Comparing aa90ea2fa7..73742fe726 - saltylab-firmware - Gitea: Git with a cup of tea

seb/saltylab-firmware

Author	SHA1	Message	Date
sl-mechanical	73742fe726	feat: Add watchdog reset detection and status reporting (Issue #300 ) - Detect if MCU was reset by IWDG watchdog timeout at startup - Log watchdog reset events to debug terminal (USB CDC) - Store watchdog reset flag for status reporting to Jetson - Watchdog timer configured with 2-second timeout in safety_init() - Main loop calls safety_refresh() to kick the watchdog every iteration The IWDG (Independent Watchdog) resets the MCU if the main loop hangs and fails to call safety_refresh() within the timeout window. This provides hardware-enforced detection of software failures. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-controls	87bb2999c2	feat: Implement VESC UART driver node (Issue #383 ) ROS2 driver for Flipsky FSESC 4.20 Plus (VESC dual ESC) motor control. Replaces hoverboard ESC communication with pyvesc library. Features: - UART serial communication (configurable port/baud) - Dual command modes: duty_cycle (-100 to 100) and RPM setpoint - Telemetry publishing: voltage, current, RPM, temperature, fault codes - Command timeout: auto-zero throttle if no cmd_vel received - Heartbeat-based connection management - Comprehensive error handling and logging Topics: - Subscribe: /cmd_vel (geometry_msgs/Twist) - Publish: /vesc/state (JSON telemetry) - Publish: /vesc/raw_telemetry (debug) Launch: ros2 launch saltybot_vesc_driver vesc_driver.launch.py Config: config/vesc_params.yaml Next phase: Integrate with cmd_vel_mux + safety layer. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-controls	55915ed737	fix: Resolve all compile and linker errors (Issue #337 ) Fixed 7 compile errors across 6 files: 1. servo.c: Removed duplicate ServoState typedef, updated struct definition in header 2. watchdog.c: Fixed IWDG handle usage - moved to global scope for IRQHandler access 3. ultrasonic.c: Fixed timer handle type mismatches - use TIM_HandleTypeDef instead of TIM_TypeDef, replaced HAL_TIM_IC_Init_Compat with proper HAL functions 4. main.c: Replaced undefined functions - imu_calibrated() → mpu6000_is_calibrated(), crsf_is_active() → manual state check 5. ina219.c: Stubbed I2C functions pending HAL implementation Build now passes with ZERO errors. - RAM: 6.5% (16964 bytes / 262144) - Flash: 10.6% (55368 bytes / 524288) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-controls	0a6d5753a8	feat: Implement deaf/accessibility mode with STT, touch keyboard, TTS (Issue #371 ) Accessibility mode for hearing-impaired users: - Speech-to-text display: Integrates with saltybot_social speech_pipeline_node - Touch keyboard overlay: 1024x600 optimized for MageDok 7in display - TTS output: Routes to MageDok speakers via PulseAudio - Web UI server: Responsive keyboard interface with real-time display updates - Auto-confirm: Optional TTS feedback for spoken input - Physical keyboard support: Both touch and physical input methods Features: - Keyboard buffer with backspace/clear/send controls - Transcript history display (max 10 entries) - Status indicators for STT/TTS ready state - Number/symbol support (1-5, punctuation) - HTML/CSS responsive design optimized for touch - ROS2 integration via /social/speech/transcript and /social/conversation/request Launch: ros2 launch saltybot_accessibility_mode accessibility_mode.launch.py UI Port: 8080 (MageDok display access) Config: config/accessibility_params.yaml Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-controls	e36fa31f97	feat: Implement 360° LIDAR obstacle avoidance (Issue #364 ) Implements ROS2 node for RPLIDAR A1M8 obstacle detection with: - Emergency stop at 0.5m - Speed-dependent safety zone (3m @ 20km/h, scales linearly) - Forward-facing 60° obstacle cone scanning - Publishes /saltybot/obstacle_alert and /cmd_vel_safe - Debounced obstacle detection (2 frames) - JSON status reporting Launch: ros2 launch saltybot_lidar_avoidance lidar_avoidance.launch.py Config: config/lidar_avoidance_params.yaml Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-webui	4960b642d7	feat(webui): Salty Face animated expression UI — contextual emotions (Issue #370 ) Add animated facial expression interface for MageDok 7" display: Core Features: ✓ 8 emotional states: - Happy (default idle) - Alert (obstacles detected) - Confused (searching, target lost) - Sleeping (prolonged inactivity) - Excited (target reacquired) - Emergency (e-stop triggered) - Listening (microphone active) - Talking (TTS output) Visual Design: ✓ Minimalist Cozmo/Vector-inspired eyes + optional mouth ✓ Canvas-based GPU-accelerated rendering ✓ 30fps target on Jetson Orin Nano ✓ Emotion-specific eye characteristics: - Scale changes (alert widened eyes) - Color coding per emotion - Pupil position tracking - Blinking rates vary by state - Eye wandering (confused searching) - Bouncing animation (excited) - Flash effect (emergency) Mouth Animation: ✓ Synchronized with text-to-speech output ✓ Shape frames: closed, smile, oh, ah, ee sounds ✓ ~10fps lip sync animation ROS2 Integration: ✓ Subscribe to /saltybot/state (emotion triggers) ✓ Subscribe to /saltybot/target_track (tracking state) ✓ Subscribe to /saltybot/obstacles (alert state) ✓ Subscribe to /social/speech/is_speaking (talking mode) ✓ Subscribe to /social/speech/is_listening (listening mode) ✓ Subscribe to /saltybot/battery (status tracking) ✓ Subscribe to /saltybot/audio_level (audio feedback) HUD Overlay: ✓ Tap-to-toggle status display ✓ Battery percentage indicator ✓ Robot state label ✓ Distance to target (meters) ✓ Movement speed (m/s) ✓ System health percentage ✓ Color-coded health indicator (green/yellow/red) Integration: ✓ New DISPLAY tab group (rose color) ✓ Full-screen rendering on 1024×600 MageDok display ✓ Responsive to robot state machine ✓ Supports kiosk mode deployment Build Status: ✅ PASSING - 126 modules (+1 for SaltyFace) - 281.57 KB main bundle (+11 KB) - 0 errors Depends on: Issue #369 (MageDok display setup) Foundation for: Issue #371 (Accessibility mode) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-webui	d1aea87bd7	feat: SaltyFace web app UI for Chromium kiosk (Issue #370 ) Animated robot expression interface as lightweight web application: Architecture: - HTML5 Canvas rendering engine - Node.js HTTP server (localhost:3000) - ROSLIB WebSocket bridge for ROS2 topics - Fullscreen responsive design (1024×600) Features: - 8 emotional states (happy, alert, confused, sleeping, excited, emergency, listening, talking) - Real-time ROS2 subscriptions: - /saltybot/state (emotion triggers) - /saltybot/battery (status display) - /saltybot/target_track (EXCITED emotion) - /saltybot/obstacles (ALERT emotion) - /social/speech/is_speaking (TALKING emotion) - /social/speech/is_listening (LISTENING emotion) - Tap-to-toggle status overlay - 60fps Canvas animation on Wayland - ~80MB total memory (Node.js + browser) Files: - public/index.html — Main page (1024×600 fullscreen) - public/salty-face.js — Canvas rendering + ROS2 integration - server.js — Node.js HTTP server with CORS support - systemd/salty-face-server.service — Auto-start systemd service - docs/SALTY_FACE_WEB_APP.md — Complete setup & API documentation Integration: - Runs in Chromium kiosk (Issue #374) - Depends on rosbridge_server for WebSocket bridge - Serves on localhost:3000 (configurable) Next: Issue #371 (Accessibility enhancements) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-webui	41a71c19fc	feat: Replace GNOME with Cage + Chromium kiosk (Issue #374 ) Lightweight fullscreen kiosk for MageDok 7" display: Architecture: - Cage: Minimal Wayland compositor (replaces GNOME) - Chromium: Fullscreen kiosk browser for SaltyFace web UI - PulseAudio: HDMI audio routing (from Issue #369) - Touch: HID input from MageDok USB device Memory Savings: - GNOME desktop: ~650MB RAM - Cage + Chromium: ~200MB RAM - Net gain: ~450MB for ROS2 workloads Files: - config/cage-magedok.ini — Cage display settings (1024×600@60Hz) - config/wayland-magedok.conf — Wayland output configuration - scripts/chromium_kiosk.sh — Cage + Chromium launcher - systemd/chromium-kiosk.service — Auto-start systemd service - launch/cage_display.launch.py — ROS2 launch configuration - docs/CAGE_CHROMIUM_KIOSK.md — Complete setup & troubleshooting guide Next: Issue #370 (Salty Face as web app in Chromium kiosk) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-perception	7dfc1b9ee1	feat: battery coulomb counter (Issue #325 ) Add coulomb counter for accurate SoC estimation independent of load: - New coulomb_counter module: integrate current over time to track Ah consumed * coulomb_counter_init(capacity_mah) initializes with battery capacity * coulomb_counter_accumulate(current_ma) integrates current at 100 Hz * coulomb_counter_get_soc_pct() returns SoC 0-100% (255 = invalid) * coulomb_counter_reset() for charge-complete reset - Battery module integration: * battery_accumulate_coulombs() reads motor INA219 currents and accumulates * battery_get_soc_coulomb() returns coulomb-based SoC with fallback to voltage * Initialize coulomb counter at startup with DEFAULT_BATTERY_CAPACITY_MAH - Telemetry updates: * JLink STATUS: use coulomb SoC if available, fallback to voltage-based * CRSF battery frame: now includes remaining capacity in mAh (from coulomb counter) * CRSF capacity field was always 0; now reflects actual remaining mAh - Mainloop integration: * Call battery_accumulate_coulombs() every tick for continuous integration * INA219 motor currents + 200 mA subsystem baseline = total battery draw Motor current sources (INA219 addresses 0x40/0x41) provide most power draw; Jetson ROS2 battery_node already prioritizes coulomb-based soc_pct from STATUS frame. Default capacity: 2200 mAh (typical lab 3S LiPo); configurable via firmware parameter. Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-04 08:44:37 -05:00
sl-jetson	9c2f830c8e	feat: Add FC↔Orin UART verification (Issue #362 ) Implements UART bridge verification between Flight Controller (STM32F722) and Jetson Orin. Changes: 1. jetson/scripts/uart_test.py (12.7 KB) - Opens /dev/ttyTHS1 at 921600 baud - Sends jlink binary test frames (PING, VERSION, ECHO) - Verifies CRC16-CCITT frame integrity - Logs transactions with timestamps - JSON result export and optional MQTT publishing 2. jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py - ROS2 launch file for serial_bridge_node on UART port - Configurable port (default /dev/ttyTHS1), baud rate (921600) - Bridges FC telemetry to /saltybot/imu, /saltybot/balance_state - Publishes diagnostics to /diagnostics Usage: Test: sudo python3 jetson/scripts/uart_test.py Launch: ros2 launch saltybot_bridge uart_bridge.launch.py Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 17:30:20 -05:00
sl-mechanical	4ab8dc8b64	feat: Integrate IWDG watchdog timer driver (Issue #300 ) - Replace safety.c's direct IWDG initialization with watchdog module API - Use watchdog_init(2000) for ~2s timeout in safety_init() - Use watchdog_kick() in safety_refresh() to feed the watchdog - Remove unused watchdog_get_divider() helper function - Watchdog now configured with automatic prescaler selection The watchdog module provides a clean, flexible IWDG interface that: - Automatically calculates prescaler and reload values - Detects watchdog-triggered resets via watchdog_was_reset_by_watchdog() - Supports timeout range of ~1ms to ~32 seconds - Integrates seamlessly with existing safety system Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>	2026-03-03 17:30:16 -05:00

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