
+# ── Constants ─────────────────────────────────────────────────────────────────
+
+IMU_FRAME_ID = "imu_link"
+_ARM_LABEL   = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
+
+
+def _clamp(v: float, lo: float, hi: float) -> float:
+    return max(lo, min(hi, v))
+
+
+# ── Node ──────────────────────────────────────────────────────────────────────
 
 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")
 
-        # ── Parameters ────────────────────────────────────────────────────
-        self.declare_parameter("serial_port",      "/dev/esp32-io")
-        self.declare_parameter("baud_rate",        BAUD_RATE)
+        # ── Parameters ────────────────────────────────────────────────────────
+        self.declare_parameter("serial_port",      "/dev/ttyACM0")
+        self.declare_parameter("baud_rate",        921600)
         self.declare_parameter("reconnect_delay",  2.0)
         self.declare_parameter("heartbeat_period", 0.2)
+        self.declare_parameter("watchdog_timeout", 0.5)
+        self.declare_parameter("speed_scale",      1000.0)
+        self.declare_parameter("steer_scale",      -500.0)
 
-        self._port_name       = self.get_parameter("serial_port").value
-        self._baud            = self.get_parameter("baud_rate").value
+        port                  = self.get_parameter("serial_port").value
+        baud                  = self.get_parameter("baud_rate").value
         self._reconnect_delay = self.get_parameter("reconnect_delay").value
         self._hb_period       = self.get_parameter("heartbeat_period").value
+        self._wd_timeout      = self.get_parameter("watchdog_timeout").value
+        self._speed_scale     = self.get_parameter("speed_scale").value
+        self._steer_scale     = self.get_parameter("steer_scale").value
 
-        # ── QoS ───────────────────────────────────────────────────────────
+        # ── QoS ───────────────────────────────────────────────────────────────
+        sensor_qos = QoSProfile(
+            reliability=ReliabilityPolicy.BEST_EFFORT,
+            history=HistoryPolicy.KEEP_LAST, depth=10,
+        )
         rel_qos = QoSProfile(
             reliability=ReliabilityPolicy.RELIABLE,
             history=HistoryPolicy.KEEP_LAST, depth=10,
         )
 
-        # ── Publishers ────────────────────────────────────────────────────
-        self._rc_pub   = self.create_publisher(String,          "/saltybot/rc_channels", rel_qos)
-        self._sens_pub = self.create_publisher(String,          "/saltybot/sensors",     rel_qos)
-        self._diag_pub = self.create_publisher(DiagnosticArray, "/diagnostics",          rel_qos)
+        # ── Publishers ────────────────────────────────────────────────────────
+        self._imu_pub      = self.create_publisher(Imu,    "/saltybot/imu",           sensor_qos)
+        self._arm_pub      = self.create_publisher(String, "/saltybot/arm_state",      rel_qos)
+        self._error_pub    = self.create_publisher(String, "/saltybot/error",          rel_qos)
+        self._battery_pub  = self.create_publisher(String, "/saltybot/telemetry/battery",  rel_qos)
+        self._rpm_pub      = self.create_publisher(String, "/saltybot/telemetry/motor_rpm", rel_qos)
+        self._diag_pub     = self.create_publisher(DiagnosticArray, "/diagnostics",    rel_qos)
 
-        # ── Subscriptions ─────────────────────────────────────────────────
-        self.create_subscription(String, "/saltybot/leds",    self._on_leds,    rel_qos)
-        self.create_subscription(String, "/saltybot/outputs", self._on_outputs, rel_qos)
-
-        # ── Serial state ──────────────────────────────────────────────────
-        self._ser: serial.Serial | None = None
-        self._ser_lock = threading.Lock()
-        self._parser   = FrameParser()
-        self._rx_count = 0
-
-        # ── Open serial and start timers ──────────────────────────────────
-        self._open_serial()
-
-        self._read_timer = self.create_timer(0.005,           self._read_cb)
-        self._hb_timer   = self.create_timer(self._hb_period, self._heartbeat_cb)
-        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
+        # ── Subscribers ───────────────────────────────────────────────────────
+        self._cmd_vel_sub = self.create_subscription(
+            Twist, "/cmd_vel", self._on_cmd_vel, rel_qos,
+        )
+        self._pid_sub = self.create_subscription(
+            String, "/saltybot/pid_update", self._on_pid_update, rel_qos,
         )
 
-    # ── Serial management ─────────────────────────────────────────────────
+        # ── Services ──────────────────────────────────────────────────────────
+        self._arm_srv  = self.create_service(SetBool, "/saltybot/arm",      self._svc_arm)
+        self._mode_srv = self.create_service(SetBool, "/saltybot/set_mode", self._svc_set_mode)
+
+        # ── Serial state ──────────────────────────────────────────────────────
+        self._port_name = port
+        self._baud      = baud
+        self._ser: serial.Serial | None = None
+        self._ser_lock  = threading.Lock()
+        self._parser    = FrameParser()
+
+        # ── TX state ──────────────────────────────────────────────────────────
+        self._last_speed    = 0
+        self._last_steer    = 0
+        self._last_cmd_t    = time.monotonic()
+        self._watchdog_sent = False     # tracks whether we already sent zero
+
+        # ── Diagnostics state ──────────────────────────────────────────────────
+        self._last_arm_state   = -1
+        self._last_battery_mv  = 0
+        self._rx_frame_count   = 0
+
+        # ── Open serial and start timers ──────────────────────────────────────
+        self._open_serial()
+
+        # Read at 200 Hz (serial RX thread is better, but timer keeps ROS2 integration clean)
+        self._read_timer = self.create_timer(0.005, self._read_cb)
+        # Heartbeat TX
+        self._hb_timer   = self.create_timer(self._hb_period, self._heartbeat_cb)
+        # Watchdog check (fires at 2× watchdog_timeout for quick detection)
+        self._wd_timer   = self.create_timer(self._wd_timeout / 2, self._watchdog_cb)
+        # Periodic diagnostics
+        self._diag_timer = self.create_timer(1.0, self._publish_diagnostics)
+
+        self.get_logger().info(
+            f"esp32_cmd_node started — {port} @ {baud} baud | "
+            f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms"
+        )
+
+    # ── Serial management ─────────────────────────────────────────────────────
 
     def _open_serial(self) -> bool:
         with self._ser_lock:
@@ -154,7 +170,7 @@ class Stm32CmdNode(Node):
                 self._ser = serial.Serial(
                     port=self._port_name,
                     baudrate=self._baud,
-                    timeout=0.005,
+                    timeout=0.005,          # non-blocking reads
                     write_timeout=0.1,
                 )
                 self._ser.reset_input_buffer()
@@ -169,7 +185,17 @@ class Stm32CmdNode(Node):
                 self._ser = None
                 return False
 
+    def _close_serial(self) -> None:
+        with self._ser_lock:
+            if self._ser and self._ser.is_open:
+                try:
+                    self._ser.close()
+                except Exception:
+                    pass
+            self._ser = None
+
     def _write(self, data: bytes) -> bool:
+        """Thread-safe serial write. Returns False if port is not open."""
         with self._ser_lock:
             if self._ser is None or not self._ser.is_open:
                 return False
@@ -181,15 +207,16 @@ class Stm32CmdNode(Node):
                 self._ser = None
                 return False
 
-    # ── RX ────────────────────────────────────────────────────────────────
+    # ── RX — read callback ────────────────────────────────────────────────────
 
     def _read_cb(self) -> None:
+        """Read bytes from serial and feed them to the frame parser."""
         raw: bytes | None = None
-        reconnect = False
+        reconnect_needed  = False
 
         with self._ser_lock:
             if self._ser is None or not self._ser.is_open:
-                reconnect = True
+                reconnect_needed = True
             else:
                 try:
                     n = self._ser.in_waiting
@@ -198,9 +225,9 @@ class Stm32CmdNode(Node):
                 except serial.SerialException as exc:
                     self.get_logger().error(f"Serial read error: {exc}")
                     self._ser = None
-                    reconnect = True
+                    reconnect_needed = True
 
-        if reconnect:
+        if reconnect_needed:
             self.get_logger().warn(
                 "Serial disconnected — will retry",
                 throttle_duration_sec=self._reconnect_delay,
@@ -213,41 +240,24 @@ class Stm32CmdNode(Node):
             return
 
         for byte in raw:
-            msg = self._parser.feed(byte)
-            if msg is not None:
-                self._rx_count += 1
-                self._dispatch(msg)
+            frame = self._parser.feed(byte)
+            if frame is not None:
+                self._rx_frame_count += 1
+                self._dispatch_frame(frame)
 
-    def _dispatch(self, msg) -> None:
+    def _dispatch_frame(self, frame) -> None:
+        """Route a decoded frame to the appropriate publisher."""
         now = self.get_clock().now().to_msg()
-        ts  = f"{now.sec}.{now.nanosec:09d}"
 
