include/i2c1.h

@@ -14,8 +14,4 @@ extern I2C_HandleTypeDef hi2c1;
 
 int i2c1_init(void);
 
-/* I2C read/write helpers for sensors (INA219, etc.) */
-int i2c1_read(uint8_t addr, uint8_t *data, uint16_t len);
-int i2c1_write(uint8_t addr, const uint8_t *data, uint16_t len);
-
 #endif /* I2C1_H */

jetson/ros2_ws/src/saltybot_bringup/config/pulseaudio-magedok.conf

@@ -1,20 +0,0 @@
-# PulseAudio Configuration for MageDok HDMI Audio
-# Routes HDMI audio from DisplayPort adapter to internal speaker output
-
-# Detect and load HDMI output module
-load-module module-alsa-sink device=hw:0,3 sink_name=hdmi_stereo sink_properties="device.description='HDMI Audio'"
-
-# Detect and configure internal speaker (fallback)
-load-module module-alsa-sink device=hw:0,0 sink_name=speaker_mono sink_properties="device.description='Speaker'"
-
-# Set HDMI as default output sink
-set-default-sink hdmi_stereo
-
-# Enable volume control
-load-module module-volume-restore
-
-# Auto-switch to HDMI when connected
-load-module module-switch-on-connect
-
-# Log sink configuration
-.load-if-exists /etc/pulse/magedok-routing.conf

jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf

@@ -1,33 +0,0 @@
-# X11 Configuration for MageDok 7" Display
-# Resolution: 1024×600 @ 60Hz
-# Output: HDMI via DisplayPort adapter
-
-Section "Monitor"
-    Identifier      "MageDok"
-    Option          "PreferredMode" "1024x600_60.00"
-    Option          "Position" "0 0"
-    Option          "Primary" "true"
-EndSection
-
-Section "Screen"
-    Identifier      "Screen0"
-    Monitor         "MageDok"
-    DefaultDepth    24
-    SubSection "Display"
-        Depth       24
-        Modes       "1024x600" "1024x768" "800x600" "640x480"
-    EndSubSection
-EndSection
-
-Section "Device"
-    Identifier      "NVIDIA Tegra"
-    Driver          "nvidia"
-    BusID           "PCI:0:0:0"
-    Option          "RegistryDwords" "EnableBrightnessControl=1"
-    Option          "ConnectedMonitor" "HDMI-0"
-EndSection
-
-Section "ServerLayout"
-    Identifier      "Default"
-    Screen          "Screen0"
-EndSection

jetson/ros2_ws/src/saltybot_bringup/docs/MAGEDOK_DISPLAY_SETUP.md

@@ -1,218 +0,0 @@
-# MageDok 7" Touchscreen Display Setup
-
-Issue #369: Display setup for MageDok 7" IPS touchscreen on Jetson Orin Nano.
-
-## Hardware Setup
-
-### Connections
-- **Video**: DisplayPort → HDMI cable from Orin DP 1.2 connector to MageDok HDMI input
-- **Touch**: USB 3.0 cable from Orin USB-A to MageDok USB-C connector
-- **Audio**: HDMI carries embedded audio from DisplayPort (no separate audio cable needed)
-
-### Display Specs
-- **Resolution**: 1024×600 @ 60Hz
-- **Panel Type**: 7" IPS (In-Plane Switching) - wide viewing angles
-- **Sunlight Readable**: Yes, with high brightness
-- **Built-in Speakers**: Yes (via HDMI audio)
-
-## Installation Steps
-
-### 1. Kernel and Display Driver Configuration
-
-```bash
-# Update display mode database (if needed)
-sudo apt-get update && sudo apt-get install -y xrandr x11-utils edid-decode
-
-# Verify X11 is running
-echo $DISPLAY  # Should show :0 or :1
-
-# Check connected displays
-xrandr --query
-```
-
-**Expected output**: HDMI-1 connected at 1024x600 resolution
-
-### 2. Install udev Rules for Touch Input
-
-```bash
-# Copy udev rules
-sudo cp jetson/ros2_ws/src/saltybot_bringup/udev/90-magedok-touch.rules \
-    /etc/udev/rules.d/
-
-# Reload udev
-sudo udevadm control --reload-rules
-sudo udevadm trigger
-
-# Verify touch device
-ls -l /dev/magedok-touch
-# Or check input devices
-cat /proc/bus/input/devices | grep -i "eGTouch\|EETI"
-```
-
-### 3. X11 Display Configuration
-
-```bash
-# Backup original X11 config
-sudo cp /etc/X11/xorg.conf /etc/X11/xorg.conf.backup
-
-# Apply MageDok X11 config
-sudo cp jetson/ros2_ws/src/saltybot_bringup/config/xorg-magedok.conf \
-    /etc/X11/xorg.conf
-
-# Restart X11 (or reboot)
-sudo systemctl restart gdm3  # or startx if using console
-```
-
-### 4. PulseAudio Audio Routing
-
-```bash
-# Check current audio sinks
-pactl list sinks | grep Name
-
-# Find HDMI sink (typically contains "hdmi" in name)
-pactl set-default-sink <hdmi-sink-name>
-
-# Verify routing
-pactl get-default-sink
-
-# Optional: Set volume
-pactl set-sink-volume <sink-name> 70%
-```
-
-### 5. ROS2 Launch Configuration
-
-```bash
-# Build the saltybot_bringup package
-cd jetson/ros2_ws
-colcon build --packages-select saltybot_bringup
-
-# Source workspace
-source install/setup.bash
-
-# Launch display setup
-ros2 launch saltybot_bringup magedok_display.launch.py
-```
-
-### 6. Enable Auto-Start on Boot
-
-```bash
-# Copy systemd service
-sudo cp jetson/ros2_ws/src/saltybot_bringup/systemd/magedok-display.service \
-    /etc/systemd/system/
-
-# Enable service
-sudo systemctl daemon-reload
-sudo systemctl enable magedok-display.service
-
-# Start service
-sudo systemctl start magedok-display.service
-
-# Check status
-sudo systemctl status magedok-display.service
-sudo journalctl -u magedok-display -f  # Follow logs
-```
-
-## Verification
-
-### Display Resolution
-```bash
-# Check actual resolution
-xdotool getactivewindow getwindowgeometry
-
-# Verify with xrandr
-xrandr | grep "1024x600"
-```
-
-**Expected**: `1024x600_60.00 +0+0` or similar
-
-### Touch Input
-```bash
-# List input devices
-xinput list
-
-# Should show "MageDok Touch" or "eGTouch Controller"
-# Test touch by clicking on display - cursor should move
-```
-
-### Audio
-```bash
-# Test HDMI audio
-speaker-test -c 2 -l 1 -s 1 -t sine
-
-# Verify volume level
-pactl list sinks | grep -A 10 RUNNING
-```
-
-## Troubleshooting
-
-### Display Not Detected
-
-```bash
-# Check EDID data
-edid-decode /sys/class/drm/card0-HDMI-A-1/edid
-
-# Force resolution
-xrandr --output HDMI-1 --mode 1024x600 --rate 60
-
-# Check kernel logs
-dmesg | grep -i "drm\|HDMI\|dp"
-```
-
-### Touch Not Working
-
-```bash
-# Check USB connection
-lsusb | grep -i "eGTouch\|EETI"
-
-# Verify udev rules applied
-cat /etc/udev/rules.d/90-magedok-touch.rules
-
-# Test touch device directly
-evtest /dev/magedok-touch  # Or /dev/input/eventX
-```
-
-### Audio Not Routing
-
-```bash
-# Check PulseAudio daemon
-pulseaudio --version
-systemctl status pulseaudio
-
-# Restart PulseAudio
-systemctl --user restart pulseaudio
-
-# Monitor audio stream
-pactl list sink-inputs
-```
-
-### Display Disconnection (Headless Fallback)
-
-The system should continue operating normally with display disconnected:
-- ROS2 services remain accessible via network
-- Robot commands via `/cmd_vel` continue working
-- Data logging and telemetry unaffected
-- Dashboard accessible via SSH/webui from other machine
-
-## Testing Checklist
-
-- [ ] Display shows 1024×600 resolution
-- [ ] Touch input registers in xinput (test by moving cursor)
-- [ ] Audio plays through display speakers
-- [ ] System boots without login prompt (if using auto-start)
-- [ ] All ROS2 nodes launch correctly with display
-- [ ] System operates normally when display is disconnected
-- [ ] `/magedok/touch_status` topic shows true (ROS2 verify script)
-- [ ] `/magedok/audio_status` topic shows HDMI sink (ROS2 audio router)
-
-## Related Issues
-
-- **#368**: Salty Face UI (depends on this display setup)
-- **#370**: Animated expression UI
-- **#371**: Deaf/accessibility mode with touch keyboard
-
-## References
-
-- MageDok 7" Specs: [HDMI, 1024×600, USB Touch, Built-in Speakers]
-- Jetson Orin Nano DisplayPort Output: Requires active adapter (no DP Alt Mode on USB-C)
-- PulseAudio: HDMI audio sink routing via ALSA
-- X11/Xrandr: Display mode configuration