-        if isinstance(msg, RcChannels):
-            out = String()
-            out.data = json.dumps({
-                "channels": msg.channels,
-                "source":   msg.source,
-                "ts":       ts,
-            })
-            self._rc_pub.publish(out)
+        if isinstance(frame, ImuFrame):
+            self._publish_imu(frame, now)
 
-        elif isinstance(msg, SensorData):
-            out = String()
-            out.data = json.dumps({
-                "pressure_pa":   msg.pressure_pa,
-                "temperature_c": msg.temperature_c,
-                "tof_mm":        msg.tof_mm,
-                "ts":            ts,
-            })
-            self._sens_pub.publish(out)
+        elif isinstance(frame, BatteryFrame):
+            self._publish_battery(frame, now)
 
-        elif isinstance(msg, tuple):
-            type_code, _ = msg
-            self.get_logger().debug(f"Unknown inter-board type 0x{type_code:02X}")
+        elif isinstance(frame, MotorRpmFrame):
+            self._publish_motor_rpm(frame, now)
 
-<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
-    # ── TX ────────────────────────────────────────────────────────────────
-=======
         elif isinstance(frame, ArmStateFrame):
             self._publish_arm_state(frame, now)
 
@@ -358,79 +368,102 @@ class Stm32CmdNode(Node):
                 "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:
+        """Send HEARTBEAT every heartbeat_period (default 200ms)."""
         self._write(encode_heartbeat())
 
-    def _on_leds(self, msg: String) -> None:
-        """Parse JSON {"pattern":N,"r":R,"g":G,"b":B} and send LED_CMD."""
-        try:
-            d = json.loads(msg.data)
-            frame = encode_led_cmd(
-                int(d.get("pattern", 0)),
-                int(d.get("r", 0)),
-                int(d.get("g", 0)),
-                int(d.get("b", 0)),
-            )
-        except (ValueError, KeyError, json.JSONDecodeError) as exc:
-            self.get_logger().error(f"Bad /saltybot/leds JSON: {exc}")
-            return
-        self._write(frame)
+    def _watchdog_cb(self) -> None:
+        """Send zero-speed if /cmd_vel silent for watchdog_timeout seconds."""
+        if time.monotonic() - self._last_cmd_t >= self._wd_timeout:
+            if not self._watchdog_sent:
+                self.get_logger().warn(
+                    f"No /cmd_vel for {self._wd_timeout:.1f}s — sending zero-speed"
+                )
+                self._watchdog_sent = True
+            self._last_speed = 0
+            self._last_steer = 0
+            self._write(encode_speed_steer(0, 0))
 
-    def _on_outputs(self, msg: String) -> None:
-        """Parse JSON {"horn":bool,"buzzer":bool,"headlight":0-255,"fan":0-255}."""
+    def _on_pid_update(self, msg: String) -> None:
+        """Parse JSON /saltybot/pid_update and send PID_UPDATE frame."""
         try:
-            d = json.loads(msg.data)
-            frame = encode_output_cmd(
-                bool(d.get("horn",     False)),
-                bool(d.get("buzzer",   False)),
-                int(d.get("headlight", 0)),
-                int(d.get("fan",       0)),
-            )
+            data = json.loads(msg.data)
+            kp = float(data["kp"])
+            ki = float(data["ki"])
+            kd = float(data["kd"])
         except (ValueError, KeyError, json.JSONDecodeError) as exc:
-            self.get_logger().error(f"Bad /saltybot/outputs JSON: {exc}")
+            self.get_logger().error(f"Bad PID update JSON: {exc}")
             return
-        self._write(frame)
+        frame = encode_pid_update(kp, ki, kd)
+        if self._write(frame):
+            self.get_logger().info(f"PID update: kp={kp}, ki={ki}, kd={kd}")
+        else:
+            self.get_logger().warn("PID_UPDATE dropped — serial not open")
 
-    # ── Diagnostics ───────────────────────────────────────────────────────
+    # ── Services ──────────────────────────────────────────────────────────────
+
+    def _svc_arm(self, request: SetBool.Request, response: SetBool.Response):
+        """SetBool(True) = arm, SetBool(False) = disarm."""
+        arm = request.data
+        frame = encode_arm(arm)
+        ok = self._write(frame)
+        response.success = ok
+        response.message = ("ARMED" if arm else "DISARMED") if ok else "serial not open"
+        self.get_logger().info(
+            f"ARM service: {'arm' if arm else 'disarm'} — {'sent' if ok else 'FAILED'}"
+        )
+        return response
+
+    def _svc_set_mode(self, request: SetBool.Request, response: SetBool.Response):
+        """SetBool: data maps to mode byte (True=1, False=0)."""
+        mode = 1 if request.data else 0
+        frame = encode_set_mode(mode)
+        ok = self._write(frame)
+        response.success = ok
+        response.message = f"mode={mode}" if ok else "serial not open"
+        return response
+
+    # ── Diagnostics ───────────────────────────────────────────────────────────
 
     def _publish_diagnostics(self) -> None:
         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}"
-        status.values  = [
-            KeyValue(key="serial_port", value=self._port_name),
-            KeyValue(key="baud_rate",   value=str(self._baud)),
-            KeyValue(key="port_open",   value=str(port_ok)),
-            KeyValue(key="rx_frames",   value=str(self._rx_count)),
-            KeyValue(key="rx_errors",   value=str(self._parser.frames_error)),
+        if port_ok:
+            status.level   = DiagnosticStatus.OK
+            status.message = "Serial OK"
+        else:
+            status.level   = DiagnosticStatus.ERROR
+            status.message = f"Serial disconnected: {self._port_name}"
+
+        wd_age = time.monotonic() - self._last_cmd_t
+        status.values = [
+            KeyValue(key="serial_port",    value=self._port_name),
+            KeyValue(key="port_open",      value=str(port_ok)),
+            KeyValue(key="rx_frames",      value=str(self._rx_frame_count)),
+            KeyValue(key="rx_errors",      value=str(self._parser.frames_error)),
+            KeyValue(key="last_speed",     value=str(self._last_speed)),
+            KeyValue(key="last_steer",     value=str(self._last_steer)),
+            KeyValue(key="cmd_vel_age_s",  value=f"{wd_age:.2f}"),
+            KeyValue(key="battery_mv",     value=str(self._last_battery_mv)),
+            KeyValue(key="arm_state",      value=_ARM_LABEL.get(self._last_arm_state, "?")),
         ]
         diag.status.append(status)
         self._diag_pub.publish(diag)
 
-    # ── Lifecycle ─────────────────────────────────────────────────────────
+    # ── Lifecycle ─────────────────────────────────────────────────────────────
 
     def destroy_node(self) -> None:
-        self._write(encode_heartbeat(state=0))
-        with self._ser_lock:
-            if self._ser and self._ser.is_open:
-                try:
-                    self._ser.close()
-                except Exception:
-                    pass
-            self._ser = None
+        # Send zero-speed + disarm on shutdown
+        self._write(encode_speed_steer(0, 0))
+        self._write(encode_arm(False))
+        self._close_serial()
         super().destroy_node()
 
 

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

@@ -1,26 +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
-
-TX path:
-  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → ESP32 BALANCE
-  Heartbeat timer (200ms)        → H\\n                 → ESP32 BALANCE
-
-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
 
@@ -32,7 +15,6 @@ 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
@@ -46,7 +38,7 @@ IMU_FRAME_ID = "imu_link"
 
 class SerialBridgeNode(Node):
     def __init__(self):
-        super().__init__("esp32_serial_bridge")
+        super().__init__("stm32_serial_bridge")
 
         # ── Parameters ────────────────────────────────────────────────────────
         self.declare_parameter("serial_port", "/dev/ttyACM0")
@@ -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/setup.py

@@ -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_cmd_vel_bridge.py

@@ -139,10 +139,10 @@ class TestModeGate:
     MODE_ASSISTED  = 1
     MODE_AUTONOMOUS = 2
 
-    def _apply_mode_gate(self, esp32_mode, current_speed, current_steer,
+    def _apply_mode_gate(self, stm32_mode, current_speed, current_steer,
                           target_speed, target_steer, step=10):
         """Mirror of _control_cb mode gate logic."""
-        if esp32_mode != self.MODE_AUTONOMOUS:
+        if stm32_mode != self.MODE_AUTONOMOUS:
             # Reset ramp state, send zero
             return 0, 0, 0, 0  # (current_speed, current_steer, sent_speed, sent_steer)
         new_s = _ramp_toward(current_speed, target_speed, step)

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
 """
 

jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml

@@ -19,11 +19,7 @@
 #   inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
 #   DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_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/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml

@@ -2,11 +2,7 @@
 # Master configuration for full stack bringup
 
 # ────────────────────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-# HARDWARE — ESP32 BALANCE Bridge & Motor Control
-=======
 # HARDWARE — ESP32-S3 Bridge & Motor Control
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # ────────────────────────────────────────────────────────────────────────────
 
 saltybot_bridge_node:

jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py

@@ -39,11 +39,7 @@ Modes
     ─ UWB driver (2-anchor DW3000, publishes /uwb/target)
     ─ YOLOv8n person detection (TensorRT)
     ─ Person follower with UWB+camera fusion
-<<<<<<< HEAD
-    ─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate)
-=======
     ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     ─ rosbridge WebSocket (port 9090)
 
   outdoor
@@ -61,13 +57,8 @@ Modes
 Launch sequence (wall-clock delays — conservative for cold start)
 ─────────────────────────────────────────────────────────────────
    t= 0s  robot_description   (URDF + TF tree)
-<<<<<<< HEAD
-   t= 0s  ESP32 bridge        (serial port owner — must be first)
-   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32 bridge up)
-=======
    t= 0s  ESP32-S3 bridge        (serial port owner — must be first)
    t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32-S3 bridge up)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
    t= 2s  sensors             (RPLIDAR + RealSense)
    t= 4s  UWB driver          (independent serial device)
    t= 4s  CSI cameras         (optional, independent)
@@ -80,17 +71,10 @@ Launch sequence (wall-clock delays — conservative for cold start)
 
 Safety wiring
 ─────────────
-<<<<<<< HEAD
-  • ESP32 bridge must be up before cmd_vel bridge sends any command.
-  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
-  • ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
-    until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel.
-=======
   • ESP32-S3 bridge must be up before cmd_vel bridge sends any command.
   • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
   • ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
     until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   • follow_enabled:=false disables person follower without stopping the node.
   • To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
 
@@ -107,11 +91,7 @@ Topics published by this stack
   /person/target                   PoseStamped    (camera position, base_link)
   /person/detections               Detection2DArray
   /cmd_vel                         Twist          (from follower or Nav2)
-<<<<<<< HEAD
-  /saltybot/cmd                    String         (to ESP32 BALANCE)
-=======
   /saltybot/cmd                    String         (to ESP32-S3)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   /saltybot/imu                    Imu
   /saltybot/balance_state          String
 """
@@ -229,11 +209,7 @@ def generate_launch_description():
     enable_bridge_arg = DeclareLaunchArgument(
         "enable_bridge",
         default_value="true",
-<<<<<<< HEAD
-        description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
-=======
         description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     enable_rosbridge_arg = DeclareLaunchArgument(
@@ -294,11 +270,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
     esp32_port_arg = DeclareLaunchArgument(
         "esp32_port",
         default_value="/dev/esp32-bridge",
-<<<<<<< HEAD
-        description="ESP32 USB CDC serial port",
-=======
         description="ESP32-S3 USB CDC serial port",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     # ── Shared substitution handles ───────────────────────────────────────────
@@ -318,11 +290,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
         launch_arguments={"use_sim_time": use_sim_time}.items(),
     )
 
-<<<<<<< HEAD
-    # ── t=0s  ESP32 bidirectional serial bridge ────────────────────────────────
-=======
     # ── t=0s  ESP32-S3 bidirectional serial bridge ────────────────────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     esp32_bridge = GroupAction(
         condition=IfCondition(LaunchConfiguration("enable_bridge")),
         actions=[
@@ -352,11 +320,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
         ],
     )
 
-<<<<<<< HEAD
-    # ── t=2s  cmd_vel safety bridge (depends on ESP32 bridge) ────────────────
-=======
     # ── t=2s  cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     cmd_vel_bridge = TimerAction(
         period=2.0,
         actions=[

jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py

@@ -19,11 +19,7 @@ Usage
 
 Startup sequence
 ────────────────
-<<<<<<< HEAD
-  GROUP A — Drivers      t= 0 s  ESP32 bridge, RealSense+RPLIDAR, motor daemon, IMU
-=======
   GROUP A — Drivers      t= 0 s  ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
   GROUP B — Perception   t= 8 s  UWB, person detection, object detection, depth costmap, gimbal
   health gate ───────────────────────────────────────────────── t=16 s (full/debug)
@@ -127,11 +123,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
     esp32_port_arg = DeclareLaunchArgument(
         "esp32_port",
         default_value="/dev/esp32-bridge",
-<<<<<<< HEAD
-        description="ESP32 UART bridge serial device",
-=======
         description="ESP32-S3 USART bridge serial device",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     uwb_port_a_arg = DeclareLaunchArgument(
@@ -206,11 +198,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
 
     # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
     # GROUP A — DRIVERS   (t = 0 s, all profiles)
-<<<<<<< HEAD
-    # Dependency order: ESP32 bridge first, then sensors, then motor daemon.
-=======
     # Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     # Health gate: subsequent groups delayed until t_perception (8 s full/debug).
     # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
 
@@ -224,11 +212,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
         launch_arguments={"use_sim_time": use_sim_time}.items(),
     )
 
-<<<<<<< HEAD
-    # ESP32 BALANCE bridge
-=======
     # ESP32-S3 bidirectional bridge (JLINK USART1)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     esp32_bridge = IncludeLaunchDescription(
         _launch("saltybot_bridge", "launch", "bridge.launch.py"),
         launch_arguments={
@@ -248,11 +232,7 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
         ],
     )
 
-<<<<<<< HEAD
-    # Motor daemon: /cmd_vel → ESP32 BALANCE DRIVE frames (depends on bridge at t=0)
-=======
     # Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     motor_daemon = TimerAction(
         period=2.5,
         actions=[

jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py

@@ -20,11 +20,7 @@ theta is kept in (−π, π] after every step.
 
 Int32 rollover
 --------------
-<<<<<<< HEAD
-ESP32 BALANCE encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
-=======
 ESP32-S3 encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 this by detecting jumps larger than half the int32 range and adjusting by the
 full range:
 

jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py

@@ -69,11 +69,7 @@ class Profile:
     t_ui:         float = 22.0  # Group D (nav2 needs ~4 s to load costmaps)
 
     # ── Safety ────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-    watchdog_timeout_s:  float = 5.0   # max silence from ESP32 bridge (s)
-=======
     watchdog_timeout_s:  float = 5.0   # max silence from ESP32-S3 bridge (s)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     cmd_vel_deadman_s:   float = 0.5   # cmd_vel watchdog in bridge
     max_linear_vel:      float = 0.5   # m/s cap passed to bridge + follower
     follow_distance_m:   float = 1.5   # target follow distance (m)
@@ -94,11 +90,7 @@ class Profile:
 # ── Profile factory ────────────────────────────────────────────────────────────
 
 def _minimal() -> Profile:
-<<<<<<< HEAD
-    """Minimal: ESP32 bridge + sensors + motor daemon.
-=======
     """Minimal: ESP32-S3 bridge + sensors + motor daemon.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     Safe drive control only.  No AI, no nav, no social.
     Boot time ~4 s.  RAM ~400 MB.

jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py

@@ -1,11 +1,7 @@
 """
 wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184).
 
-<<<<<<< HEAD
-Subscribes to raw encoder tick counts from the ESP32 bridge, integrates
-=======
 Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integrates
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
 Optionally broadcasts the odom → base_link TF transform.
 

jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md

@@ -61,11 +61,7 @@ kill %1
 
 ### Core System Components
 - Robot Description (URDF/TF tree)
-<<<<<<< HEAD
-- ESP32 Serial Bridge
-=======
 - ESP32-S3 Serial Bridge
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - cmd_vel Bridge  
 - Rosbridge WebSocket
 