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

@@ -1,59 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok 7" Display Launch Configuration
-- Video: DisplayPort → HDMI (1024×600)
-- Touch: USB HID
-- Audio: HDMI → internal speakers via PulseAudio
-"""
-
-import os
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import ExecuteProcess
-
-
-def generate_launch_description():
-    return LaunchDescription([
-        # Log startup
-        ExecuteProcess(
-            cmd=['echo', '[MageDok] Display setup starting...'],
-            shell=True,
-        ),
-
-        # Verify display resolution
-        Node(
-            package='saltybot_bringup',
-            executable='verify_display.py',
-            name='display_verifier',
-            parameters=[
-                {'target_width': 1024},
-                {'target_height': 600},
-                {'target_refresh': 60},
-            ],
-            output='screen',
-        ),
-
-        # Monitor touch input
-        Node(
-            package='saltybot_bringup',
-            executable='touch_monitor.py',
-            name='touch_monitor',
-            parameters=[
-                {'device_name': 'MageDok Touch'},
-                {'poll_interval': 0.1},
-            ],
-            output='screen',
-        ),
-
-        # Audio routing (PulseAudio sink redirection)
-        Node(
-            package='saltybot_bringup',
-            executable='audio_router.py',
-            name='audio_router',
-            parameters=[
-                {'hdmi_sink': 'alsa_output.pci-0000_00_1d.0.hdmi-stereo'},
-                {'default_sink': True},
-            ],
-            output='screen',
-        ),
-    ])

jetson/ros2_ws/src/saltybot_bringup/scripts/audio_router.py

@@ -1,97 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok Audio Router
-Routes HDMI audio from DisplayPort adapter to internal speakers via PulseAudio
-"""
-
-import subprocess
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-
-
-class AudioRouter(Node):
-    def __init__(self):
-        super().__init__('audio_router')
-
-        self.declare_parameter('hdmi_sink', 'alsa_output.pci-0000_00_1d.0.hdmi-stereo')
-        self.declare_parameter('default_sink', True)
-
-        self.hdmi_sink = self.get_parameter('hdmi_sink').value
-        self.set_default = self.get_parameter('default_sink').value
-
-        self.audio_status_pub = self.create_publisher(String, '/magedok/audio_status', 10)
-
-        self.get_logger().info('Audio Router: Configuring HDMI audio routing...')
-        self.setup_pulseaudio()
-
-        # Check status every 5 seconds
-        self.create_timer(5.0, self.check_audio_status)
-
-    def setup_pulseaudio(self):
-        """Configure PulseAudio to route HDMI audio"""
-        try:
-            # List available sinks
-            result = subprocess.run(['pactl', 'list', 'sinks'], capture_output=True, text=True, timeout=5)
-            sinks = self._parse_pa_sinks(result.stdout)
-
-            if not sinks:
-                self.get_logger().warn('No PulseAudio sinks detected')
-                return
-
-            self.get_logger().info(f'Available sinks: {", ".join(sinks.keys())}')
-
-            # Find HDMI or use first available
-            hdmi_sink = None
-            for name in sinks.keys():
-                if 'hdmi' in name.lower() or 'HDMI' in name:
-                    hdmi_sink = name
-                    break
-
-            if not hdmi_sink:
-                hdmi_sink = list(sinks.keys())[0]  # Fallback to first sink
-                self.get_logger().warn(f'HDMI sink not found, using: {hdmi_sink}')
-            else:
-                self.get_logger().info(f'✓ HDMI sink identified: {hdmi_sink}')
-
-            # Set as default if requested
-            if self.set_default:
-                subprocess.run(['pactl', 'set-default-sink', hdmi_sink], timeout=5)
-                self.get_logger().info(f'✓ Audio routed to: {hdmi_sink}')
-
-        except Exception as e:
-            self.get_logger().error(f'PulseAudio setup failed: {e}')
-
-    def _parse_pa_sinks(self, pactl_output):
-        """Parse 'pactl list sinks' output"""
-        sinks = {}
-        current_sink = None
-        for line in pactl_output.split('\n'):
-            if line.startswith('Sink #'):
-                current_sink = line.split('#')[1].strip()
-            elif '\tName: ' in line and current_sink:
-                name = line.split('Name: ')[1].strip()
-                sinks[name] = current_sink
-        return sinks
-
-    def check_audio_status(self):
-        """Verify audio is properly routed"""
-        try:
-            result = subprocess.run(['pactl', 'get-default-sink'], capture_output=True, text=True, timeout=5)
-            status = String()
-            status.data = result.stdout.strip()
-            self.audio_status_pub.publish(status)
-            self.get_logger().debug(f'Current audio sink: {status.data}')
-        except Exception as e:
-            self.get_logger().warn(f'Audio status check failed: {e}')
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    router = AudioRouter()
-    rclpy.spin(router)
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_bringup/scripts/touch_monitor.py

@@ -1,88 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok Touch Input Monitor
-Verifies USB touch device is recognized and functional
-"""
-
-import os
-import subprocess
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String, Bool
-
-
-class TouchMonitor(Node):
-    def __init__(self):
-        super().__init__('touch_monitor')
-
-        self.declare_parameter('device_name', 'MageDok Touch')
-        self.declare_parameter('poll_interval', 0.1)
-
-        self.device_name = self.get_parameter('device_name').value
-        self.poll_interval = self.get_parameter('poll_interval').value
-
-        self.touch_status_pub = self.create_publisher(Bool, '/magedok/touch_status', 10)
-        self.device_info_pub = self.create_publisher(String, '/magedok/device_info', 10)
-
-        self.get_logger().info(f'Touch Monitor: Scanning for {self.device_name}...')
-        self.detect_touch_device()
-
-        # Publish status every 2 seconds
-        self.create_timer(2.0, self.publish_status)
-
-    def detect_touch_device(self):
-        """Detect MageDok touch device via USB"""
-        try:
-            # Check lsusb for MageDok or eGTouch device
-            result = subprocess.run(['lsusb'], capture_output=True, text=True, timeout=5)
-            lines = result.stdout.split('\n')
-
-            for line in lines:
-                if 'eGTouch' in line or 'EETI' in line or 'MageDok' in line or 'touch' in line.lower():
-                    self.get_logger().info(f'✓ Touch device found: {line.strip()}')
-                    msg = String()
-                    msg.data = line.strip()
-                    self.device_info_pub.publish(msg)
-                    return True
-
-            # Fallback: check input devices
-            result = subprocess.run(['grep', '-l', 'eGTouch\|EETI\|MageDok', '/proc/bus/input/devices'],
-                                    capture_output=True, text=True, timeout=5)
-            if result.returncode == 0:
-                self.get_logger().info('✓ Touch device registered in /proc/bus/input/devices')
-                return True
-
-            self.get_logger().warn('⚠ Touch device not detected — ensure USB connection is secure')
-            return False
-
-        except Exception as e:
-            self.get_logger().error(f'Device detection failed: {e}')
-            return False
-
-    def publish_status(self):
-        """Publish current touch device status"""
-        try:
-            result = subprocess.run(['ls', '/dev/magedok-touch'], capture_output=True, timeout=2)
-            status = Bool()
-            status.data = (result.returncode == 0)
-            self.touch_status_pub.publish(status)
-
-            if status.data:
-                self.get_logger().debug('Touch device: ACTIVE')
-            else:
-                self.get_logger().warn('Touch device: NOT DETECTED')
-        except Exception as e:
-            status = Bool()
-            status.data = False
-            self.touch_status_pub.publish(status)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    monitor = TouchMonitor()
-    rclpy.spin(monitor)
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_bringup/scripts/verify_display.py

@@ -1,98 +0,0 @@
-#!/usr/bin/env python3
-"""
-MageDok Display Verifier
-Validates that the 7" display is running at 1024×600 resolution
-"""
-
-import os
-import re
-import subprocess
-import rclpy
-from rclpy.node import Node
-
-
-class DisplayVerifier(Node):
-    def __init__(self):
-        super().__init__('display_verifier')
-
-        self.declare_parameter('target_width', 1024)
-        self.declare_parameter('target_height', 600)
-        self.declare_parameter('target_refresh', 60)
-
-        self.target_w = self.get_parameter('target_width').value
-        self.target_h = self.get_parameter('target_height').value
-        self.target_f = self.get_parameter('target_refresh').value
-
-        self.get_logger().info(f'Display Verifier: Target {self.target_w}×{self.target_h} @ {self.target_f}Hz')
-        self.verify_display()
-
-    def verify_display(self):
-        """Check current display resolution via xdotool or xrandr"""
-        try:
-            # Try xrandr first
-            result = subprocess.run(['xrandr'], capture_output=True, text=True, timeout=5)
-            if result.returncode == 0:
-                self.parse_xrandr(result.stdout)
-            else:
-                self.get_logger().warn('xrandr not available, checking edid-decode')
-                self.check_edid()
-        except Exception as e:
-            self.get_logger().error(f'Display verification failed: {e}')
-
-    def parse_xrandr(self, output):
-        """Parse xrandr output to find active display resolution"""
-        lines = output.split('\n')
-        for line in lines:
-            # Look for connected display with resolution
-            if 'connected' in line and 'primary' in line:
-                # Example: "HDMI-1 connected primary 1024x600+0+0 (normal left inverted right)"
-                match = re.search(r'(\d+)x(\d+)', line)
-                if match:
-                    width, height = int(match.group(1)), int(match.group(2))
-                    self.verify_resolution(width, height)
-                    return
-
-        self.get_logger().warn('Could not determine active display from xrandr')
-
-    def verify_resolution(self, current_w, current_h):
-        """Validate resolution matches target"""
-        if current_w == self.target_w and current_h == self.target_h:
-            self.get_logger().info(f'✓ Display verified: {current_w}×{current_h} [OK]')
-        else:
-            self.get_logger().warn(f'⚠ Display mismatch: Expected {self.target_w}×{self.target_h}, got {current_w}×{current_h}')
-            self.attempt_set_resolution()
-
-    def attempt_set_resolution(self):
-        """Try to set resolution via xrandr"""
-        try:
-            # Find HDMI output
-            result = subprocess.run(
-                ['xrandr', '--output', 'HDMI-1', '--mode', f'{self.target_w}x{self.target_h}', '--rate', str(self.target_f)],
-                capture_output=True, text=True, timeout=5
-            )
-            if result.returncode == 0:
-                self.get_logger().info(f'✓ Resolution set to {self.target_w}×{self.target_h} @ {self.target_f}Hz')
-            else:
-                self.get_logger().warn(f'Resolution change failed: {result.stderr}')
-        except Exception as e:
-            self.get_logger().error(f'Could not set resolution: {e}')
-
-    def check_edid(self):
-        """Fallback: check EDID (Extended Display ID) data"""
-        try:
-            result = subprocess.run(['edid-decode', '/sys/class/drm/card0-HDMI-A-1/edid'],
-                                    capture_output=True, text=True, timeout=5)
-            if 'Established timings' in result.stdout:
-                self.get_logger().info('Display EDID detected (MageDok 1024×600 display)')
-        except:
-            self.get_logger().warn('EDID check unavailable')
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    verifier = DisplayVerifier()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()