@@ -129,11 +125,7 @@ free -h
 
 ### cmd_vel bridge not responding
 ```bash
-<<<<<<< HEAD
-# Verify ESP32 bridge is running first
-=======
 # Verify ESP32-S3 bridge is running first
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ros2 node list | grep bridge
 
 # Check serial port

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py

@@ -3,7 +3,8 @@
 can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32-S3 BALANCE motor
 controller and VESC motor controllers over CAN bus.
 
-Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §6 (2026-04-04)
+The node opens the SocketCAN interface (slcan0 by default), spawns a background
+reader thread to process incoming telemetry, and exposes the following interface:
 
 Subscriptions
 -------------
@@ -18,15 +19,9 @@ Publications
   /can/vesc/right/state   std_msgs/Float32MultiArray   Right VESC state
   /can/connection_status  std_msgs/String              "connected" | "disconnected"
 
-Parameters
-----------
-  can_interface     str    CAN socket name (default: slcan0)
-  speed_scale       float  /cmd_vel linear.x (m/s) → motor units  (default: 1000.0)
-  steer_scale       float  /cmd_vel angular.z (rad/s) → motor units (default: -500.0)
-  command_timeout_s float  watchdog zero-vel threshold (default: 0.5)
+Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/674
 """
 
-import json
 import threading
 import time
 from typing import Optional
@@ -35,7 +30,8 @@ import can
 import rclpy
 from geometry_msgs.msg import Twist
 from rclpy.node import Node
-from sensor_msgs.msg import BatteryState
+from rcl_interfaces.msg import SetParametersResult
+from sensor_msgs.msg import BatteryState, Imu
 from std_msgs.msg import Bool, Float32MultiArray, String
 
 from saltybot_can_bridge.balance_protocol import (
@@ -48,19 +44,22 @@ from saltybot_can_bridge.balance_protocol import (
     ORIN_CAN_ID_FC_PID_ACK,
     ORIN_CAN_ID_PID_SET,
     MODE_DRIVE,
+    MODE_ESTOP,
     MODE_IDLE,
-    encode_drive_cmd,
-    encode_arm_cmd,
     encode_estop_cmd,
-    decode_attitude,
-    decode_battery,
-    decode_vesc_status1,
+    encode_mode_cmd,
+    encode_velocity_cmd,
+    encode_pid_set_cmd,
+    decode_battery_telem,
+    decode_imu_telem,
+    decode_pid_ack,
+    decode_vesc_state,
 )
 
 # Reconnect attempt interval when CAN bus is lost
 _RECONNECT_INTERVAL_S: float = 5.0
 
-# Watchdog tick rate (Hz); sends zero DRIVE when /cmd_vel is silent
+# Watchdog timer tick rate (Hz)
 _WATCHDOG_HZ: float = 10.0
 
 
@@ -71,41 +70,50 @@ class CanBridgeNode(Node):
         super().__init__("can_bridge_node")
 
         # ── Parameters ────────────────────────────────────────────────────
-        self.declare_parameter("can_interface",     "slcan0")
-        self.declare_parameter("left_vesc_can_id",  VESC_LEFT_ID)
-        self.declare_parameter("right_vesc_can_id", VESC_RIGHT_ID)
-        self.declare_parameter("speed_scale",       1000.0)
-        self.declare_parameter("steer_scale",       -500.0)
+        self.declare_parameter("can_interface", "slcan0")
+        self.declare_parameter("left_vesc_can_id", 56)
+        self.declare_parameter("right_vesc_can_id", 68)
+        self.declare_parameter("mamba_can_id", 1)
         self.declare_parameter("command_timeout_s", 0.5)
+        self.declare_parameter("pid/kp", 0.0)
+        self.declare_parameter("pid/ki", 0.0)
+        self.declare_parameter("pid/kd", 0.0)
 
-        self._iface         = self.get_parameter("can_interface").value
-        self._left_vesc_id  = self.get_parameter("left_vesc_can_id").value
-        self._right_vesc_id = self.get_parameter("right_vesc_can_id").value
-        self._speed_scale   = self.get_parameter("speed_scale").value
-        self._steer_scale   = self.get_parameter("steer_scale").value
-        self._cmd_timeout   = self.get_parameter("command_timeout_s").value
+        self._iface: str = self.get_parameter("can_interface").value
+        self._left_vesc_id: int = self.get_parameter("left_vesc_can_id").value
+        self._right_vesc_id: int = self.get_parameter("right_vesc_can_id").value
+        self._mamba_id: int = self.get_parameter("mamba_can_id").value
+        self._cmd_timeout: float = self.get_parameter("command_timeout_s").value
+        self._pid_kp: float = self.get_parameter("pid/kp").value
+        self._pid_ki: float = self.get_parameter("pid/ki").value
+        self._pid_kd: float = self.get_parameter("pid/kd").value
 
         # ── State ─────────────────────────────────────────────────────────
         self._bus: Optional[can.BusABC] = None
         self._connected: bool = False
         self._last_cmd_time: float = time.monotonic()
-        self._lock = threading.Lock()
+        self._lock = threading.Lock()  # protects _bus / _connected
 
         # ── Publishers ────────────────────────────────────────────────────
-        self._pub_attitude  = self.create_publisher(String,           "/saltybot/attitude",      10)
-        self._pub_balance   = self.create_publisher(String,           "/saltybot/balance_state", 10)
-        self._pub_battery   = self.create_publisher(BatteryState,     "/can/battery",            10)
-        self._pub_vesc_left = self.create_publisher(Float32MultiArray,"/can/vesc/left/state",    10)
-        self._pub_vesc_right= self.create_publisher(Float32MultiArray,"/can/vesc/right/state",   10)
-        self._pub_status    = self.create_publisher(String,           "/can/connection_status",  10)
+        self._pub_imu = self.create_publisher(Imu, "/can/imu", 10)
+        self._pub_battery = self.create_publisher(BatteryState, "/can/battery", 10)
+        self._pub_vesc_left = self.create_publisher(
+            Float32MultiArray, "/can/vesc/left/state", 10
+        )
+        self._pub_vesc_right = self.create_publisher(
+            Float32MultiArray, "/can/vesc/right/state", 10
+        )
+        self._pub_status = self.create_publisher(
+            String, "/can/connection_status", 10
+        )
 
         # ── Subscriptions ─────────────────────────────────────────────────
-        self.create_subscription(Twist, "/cmd_vel",       self._cmd_vel_cb, 10)
-        self.create_subscription(Bool,  "/estop",         self._estop_cb,   10)
-        self.create_subscription(Bool,  "/saltybot/arm",  self._arm_cb,     10)
+        self.create_subscription(Twist, "/cmd_vel", self._cmd_vel_cb, 10)
+        self.create_subscription(Bool, "/estop", self._estop_cb, 10)
+        self.add_on_set_parameters_callback(self._on_set_parameters)
 
         # ── Timers ────────────────────────────────────────────────────────
-        self.create_timer(1.0 / _WATCHDOG_HZ,  self._watchdog_cb)
+        self.create_timer(1.0 / _WATCHDOG_HZ, self._watchdog_cb)
         self.create_timer(_RECONNECT_INTERVAL_S, self._reconnect_cb)
 
         # ── Open CAN ──────────────────────────────────────────────────────
@@ -120,17 +128,46 @@ class CanBridgeNode(Node):
         self.get_logger().info(
             f"can_bridge_node ready — iface={self._iface} "
             f"left_vesc={self._left_vesc_id} right_vesc={self._right_vesc_id} "
-            f"speed_scale={self._speed_scale} steer_scale={self._steer_scale}"
+            f"mamba={self._mamba_id}"
         )
 
+    # -- PID parameter callback (Issue #693) --
+
+    def _on_set_parameters(self, params) -> SetParametersResult:
+        """Send new PID gains over CAN when pid/* params change."""
+        for p in params:
+            if p.name == "pid/kp":
+                self._pid_kp = float(p.value)
+            elif p.name == "pid/ki":
+                self._pid_ki = float(p.value)
+            elif p.name == "pid/kd":
+                self._pid_kd = float(p.value)
+            else:
+                continue
+            try:
+                payload = encode_pid_set_cmd(self._pid_kp, self._pid_ki, self._pid_kd)
+                self._send_can(ORIN_CAN_ID_PID_SET, payload, "pid_set")
+                self.get_logger().info(
+                    f"PID gains sent: Kp={self._pid_kp:.2f} "
+                    f"Ki={self._pid_ki:.2f} Kd={self._pid_kd:.2f}"
+                )
+            except ValueError as exc:
+                return SetParametersResult(successful=False, reason=str(exc))
+        return SetParametersResult(successful=True)
+
     # ── Connection management ──────────────────────────────────────────────
 
     def _try_connect(self) -> None:
+        """Attempt to open the CAN interface; silently skip if already connected."""
         with self._lock:
             if self._connected:
                 return
             try:
-                self._bus = can.interface.Bus(channel=self._iface, bustype="socketcan")
+                bus = can.interface.Bus(
+                    channel=self._iface,
+                    bustype="socketcan",
+                )
+                self._bus = bus
                 self._connected = True
                 self.get_logger().info(f"CAN bus connected: {self._iface}")
                 self._publish_status("connected")
@@ -143,10 +180,12 @@ class CanBridgeNode(Node):
                 self._publish_status("disconnected")
 
     def _reconnect_cb(self) -> None:
+        """Periodic timer: try to reconnect when disconnected."""
         if not self._connected:
             self._try_connect()
 
     def _handle_can_error(self, exc: Exception, context: str) -> None:
+        """Mark bus as disconnected on any CAN error."""
         self.get_logger().warning(f"CAN error in {context}: {exc}")
         with self._lock:
             if self._bus is not None:
@@ -161,8 +200,9 @@ class CanBridgeNode(Node):
     # ── ROS callbacks ─────────────────────────────────────────────────────
 