jetson/ros2_ws/src/saltybot_bringup/systemd/magedok-display.service

@@ -1,26 +0,0 @@
-[Unit]
-Description=MageDok 7" Display Setup and Auto-Launch
-Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/369
-After=network-online.target
-Wants=network-online.target
-ConditionPathExists=/dev/pts/0
-
-[Service]
-Type=oneshot
-ExecStartPre=/bin/sleep 2
-ExecStart=/usr/bin/env bash -c 'source /opt/ros/jazzy/setup.bash && ros2 launch saltybot_bringup magedok_display.launch.py'
-ExecStartPost=/usr/bin/env bash -c 'DISPLAY=:0 /usr/bin/startx -- :0 vt7 -nolisten tcp 2>/dev/null &'
-
-StandardOutput=journal
-StandardError=journal
-SyslogIdentifier=magedok-display
-User=orin
-Group=orin
-Environment="DISPLAY=:0"
-Environment="XAUTHORITY=/home/orin/.Xauthority"
-
-Restart=on-failure
-RestartSec=5
-
-[Install]
-WantedBy=multi-user.target

jetson/ros2_ws/src/saltybot_bringup/udev/90-magedok-touch.rules

@@ -1,19 +0,0 @@
-# MageDok 7" Touchscreen USB Device Rules
-# Ensure touch device is recognized and accessible
-
-# Generic USB touch input device (MageDok)
-# Manufacturer typically reports as: EETI eGTouch Controller
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", TAG="uaccess"
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", TAG="uaccess"
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*MageDok*", TAG="uaccess"
-
-# Fallback: Any USB device with touch capability (VID/PID may vary by batch)
-SUBSYSTEM=="usb", ATTRS{bInterfaceClass}=="03", ATTRS{bInterfaceSubClass}=="01", TAG="uaccess"
-
-# Create /dev/magedok-touch symlink for consistent reference
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*eGTouch*", SYMLINK="magedok-touch"
-SUBSYSTEM=="input", KERNEL=="event*", ATTRS{name}=="*EETI*", SYMLINK="magedok-touch"
-
-# Permissions: 0666 (rw for all users)
-SUBSYSTEM=="input", KERNEL=="event*", MODE="0666"
-SUBSYSTEM=="input", KERNEL=="mouse*", MODE="0666"

src/battery.c

@@ -11,7 +11,6 @@
 #include "battery.h"
 #include "config.h"
 #include "stm32f7xx_hal.h"
-#include <stdbool.h>
 
 static ADC_HandleTypeDef s_hadc;
 static bool              s_ready = false;

src/fan.c

@@ -47,8 +47,6 @@ static FanState_t s_fan = {
     .is_ramping = false
 };
 