     def _cmd_vel_cb(self, msg: Twist) -> None:
-        """Convert /cmd_vel Twist to ORIN_CMD_DRIVE over CAN."""
+        """Convert /cmd_vel Twist to VESC speed commands over CAN."""
         self._last_cmd_time = time.monotonic()
+
         if not self._connected:
             return
 
@@ -188,6 +228,8 @@ class CanBridgeNode(Node):
         """Forward /estop to ESP32-S3 BALANCE over CAN."""
         if not self._connected:
             return
+        payload = encode_estop_cmd(msg.data)
+        self._send_can(MAMBA_CMD_ESTOP, payload, "estop")
         if msg.data:
             self._send_can(
                 MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
@@ -197,22 +239,34 @@ class CanBridgeNode(Node):
     # ── Watchdog ──────────────────────────────────────────────────────────
 
     def _watchdog_cb(self) -> None:
-        """If /cmd_vel is silent for command_timeout_s, send zero DRIVE (acts as keepalive)."""
+        """If no /cmd_vel arrives within the timeout, send zero velocity."""
         if not self._connected:
             return
-        if time.monotonic() - self._last_cmd_time > self._cmd_timeout:
-            self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "watchdog")
+        elapsed = time.monotonic() - self._last_cmd_time
+        if elapsed > self._cmd_timeout:
+            self._send_can(
+                MAMBA_CMD_VELOCITY,
+                encode_velocity_cmd(0.0, 0.0),
+                "watchdog zero-vel",
+            )
+            self._send_can(
+                MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE), "watchdog idle"
+            )
 
     # ── CAN send helper ───────────────────────────────────────────────────
 
-    def _send_can(self, arb_id: int, data: bytes, context: str,
-                  extended: bool = False) -> None:
+    def _send_can(self, arb_id: int, data: bytes, context: str) -> None:
+        """Send a standard CAN frame; handle errors gracefully."""
         with self._lock:
             if not self._connected or self._bus is None:
                 return
             bus = self._bus
-        msg = can.Message(arbitration_id=arb_id, data=data,
-                          is_extended_id=extended)
+
+        msg = can.Message(
+            arbitration_id=arb_id,
+            data=data,
+            is_extended_id=False,
+        )
         try:
             bus.send(msg, timeout=0.05)
         except can.CanError as exc:
@@ -221,41 +275,55 @@ class CanBridgeNode(Node):
     # ── Background CAN reader ─────────────────────────────────────────────
 
     def _reader_loop(self) -> None:
+        """
+        Blocking CAN read loop executed in a daemon thread.
+        Dispatches incoming frames to the appropriate handler.
+        """
         while rclpy.ok():
             with self._lock:
-                connected, bus = self._connected, self._bus
+                connected = self._connected
+                bus = self._bus
+
             if not connected or bus is None:
                 time.sleep(0.1)
                 continue
+
             try:
                 frame = bus.recv(timeout=0.5)
             except can.CanError as exc:
                 self._handle_can_error(exc, "reader_loop recv")
                 continue
+
             if frame is None:
+                # Timeout — no frame within 0.5 s, loop again
                 continue
+
             self._dispatch_frame(frame)
 
     def _dispatch_frame(self, frame: can.Message) -> None:
+        """Route an incoming CAN frame to the correct publisher."""
         arb_id = frame.arbitration_id
-        data   = bytes(frame.data)
-        vesc_l = (VESC_STATUS_1 << 8) | self._left_vesc_id
-        vesc_r = (VESC_STATUS_1 << 8) | self._right_vesc_id
+        data = bytes(frame.data)
+
         try:
-            if arb_id == ESP32_TELEM_ATTITUDE:
-                self._handle_attitude(data)
-            elif arb_id == ESP32_TELEM_BATTERY:
-                self._handle_battery(data)
-            elif arb_id == vesc_l:
-                t = decode_vesc_status1(self._left_vesc_id, data)
-                m = Float32MultiArray()
-                m.data = [t.erpm, t.duty, 0.0, t.current]
-                self._pub_vesc_left.publish(m)
-            elif arb_id == vesc_r:
-                t = decode_vesc_status1(self._right_vesc_id, data)
-                m = Float32MultiArray()
-                m.data = [t.erpm, t.duty, 0.0, t.current]
-                self._pub_vesc_right.publish(m)
+            if arb_id == MAMBA_TELEM_IMU:
+                self._handle_imu(data, frame.timestamp)
+
+            elif arb_id == MAMBA_TELEM_BATTERY:
+                self._handle_battery(data, frame.timestamp)
+
+            elif arb_id == VESC_TELEM_STATE + self._left_vesc_id:
+                self._handle_vesc_state(data, frame.timestamp, side="left")
+
+            elif arb_id == VESC_TELEM_STATE + self._right_vesc_id:
+                self._handle_vesc_state(data, frame.timestamp, side="right")
+
+            elif arb_id == ORIN_CAN_ID_FC_PID_ACK:
+                gains = decode_pid_ack(data)
+                self.get_logger().debug(
+                    f"FC PID ACK: Kp={gains.kp:.2f} Ki={gains.ki:.2f} Kd={gains.kd:.2f}"
+                )
+
         except Exception as exc:
             self.get_logger().warning(
                 f"Error parsing CAN frame 0x{arb_id:03X}: {exc}"
@@ -263,36 +331,52 @@ class CanBridgeNode(Node):
 
     # ── Frame handlers ────────────────────────────────────────────────────
 
-    _STATE_LABEL = {0: "IDLE", 1: "RUNNING", 2: "FAULT"}
+    def _handle_imu(self, data: bytes, timestamp: float) -> None:
+        telem = decode_imu_telem(data)
 
-    def _handle_attitude(self, data: bytes) -> None:
-        """ATTITUDE (0x400): pitch, speed, yaw_rate, state, flags → /saltybot/attitude."""
-        t = decode_attitude(data)
-        now = self.get_clock().now().to_msg()
-        payload = {
-            "pitch_deg":  round(t.pitch_deg, 2),
-            "speed_mps":  round(t.speed, 3),
-            "yaw_rate":   round(t.yaw_rate, 3),
-            "state":      t.state,
-            "state_label": self._STATE_LABEL.get(t.state, f"UNKNOWN({t.state})"),
-            "flags":      t.flags,
-            "ts":         f"{now.sec}.{now.nanosec:09d}",
-        }
-        msg = String()
-        msg.data = json.dumps(payload)
-        self._pub_attitude.publish(msg)
-        self._pub_balance.publish(msg)   # keep /saltybot/balance_state alive
+        msg = Imu()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.frame_id = "imu_link"
+
+        msg.linear_acceleration.x = telem.accel_x
+        msg.linear_acceleration.y = telem.accel_y
+        msg.linear_acceleration.z = telem.accel_z
+
+        msg.angular_velocity.x = telem.gyro_x
+        msg.angular_velocity.y = telem.gyro_y
+        msg.angular_velocity.z = telem.gyro_z
+
+        # Covariance unknown; mark as -1 per REP-145
+        msg.orientation_covariance[0] = -1.0
+
+        self._pub_imu.publish(msg)
+
+    def _handle_battery(self, data: bytes, timestamp: float) -> None:
+        telem = decode_battery_telem(data)
 
-    def _handle_battery(self, data: bytes) -> None:
-        """BATTERY (0x401): vbat_mv, fault_code, rssi → /can/battery."""
-        t = decode_battery(data)
         msg = BatteryState()
         msg.header.stamp = self.get_clock().now().to_msg()
-        msg.voltage = t.vbat_mv / 1000.0
+        msg.voltage = telem.voltage
+        msg.current = telem.current
         msg.present = True
         msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
+
         self._pub_battery.publish(msg)
 
+    def _handle_vesc_state(
+        self, data: bytes, timestamp: float, side: str
+    ) -> None:
+        telem = decode_vesc_state(data)
+
+        msg = Float32MultiArray()
+        # Layout: [erpm, duty, voltage, current]
+        msg.data = [telem.erpm, telem.duty, telem.voltage, telem.current]
+
+        if side == "left":
+            self._pub_vesc_left.publish(msg)
+        else:
+            self._pub_vesc_right.publish(msg)
+
     # ── Status helper ─────────────────────────────────────────────────────
 
     def _publish_status(self, status: str) -> None:
@@ -303,10 +387,17 @@ class CanBridgeNode(Node):
     # ── Shutdown ──────────────────────────────────────────────────────────
 
     def destroy_node(self) -> None:
+        """Send zero velocity and shut down the CAN bus cleanly."""
         if self._connected and self._bus is not None:
             try:
-                self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(0, 0, MODE_IDLE), "shutdown")
-                self._send_can(ORIN_CMD_ARM,   encode_arm_cmd(False), "shutdown")
+                self._send_can(
+                    MAMBA_CMD_VELOCITY,
+                    encode_velocity_cmd(0.0, 0.0),
+                    "shutdown",
+                )
+                self._send_can(
+                    MAMBA_CMD_MODE, encode_mode_cmd(MODE_IDLE), "shutdown"
+                )
             except Exception:
                 pass
             try:
@@ -316,6 +407,8 @@ class CanBridgeNode(Node):
         super().destroy_node()
 
 
+# ---------------------------------------------------------------------------
+
 def main(args=None) -> None:
     rclpy.init(args=args)
     node = CanBridgeNode()

jetson/ros2_ws/src/saltybot_can_bridge/setup.py

@@ -15,11 +15,7 @@ setup(
     zip_safe=True,
     maintainer="sl-controls",
     maintainer_email="sl-controls@saltylab.local",
-<<<<<<< HEAD
-    description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry",
-=======