-static TIM_HandleTypeDef s_htim1 = {0};
-
 /* ================================================================
  * Hardware Initialization
  * ================================================================ */
@@ -73,13 +71,14 @@ void fan_init(void)
      * For 25kHz frequency: PSC = 346, ARR = 25
      * Duty cycle = CCR / ARR (e.g., 12.5/25 = 50%)
      */
-    s_htim1.Instance = FAN_TIM;
+    TIM_HandleTypeDef htim1 = {0};
-    s_htim1.Init.Prescaler = 346 - 1;         /* 216MHz / 346 ≈ 624kHz clock */
+    htim1.Instance = FAN_TIM;
-    s_htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+    htim1.Init.Prescaler = 346 - 1;         /* 216MHz / 346 ≈ 624kHz clock */
-    s_htim1.Init.Period = 25 - 1;             /* 624kHz / 25 = 25kHz */
+    htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-    s_htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    htim1.Init.Period = 25 - 1;             /* 624kHz / 25 = 25kHz */
-    s_htim1.Init.RepetitionCounter = 0;
+    htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-    HAL_TIM_PWM_Init(&s_htim1);
+    htim1.Init.RepetitionCounter = 0;
+    HAL_TIM_PWM_Init(&htim1);
 
     /* Configure PWM on CH2: 0% duty initially (fan off) */
     TIM_OC_InitTypeDef oc_init = {0};
@@ -87,10 +86,10 @@ void fan_init(void)
     oc_init.Pulse = 0;                      /* Start at 0% duty (off) */
     oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
     oc_init.OCFastMode = TIM_OCFAST_DISABLE;
-    HAL_TIM_PWM_ConfigChannel(&s_htim1, &oc_init, FAN_TIM_CHANNEL);
+    HAL_TIM_PWM_ConfigChannel(&htim1, &oc_init, FAN_TIM_CHANNEL);
 
     /* Start PWM generation */
-    HAL_TIM_PWM_Start(&s_htim1, FAN_TIM_CHANNEL);
+    HAL_TIM_PWM_Start(FAN_TIM, FAN_TIM_CHANNEL);
 
     s_fan.current_speed = 0;
     s_fan.target_speed = 0;

src/i2c1.c

@@ -31,15 +31,3 @@ int i2c1_init(void) {
 
     return (HAL_I2C_Init(&hi2c1) == HAL_OK) ? 0 : -1;
 }
-
-/* I2C read: send register address, read data */
-int i2c1_read(uint8_t addr, uint8_t *data, uint16_t len) {
-    /* Master receiver mode: read len bytes from addr */
-    return (HAL_I2C_Master_Receive(&hi2c1, (uint16_t)(addr << 1), data, len, 1000) == HAL_OK) ? 0 : -1;
-}
-
-/* I2C write: send register address + data */
-int i2c1_write(uint8_t addr, const uint8_t *data, uint16_t len) {
-    /* Master transmitter mode: write len bytes to addr */
-    return (HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)(addr << 1), (uint8_t *)data, len, 1000) == HAL_OK) ? 0 : -1;
-}

src/main.c

@@ -587,20 +587,3 @@ int main(void) {
         HAL_Delay(1);
     }
 }
-
-/* ================================================================
- * Stub Functions (to be implemented)
- * ================================================================ */
-
-/* IMU calibration status — returns true if IMU calibration is complete */
-static bool imu_calibrated(void) {
-    /* Placeholder: return true if both MPU6000 and BNO055 are calibrated */
-    return true;
-}
-
-/* CRSF receiver active check — returns true if valid signal received recently */
-static bool crsf_is_active(uint32_t now) {
-    (void)now;  /* Unused parameter */
-    /* Placeholder: check CRSF timeout or heartbeat */
-    return true;
-}

src/servo.c

@@ -24,6 +24,19 @@
 #define SERVO_PRESCALER     53u            /* APB1 54 MHz / 54 = 1 MHz */
 #define SERVO_ARR           19999u         /* 1 MHz / 20000 = 50 Hz */
 
+typedef struct {
+    uint16_t current_angle_deg[SERVO_COUNT];
+    uint16_t target_angle_deg[SERVO_COUNT];
+    uint16_t pulse_us[SERVO_COUNT];
+
+    /* Sweep state */
+    uint32_t sweep_start_ms[SERVO_COUNT];
+    uint32_t sweep_duration_ms[SERVO_COUNT];
+    uint16_t sweep_start_deg[SERVO_COUNT];
+    uint16_t sweep_end_deg[SERVO_COUNT];
+    bool     is_sweeping[SERVO_COUNT];
+} ServoState;
+
 static ServoState s_servo = {0};
 static TIM_HandleTypeDef s_tim_handle = {0};
 

src/watchdog.c

@@ -42,8 +42,6 @@ static WatchdogState s_watchdog = {
     .reload_value = 0
 };
 
-static IWDG_HandleTypeDef s_hiwdg = {0};
-
 /* ================================================================
  * Helper Functions
  * ================================================================ */
@@ -110,12 +108,13 @@ bool watchdog_init(uint32_t timeout_ms)
     s_watchdog.timeout_ms = timeout_ms;
 
     /* Configure and start IWDG */
-    s_hiwdg.Instance = IWDG;
+    IWDG_HandleTypeDef hiwdg = {0};
-    s_hiwdg.Init.Prescaler = prescaler;
+    hiwdg.Instance = IWDG;
-    s_hiwdg.Init.Reload = reload;
+    hiwdg.Init.Prescaler = prescaler;
-    s_hiwdg.Init.Window = reload;  /* Window == Reload means full timeout */
+    hiwdg.Init.Reload = reload;
+    hiwdg.Init.Window = reload;  /* Window == Reload means full timeout */
 
-    HAL_IWDG_Init(&s_hiwdg);
+    HAL_IWDG_Init(&hiwdg);
 
     s_watchdog.is_initialized = true;
     s_watchdog.is_running = true;

ui/social-bot/src/App.jsx

@@ -85,17 +85,7 @@ import { Diagnostics } from './components/Diagnostics.jsx';
 // Hand tracking visualization (issue #344)
 import { HandTracker } from './components/HandTracker.jsx';
 
-// Salty Face animated expression UI (issue #370)
-import { SaltyFace } from './components/SaltyFace.jsx';
-
 const TAB_GROUPS = [
-  {
-    label: 'DISPLAY',
-    color: 'text-rose-600',
-    tabs: [
-      { id: 'salty-face',   label: 'Salty Face',  },
-    ],
-  },
   {
     label: 'SOCIAL',
     color: 'text-cyan-600',
@@ -280,12 +270,7 @@ export default function App() {
       </nav>
 
       {/* ── Content ── */}
-      <main className={`flex-1 ${
+      <main className={`flex-1 ${['eventlog', 'control', 'imu'].includes(activeTab) ? 'flex flex-col' : 'overflow-y-auto'} p-4`}>
-        activeTab === 'salty-face' ? '' :
-        ['eventlog', 'control', 'imu'].includes(activeTab) ? 'flex flex-col' : 'overflow-y-auto'
-      } ${activeTab === 'salty-face' ? '' : 'p-4'}`}>
-        {activeTab === 'salty-face'   && <SaltyFace      subscribe={subscribe} />}
-
         {activeTab === 'status'       && <StatusPanel     subscribe={subscribe} />}
         {activeTab === 'faces'        && <FaceGallery     subscribe={subscribe} callService={callService} />}
         {activeTab === 'hands'        && <HandTracker     subscribe={subscribe} />}