     description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     license="MIT",
     tests_require=["pytest"],
     entry_points={

jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py

@@ -22,10 +22,7 @@ FC (ESP32-S3 BALANCE) → Orin telemetry (standard 11-bit, matching orin_can.h):
   FC_IMU              0x402    8 bytes
   FC_BARO             0x403    8 bytes
 
-Mamba ↔ VESC internal commands (matching balance_protocol.py):
-=======
 ESP32-S3 BALANCE ↔ VESC internal commands (matching balance_protocol.py):
->>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
   MAMBA_CMD_VELOCITY  0x100    8 bytes  left_mps (f32) | right_mps (f32) big-endian
   MAMBA_CMD_MODE      0x101    1 byte   mode (0=idle,1=drive,2=estop)
   MAMBA_CMD_ESTOP     0x102    1 byte   0x01=stop
@@ -57,10 +54,7 @@ FC_IMU: int    = 0x402
 FC_BARO: int   = 0x403
 
 # ---------------------------------------------------------------------------
-# Mamba → VESC internal command IDs  (from balance_protocol.py)
-=======
 # ESP32-S3 BALANCE → VESC internal command IDs  (from balance_protocol.py)
->>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
 # ---------------------------------------------------------------------------
 
 MAMBA_CMD_VELOCITY: int = 0x100
@@ -142,10 +136,7 @@ def build_estop_cmd(action: int = 1) -> bytes:
 
 
 # ---------------------------------------------------------------------------
-# Frame builders — Mamba velocity commands (balance_protocol.py encoding)
-=======
 # Frame builders — ESP32-S3 BALANCE velocity commands (balance_protocol.py encoding)
->>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
 # ---------------------------------------------------------------------------
 
 def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:

jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml

@@ -27,11 +27,7 @@ robot:
   stem_od:     0.0381          # m  STEM_OD = 38.1mm
   stem_height: 1.050           # m  nominal cut length
 
-<<<<<<< HEAD
-  # ── FC / IMU (ESP32 BALANCE) ──────────────────────────────────────────────────
-=======
   # ── FC / IMU (ESP32-S3 BALANCE) ──────────────────────────────────────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
   # z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
   imu_x:  0.050                # m  forward of base_link center

jetson/ros2_ws/src/saltybot_diagnostics/README.md

@@ -5,11 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot.
 ## Features
 
 ### Startup Checks
-<<<<<<< HEAD
-- RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos
-=======
 - RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - WiFi, GPS, disk space, RAM
 - Boot result TTS + face animation
 - JSON logging

jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py

@@ -138,11 +138,7 @@ class DiagnosticsNode(Node):
             self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})
 
     def _check_stm32(self):
-<<<<<<< HEAD
-        self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {})
-=======
         self.hardware_checks["stm32"] = ("OK", "ESP32-S3 bridge online", {})
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     def _check_servos(self):
         try:

jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml

@@ -7,11 +7,7 @@
 #   ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2
 #
 # IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46)
-<<<<<<< HEAD
-# applies the ESC ramp, deadman switch, and ESP32 BALANCE AUTONOMOUS mode gate.
-=======
 # applies the ESC ramp, deadman switch, and ESP32-S3 AUTONOMOUS mode gate.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # Do not run this node without the cmd_vel bridge running on the same robot.
 
 # ── Follow geometry ────────────────────────────────────────────────────────────
@@ -74,9 +70,5 @@ control_rate:     20.0        # Hz — lower than cmd_vel bridge (50Hz) by desig
 # ── Mode integration ──────────────────────────────────────────────────────────
 # Master enable for the follow controller. When false, node publishes zero cmd_vel.
 # Toggle at runtime: ros2 param set /person_follower follow_enabled false
-<<<<<<< HEAD
-# The cmd_vel bridge independently gates on ESP32 BALANCE AUTONOMOUS mode (md=2).
-=======
 # The cmd_vel bridge independently gates on ESP32-S3 AUTONOMOUS mode (md=2).
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 follow_enabled:   true

jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py

@@ -28,11 +28,7 @@ State machine
 
 Safety wiring
 -------------
-<<<<<<< HEAD
-  * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32 BALANCE AUTONOMOUS mode gate --
-=======
   * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32-S3 AUTONOMOUS mode gate --
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     this node publishes raw /cmd_vel, the bridge handles hardware safety.
   * follow_enabled param (default True) lets the operator disable the controller
     at runtime: ros2 param set /person_follower follow_enabled false

jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml

@@ -1,10 +1,6 @@
 gimbal_node:
   ros__parameters:
-<<<<<<< HEAD
-    # Serial port connecting to ESP32 BALANCE over JLINK protocol
-=======
     # Serial port connecting to ESP32-S3 over JLINK protocol
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     serial_port: "/dev/ttyTHS1"
     baud_rate: 921600
 

jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py

@@ -14,11 +14,7 @@ def generate_launch_description() -> LaunchDescription:
     serial_port_arg = DeclareLaunchArgument(
         "serial_port",
         default_value="/dev/ttyTHS1",
-<<<<<<< HEAD
-        description="JLINK serial port to ESP32 BALANCE",
-=======
         description="JLINK serial port to ESP32-S3",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
     pan_limit_arg = DeclareLaunchArgument(
         "pan_limit_deg",

jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py

@@ -1,11 +1,7 @@
 #!/usr/bin/env python3
 """gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548).
 
-<<<<<<< HEAD
-Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32 BALANCE.
-=======
 Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32-S3.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Implements smooth trapezoidal motion profiles with configurable axis limits.
 
 Subscribed topics:

jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py

@@ -1,24 +1,14 @@
 """jlink_gimbal.py — JLINK binary frame codec for gimbal commands (Issue #548).
 
-<<<<<<< HEAD
-Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32 side).
-
-Command type (Jetson → ESP32 BALANCE):
-=======
 Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32-S3 side).
 
 Command type (Jetson → ESP32-S3):
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   0x0B  GIMBAL_POS  — int16 pan_x10 + int16 tilt_x10 + uint16 speed   (6 bytes)
                        pan_x10  = pan_deg  * 10  (±1500 for ±150°)
                        tilt_x10 = tilt_deg * 10  (±450  for ±45°)
                        speed    = servo speed register 0–4095 (0 = max)
 
-<<<<<<< HEAD
-Telemetry type (ESP32 BALANCE → Jetson):
-=======
 Telemetry type (ESP32-S3 → Jetson):
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   0x84  GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 +
                         uint16 pan_speed_raw + uint16 tilt_speed_raw +
                         uint8 torque_en + uint8 rx_err_pct             (10 bytes)
@@ -41,13 +31,8 @@ ETX = 0x03
 
 # ── Command / telemetry type codes ─────────────────────────────────────────────
 
-<<<<<<< HEAD
-CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32 BALANCE: set pan/tilt target
-TLM_GIMBAL_STATE = 0x84   # ESP32 BALANCE → Jetson: measured state
-=======
 CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32-S3: set pan/tilt target
 TLM_GIMBAL_STATE = 0x84   # ESP32-S3 → Jetson: measured state
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 # Speed register: 0 = maximum servo speed; 4095 = slowest non-zero speed.
 # Map deg/s to this register: speed_reg = max(0, 4095 - int(deg_s * 4095 / 360))

jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml

@@ -5,11 +5,7 @@
 #
 # Topic wiring:
 #   /rc/joy                          → mode_switch_node (CRSF channels)
-<<<<<<< HEAD
-#   /saltybot/balance_state          → mode_switch_node (ESP32 BALANCE state)
-=======
 #   /saltybot/balance_state          → mode_switch_node (ESP32-S3 state)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #   /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix)
 #   /saltybot/control_mode           ← mode_switch_node (JSON mode + alpha)
 #   /saltybot/led_pattern            ← mode_switch_node (LED name)

jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py

@@ -13,11 +13,7 @@ Topic graph
 
 In RC mode (blend_alpha ≈ 0) the node publishes Twist(0,0) so the bridge
 receives zeros — this is harmless because the bridge's mode gate already
-<<<<<<< HEAD
-prevents autonomous commands when the ESP32 BALANCE is in RC_MANUAL.
-=======
 prevents autonomous commands when the ESP32-S3 is in RC_MANUAL.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 The bridge's existing ESC ramp handles hardware-level smoothing;
 the blend_alpha here provides the higher-level cmd_vel policy ramp.

jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py

@@ -6,15 +6,9 @@ state machine can be exercised in unit tests without a ROS2 runtime.
 
 Mode vocabulary
 ---------------
-<<<<<<< HEAD
-  "RC"            — ESP32 BALANCE executing RC pilot commands; Jetson cmd_vel blocked.
-  "RAMP_TO_AUTO"  — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
-  "AUTO"          — ESP32 BALANCE executing Jetson cmd_vel; RC sticks idle.
-=======
   "RC"            — ESP32-S3 executing RC pilot commands; Jetson cmd_vel blocked.
   "RAMP_TO_AUTO"  — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
   "AUTO"          — ESP32-S3 executing Jetson cmd_vel; RC sticks idle.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   "RAMP_TO_RC"    — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s.
 
 Blend alpha

jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py

@@ -9,11 +9,7 @@ Inputs
         axes[stick_axes...]   Roll/Pitch/Throttle/Yaw — override detection
 
   /saltybot/balance_state  (std_msgs/String JSON)
-<<<<<<< HEAD
-      Parsed for RC link health (field "rc_link") and ESP32 BALANCE mode.
-=======
       Parsed for RC link health (field "rc_link") and ESP32-S3 mode.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   <slam_fix_topic>         (geometry_msgs/PoseWithCovarianceStamped)
       Any message received within slam_fix_timeout_s → SLAM fix valid.
@@ -110,7 +106,7 @@ class ModeSwitchNode(Node):
         self._last_joy_t: float   = 0.0      # monotonic; 0 = never
         self._last_slam_t: float  = 0.0
         self._joy_axes: list      = []
-        self._esp32_mode: int     = 0        # from balance_state JSON
+        self._stm32_mode: int     = 0        # from balance_state JSON
 
         # ── QoS ───────────────────────────────────────────────────────────────
         best_effort = QoSProfile(
@@ -191,7 +187,7 @@ class ModeSwitchNode(Node):
             data = json.loads(msg.data)
             # "mode" is a label string; map back to int for reference
             mode_label = data.get("mode", "RC_MANUAL")
-            self._esp32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1,
+            self._stm32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1,
                                 "AUTONOMOUS": 2}.get(mode_label, 0)
         except (json.JSONDecodeError, TypeError):
             pass

jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml

@@ -1,13 +1,8 @@
 vesc_can_odometry:
   ros__parameters:
     # ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
-<<<<<<< HEAD
-    left_can_id:        56      # left  motor VESC CAN ID (ESP32 BALANCE)
-    right_can_id:       68      # right motor VESC CAN ID (ESP32 BALANCE)
-=======
     left_can_id:        56      # left  motor VESC CAN ID (ESP32-S3 BALANCE)
     right_can_id:       68      # right motor VESC CAN ID (ESP32-S3 BALANCE)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     # ── State topic names (must match VESC telemetry publisher) ──────────────
     left_state_topic:   /vesc/left/state

jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml

@@ -12,11 +12,7 @@
 # Hardware:
 #   IMU:  RealSense D435i BMI055 → /imu/data
 #   GPS:  SIM7600X cellular     → /gps/fix  (±2.5 m CEP)
-<<<<<<< HEAD
-#   Odom: ESP32 BALANCE wheel encoders  → /odom
-=======
 #   Odom: ESP32-S3 wheel encoders  → /odom
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #   RTK:  ZED-F9P (optional)    → /gps/fix  (±2 cm CEP when use_rtk: true)
 
 # ── Local EKF: fuses wheel odometry + IMU in odom frame ──────────────────────

jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py

@@ -71,11 +71,7 @@ class ParameterServer(Node):
         defs = {
             'hardware': {
                 'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string',
-<<<<<<< HEAD
-                                        'hardware', description='ESP32 bridge serial port'),
-=======
                                         'hardware', description='ESP32-S3 bridge serial port'),
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
                 'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware',
                                       min_val=9600, max_val=3000000,
                                       description='Serial baud rate'),

jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py

@@ -370,11 +370,7 @@ class PIDAutotuneNode(Node):
                 ser.write(frame_set)
                 time.sleep(0.05)   # allow FC to process PID_SET
                 ser.write(frame_save)
-<<<<<<< HEAD
-                # Flash erase takes ~1s on ESP32; wait for it
-=======
                 # Flash erase takes ~1s on ESP32-S3; wait for it
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
                 time.sleep(1.5)
 
             self.get_logger().info(

jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml

@@ -9,11 +9,7 @@
 #
 # GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65
 # Heading:    D435i IMU → /imu/data, converted yaw → route waypoint heading_deg
-<<<<<<< HEAD
-# Odometry:   ESP32 BALANCE wheel encoders → /odom
-=======
 # Odometry:   ESP32-S3 wheel encoders → /odom
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # UWB:        /uwb/target (follow-me reference, logged for context)
 
 route_recorder:

jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py

@@ -10,11 +10,7 @@ Depends on:
   saltybot-nav2 container (Nav2 action server /navigate_through_poses)
   saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65)
   saltybot_uwb (/uwb/target — PR #66, used for context during recording)
-<<<<<<< HEAD
-  ESP32 bridge (/odom from wheel encoders)
-=======
   ESP32-S3 bridge (/odom from wheel encoders)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   D435i (/imu/data for heading)
 
 Usage — record a route:

jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py

@@ -5,11 +5,7 @@ Hardware
 ────────
   SaltyRover: 4-wheel ground robot with individual brushless ESCs.
   ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
-<<<<<<< HEAD
-  Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
-=======
   Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   ESC channel assignments (configurable):
     CH1 = left-front

jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml

@@ -39,12 +39,6 @@ safety_zone:
     # ── cmd_vel topics ───────────────────────────────────────────────────────
     # Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop.
     # Typical chain:
-<<<<<<< HEAD
-    #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32 BALANCE
-    cmd_vel_input_topic:  /cmd_vel_input   # upstream velocity (remap as needed)
-    cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32 bridge)
-=======
     #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32-S3
     cmd_vel_input_topic:  /cmd_vel_input   # upstream velocity (remap as needed)
     cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32-S3 bridge)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)

jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml

@@ -10,11 +10,7 @@
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
 #
 # Data flow:
-<<<<<<< HEAD
-#   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
-=======
 #   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 # ── Controller ─────────────────────────────────────────────────────────────────
 control_rate:   50.0           # Hz — 50ms tick, same as cmd_vel_bridge
@@ -87,19 +83,11 @@ ride:
   target_vel_max:   15.0    # m/s  — cap; EUC max ~30 km/h = 8.3 m/s typical
 
 # ── Notes ─────────────────────────────────────────────────────────────────────
-<<<<<<< HEAD
-# 1. To enable ride profile, the Jetson → ESP32 BALANCE cmd_vel_bridge must also be
-#    reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
-#    at ride speed (slower ramp = smoother balance).
-#
-# 2. The ESP32 BALANCE balance PID gains likely need retuning for ride speed. Expect
-=======
 # 1. To enable ride profile, the Jetson → ESP32-S3 cmd_vel_bridge must also be
 #    reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
 #    at ride speed (slower ramp = smoother balance).
 #
 # 2. The ESP32-S3 balance PID gains likely need retuning for ride speed. Expect
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #    increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s.
 #
 # 3. Test sequence recommendation:

jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py

@@ -10,11 +10,7 @@ cmd_vel_bridge with matching limits:
   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
 
 Prerequisite node pipeline:
-<<<<<<< HEAD
-  person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
-=======
   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Usage:
   # Defaults (walk profile initially, adapts via UWB + GPS):

jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py

@@ -5,11 +5,7 @@ Hardware
 ────────
   SaltyTank: tracked robot with left/right independent brushless ESCs.
   ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
-<<<<<<< HEAD
-  Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
-=======
   Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   ESC channel assignments (configurable):
     CH1 = left-front  (or left-track in 2WD/tracked mode)

jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py

@@ -298,11 +298,7 @@ class TestBatteryMonitoring(unittest.TestCase):
             rclpy.spin_once(self.node, timeout_sec=0.1)
 
     def test_01_battery_topic_advertised(self):
-<<<<<<< HEAD
-        """Battery topic must be advertised (from ESP32 bridge)."""
-=======
         """Battery topic must be advertised (from ESP32-S3 bridge)."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._spin(5.0)
         all_topics = {name for name, _ in self.node.get_topic_names_and_types()}
 
@@ -331,11 +327,7 @@ class TestBatteryMonitoring(unittest.TestCase):
         self.node.destroy_subscription(sub)
 
         if not received:
-<<<<<<< HEAD
-            pytest.skip("Battery data not publishing (ESP32 bridge may be disabled in test mode)")
-=======
             pytest.skip("Battery data not publishing (ESP32-S3 bridge may be disabled in test mode)")
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 
 class TestDockingServices(unittest.TestCase):

jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml

@@ -1,9 +1,5 @@
 # VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6)
-<<<<<<< HEAD
-# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32 BALANCE CAN2)
-=======
 # SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32-S3 BALANCE CAN2)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 vesc_telemetry:
   ros__parameters:

legacy/stm32/USB_CDC_BUG.md

@@ -127,7 +127,7 @@ loop — USB would never enumerate cleanly.
 | LED2 | PC15 | GPIO |
 | Buzzer | PB2 | GPIO/TIM4_CH3 |
 
-MCU: ESP32RET6 (ESP32 BALANCE FC, Betaflight target DIAT-MAMBAF722_2022B)
+MCU: STM32F722RET6 (MAMBA F722S FC, Betaflight target DIAT-MAMBAF722_2022B)
 
 ---
 

legacy/stm32/platformio.ini

@@ -8,7 +8,7 @@ monitor_speed = 115200
 board_build.mcu = stm32f722ret6
 board_build.f_cpu = 216000000L
 build_flags = 
-    -DESP32xx
+    -DSTM32F722xx
     -DUSE_HAL_DRIVER
     -DHSE_VALUE=8000000U
     -DUSE_USB_FS

legacy/stm32/scripts/flash_firmware.py

@@ -22,7 +22,7 @@ Requirements:
     dfu-util >= 0.9 installed and in PATH
 
 Dual-bank note:
-    ESP32 has single-bank 512 KB flash; hardware A/B rollback is not
+    STM32F722 has single-bank 512 KB flash; hardware A/B rollback is not
     supported.  Rollback is implemented here by saving a backup of the
     previous binary (.firmware_backup.bin) before each flash.
 """
@@ -36,11 +36,11 @@ import subprocess
 import sys
 import time
 
-# ---- ESP32 flash constants ----
+# ---- STM32F722 flash constants ----
 FLASH_BASE  = 0x08000000
 FLASH_SIZE  = 0x80000       # 512 KB
 
-# ---- DFU device defaults (ESP32/STM32 system bootloader) ----
+# ---- DFU device defaults (STM32 system bootloader) ----
 DFU_VID     = 0x0483        # STMicroelectronics
 DFU_PID     = 0xDF11        # DFU mode
 
@@ -62,16 +62,16 @@ def crc32_file(path: str) -> int:
 
 def stm32_crc32(data: bytes) -> int:
     """
-    Compute CRC-32/MPEG-2 matching ESP32 hardware CRC unit.
+    Compute CRC-32/MPEG-2 matching STM32F7 hardware CRC unit.
 
-    ESP32/STM32 algorithm:
+    STM32 algorithm:
         Polynomial : 0x04C11DB7
         Initial    : 0xFFFFFFFF
         Width      : 32 bits
         Reflection : none (MSB-first)
         Feed size  : 32-bit words from flash (little-endian CPU read)
 
-    When the ESP32 BALANCE reads a flash word it gets a little-endian uint32;
+    When the STM32 reads a flash word it gets a little-endian uint32;
     the hardware CRC unit processes bits[31:24] first, then [23:16],
     [15:8], [7:0].  This Python implementation replicates that behaviour.
 
@@ -214,11 +214,11 @@ def main() -> int:
               f'({FLASH_SIZE} bytes)', file=sys.stderr)
         return 1
 
-    # ESP32/STM32 hardware CRC (for cross-checking with firmware telemetry)
+    # STM32 hardware CRC (for cross-checking with firmware telemetry)
     with open(target, 'rb') as fh:
         bin_data = fh.read()
     crc_hw = stm32_crc32(bin_data.ljust(FLASH_SIZE, b'\xff'))
-    print(f'CRC-32 : 0x{crc_hw:08X}  (MPEG-2 / ESP32/STM32 HW, padded to {FLASH_SIZE // 1024} KB)')
+    print(f'CRC-32 : 0x{crc_hw:08X}  (MPEG-2 / STM32 HW, padded to {FLASH_SIZE // 1024} KB)')
 
     # Save backup before flashing (skip when rolling back)
     if not args.rollback:

projects/saltybot/SLAM-SETUP-PLAN.md

@@ -16,11 +16,7 @@
 | Depth Cam | Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU |
 | LIDAR | RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz |
 | Wide Cams | 4× IMX219 160° CSI — front/right/rear/left 90° intervals *(arriving)* |
-<<<<<<< HEAD
-| FC | ESP32 — UART bridge `/dev/ttyACM0` @ 921600 |
-=======
 | FC | ESP32-S3 — UART bridge `/dev/ttyACM0` @ 921600 |
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ---
 
@@ -80,11 +76,7 @@ Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x)
                    ▼
              Nav2 stack            (Phase 2b)
              20Hz costmap
-<<<<<<< HEAD
-             /cmd_vel → ESP32 BALANCE
-=======
              /cmd_vel → ESP32-S3
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   4× IMX219 CSI               (Phase 2c — pending hardware)
   front/right/rear/left 160°

test/test_bno055_data.py

@@ -4,11 +4,7 @@ test_bno055_data.py — Issue #135: BNO055 driver unit tests.
 Tests data scaling, byte parsing, calibration status extraction,
 calibration offset packing/unpacking, and temperature handling.
 
-<<<<<<< HEAD
-No HAL or STM32/ESP32 hardware required — pure Python logic.
-=======
 No HAL or ESP32-S3 hardware required — pure Python logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 """
 
 import struct

test/test_jlink_frames.py

@@ -4,11 +4,7 @@ test_jlink_frames.py — Issue #120: JLink binary protocol unit tests.
 Tests CRC16-XModem, frame building, frame parsing (state machine),
 command payload encoding, and telemetry frame layout.
 
-<<<<<<< HEAD
-No HAL or STM32/ESP32 hardware required — pure Python logic.
-=======
 No HAL or ESP32-S3 hardware required — pure Python logic.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 """
 
 import struct

test/test_ota.py

@@ -3,11 +3,7 @@ test_ota.py — OTA firmware update utilities (Issue #124)
 
 Tests:
   - CRC-32/ISO-HDLC  (crc32_file / binascii.crc32)
-<<<<<<< HEAD
-  - CRC-32/MPEG-2    (stm32_crc32 — matches ESP32 hardware CRC unit)
-=======
   - CRC-32/MPEG-2    (stm32_crc32 — matches ESP32-S3 hardware CRC unit)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   - CRC-16/XMODEM    (_crc16_xmodem — JLink frame integrity)
   - DFU_ENTER frame  (JLINK_CMD_DFU_ENTER = 0x06, no payload)
   - Safety constants (BKP index, flash region, magic value)
@@ -237,13 +233,8 @@ class TestOtaConstants:
         BNO055_BKP_RANGE  = range(0, 7)
         assert OTA_DFU_BKP_IDX not in BNO055_BKP_RANGE
 
-<<<<<<< HEAD
-    def test_bkp_idx_valid_esp32(self):
-        """ESP32 has 32 backup registers (BKP0R–BKP31R)."""
-=======
     def test_bkp_idx_valid_esp32s3(self):
         """ESP32-S3 has 32 backup registers (BKP0R–BKP31R)."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         OTA_DFU_BKP_IDX = 15
         assert 0 <= OTA_DFU_BKP_IDX <= 31
 
@@ -261,11 +252,7 @@ class TestOtaConstants:
         assert DFU_VID == 0x0483
 
     def test_dfu_pid_dfu_mode(self):
-<<<<<<< HEAD
-        """Default PID = 0xDF11 (ESP32 DFU mode)."""
-=======
         """Default PID = 0xDF11 (ESP32-S3 DFU mode)."""
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         assert DFU_PID == 0xDF11
 
     def test_bkp_idx_not_zero(self):

ui/can_monitor_panel.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — CAN Monitor</title>
 <link rel="stylesheet" href="can_monitor_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/diagnostics_panel.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — System Diagnostics</title>
 <link rel="stylesheet" href="diagnostics_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/event_log_panel.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Event Log</title>
 <link rel="stylesheet" href="event_log_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/gamepad_panel.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Gamepad Teleop</title>
 <link rel="stylesheet" href="gamepad_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/gimbal_panel.html

@@ -6,7 +6,7 @@
 <title>Saltybot — Gimbal Control</title>
 <link rel="stylesheet" href="gimbal_panel.css">
 <!-- roslib from CDN -->
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 <style>
 /* Cam button active state (can't use CSS-only with JS-toggled class without Tailwind) */
 .cam-btn { padding: 3px 10px; border-radius: 4px; border: 1px solid #1e3a5f;

ui/gps_map_panel.html

@@ -7,7 +7,7 @@
 <link rel="stylesheet" href="gps_map_panel.css">
 <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
 <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/index.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Dashboard</title>
 <link rel="stylesheet" href="dashboard.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/map_panel.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Map View</title>
 <link rel="stylesheet" href="map_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/settings_panel.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — Settings</title>
 <link rel="stylesheet" href="settings_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>
 

ui/social-bot/src/components/SettingsPanel.jsx

@@ -310,7 +310,7 @@ function FirmwareView({ firmwareInfo, startFirmwareWatch, connected }) {
       </div>
       {!firmwareInfo && connected && (
         <div className="text-amber-700 text-xs border border-amber-900 rounded p-2">
-          Waiting for /diagnostics… Ensure firmware diagnostics keys (esp32_fw_version etc.) are published.
+          Waiting for /diagnostics… Ensure firmware diagnostics keys (stm32_fw_version etc.) are published.
         </div>
       )}
     </div>

ui/sultee-tracker.html

@@ -9,7 +9,7 @@
 <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
 <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
 <!-- ROSLIB for robot GPS via rosbridge -->
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 
 <style>
 *, *::before, *::after { box-sizing: border-box; margin: 0; padding: 0; }

ui/vesc_panel.html

@@ -5,7 +5,7 @@
 <meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
 <title>Saltybot — VESC Motor Dashboard</title>
 <link rel="stylesheet" href="vesc_panel.css">
-<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
 </head>
 <body>