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

@@ -1,400 +0,0 @@
-/**
- * SaltyFace.jsx — Animated facial expression UI for MageDok 7" display
- *
- * Features:
- *   - 8 emotional states (happy, alert, confused, sleeping, excited, emergency, listening, talking)
- *   - GPU-accelerated Canvas/SVG rendering (target 30fps on Orin Nano)
- *   - ROS2 integration: /saltybot/state, /saltybot/target_track, /saltybot/obstacles
- *   - Mouth animation synchronized with TTS audio
- *   - HUD overlay: battery, speed, distance, sensor health
- *   - Tap-to-toggle status overlay
- *   - Inspired by Cozmo/Vector minimalist design
- */
-
-import React, { useState, useEffect, useRef, useCallback } from 'react';
-
-// Emotion states
-const EMOTIONS = {
-  HAPPY: 'happy',      // Default, normal operation
-  ALERT: 'alert',      // Obstacles detected
-  CONFUSED: 'confused', // Target lost, searching
-  SLEEPING: 'sleeping', // Prolonged inactivity
-  EXCITED: 'excited',   // Target reacquired
-  EMERGENCY: 'emergency', // E-stop activated
-  LISTENING: 'listening', // Microphone active
-  TALKING: 'talking',   // Text-to-speech output
-};
-
-// Eye characteristics per emotion
-const EMOTION_CONFIG = {
-  [EMOTIONS.HAPPY]: {
-    eyeScale: 1.0,
-    pupilPos: { x: 0, y: 0 },
-    blink: true,
-    blinkRate: 3000,
-    color: '#10b981',
-  },
-  [EMOTIONS.ALERT]: {
-    eyeScale: 1.3,
-    pupilPos: { x: 0, y: -3 },
-    blink: false,
-    blinkRate: 0,
-    color: '#ef4444',
-  },
-  [EMOTIONS.CONFUSED]: {
-    eyeScale: 1.1,
-    pupilPos: { x: 0, y: 0 },
-    blink: true,
-    blinkRate: 1500,
-    eyeWander: true,
-    color: '#f59e0b',
-  },
-  [EMOTIONS.SLEEPING]: {
-    eyeScale: 0.3,
-    pupilPos: { x: 0, y: 0 },
-    blink: false,
-    isClosed: true,
-    color: '#6b7280',
-  },
-  [EMOTIONS.EXCITED]: {
-    eyeScale: 1.2,
-    pupilPos: { x: 0, y: 0 },
-    blink: true,
-    blinkRate: 800,
-    bounce: true,
-    color: '#22c55e',
-  },
-  [EMOTIONS.EMERGENCY]: {
-    eyeScale: 1.4,
-    pupilPos: { x: 0, y: -4 },
-    blink: false,
-    color: '#dc2626',
-    flash: true,
-  },
-  [EMOTIONS.LISTENING]: {
-    eyeScale: 1.0,
-    pupilPos: { x: 0, y: -2 },
-    blink: true,
-    blinkRate: 2000,
-    color: '#0ea5e9',
-  },
-  [EMOTIONS.TALKING]: {
-    eyeScale: 1.0,
-    pupilPos: { x: 0, y: 0 },
-    blink: true,
-    blinkRate: 2500,
-    color: '#06b6d4',
-  },
-};
-
-// Mouth states for talking
-const MOUTH_FRAMES = [
-  { open: 0.0, shape: 'closed' },   // Closed
-  { open: 0.3, shape: 'smile-closed' }, // Slight smile
-  { open: 0.5, shape: 'smile-open' },  // Smile open
-  { open: 0.7, shape: 'oh' },        // "Oh" sound
-  { open: 0.9, shape: 'ah' },        // "Ah" sound
-  { open: 0.7, shape: 'ee' },        // "Ee" sound
-];
-
-// Canvas-based face renderer
-function FaceCanvas({ emotion, isTalking, audioLevel, showOverlay, botState }) {
-  const canvasRef = useRef(null);
-  const animationRef = useRef(null);
-  const [eyeWanderOffset, setEyeWanderOffset] = useState({ x: 0, y: 0 });
-  const [mouthFrame, setMouthFrame] = useState(0);
-  const [isBlinking, setIsBlinking] = useState(false);
-  const talkingCounterRef = useRef(0);
-
-  // Main animation loop
-  useEffect(() => {
-    const canvas = canvasRef.current;
-    if (!canvas) return;
-
-    const ctx = canvas.getContext('2d', { alpha: true });
-    const W = canvas.width;
-    const H = canvas.height;
-    let frameCount = 0;
-
-    const config = EMOTION_CONFIG[emotion] || EMOTION_CONFIG[EMOTIONS.HAPPY];
-
-    const drawFace = () => {
-      // Clear canvas
-      ctx.fillStyle = 'rgba(5, 5, 16, 0.95)';
-      ctx.fillRect(0, 0, W, H);
-
-      const centerX = W / 2;
-      const centerY = H / 2.2;
-      const eyeRadius = 40;
-      const eyeSpacing = 80;
-
-      // Eye wandering animation (for confused state)
-      let eyeOffX = 0, eyeOffY = 0;
-      if (config.eyeWander) {
-        eyeOffX = Math.sin(frameCount * 0.02) * 8;
-        eyeOffY = Math.cos(frameCount * 0.015) * 8;
-      }
-
-      // Bounce animation (for excited state)
-      let bounceOffset = 0;
-      if (config.bounce) {
-        bounceOffset = Math.sin(frameCount * 0.08) * 6;
-      }
-
-      // Draw eyes
-      const eyeY = centerY + bounceOffset;
-      drawEye(ctx, centerX - eyeSpacing, eyeY + eyeOffY, eyeRadius, config, isBlinking);
-      drawEye(ctx, centerX + eyeSpacing, eyeY + eyeOffY, eyeRadius, config, isBlinking);
-
-      // Draw mouth (if talking)
-      if (isTalking && !config.isClosed) {
-        drawMouth(ctx, centerX, centerY + 80, 50, MOUTH_FRAMES[mouthFrame]);
-      }
-
-      // Flash animation (emergency state)
-      if (config.flash && Math.sin(frameCount * 0.1) > 0.7) {
-        ctx.fillStyle = 'rgba(220, 38, 38, 0.3)';
-        ctx.fillRect(0, 0, W, H);
-      }
-
-      frameCount++;
-    };
-
-    const animationLoop = () => {
-      drawFace();
-      animationRef.current = requestAnimationFrame(animationLoop);
-    };
-
-    animationLoop();
-
-    return () => {
-      if (animationRef.current) {
-        cancelAnimationFrame(animationRef.current);
-      }
-    };
-  }, [emotion, isTalking, isBlinking, mouthFrame]);
-
-  // Blinking logic
-  useEffect(() => {
-    const config = EMOTION_CONFIG[emotion] || EMOTION_CONFIG[EMOTIONS.HAPPY];
-    if (!config.blink || config.isClosed) return;
-
-    const blinkInterval = setInterval(() => {
-      setIsBlinking(true);
-      setTimeout(() => setIsBlinking(false), 150);
-    }, config.blinkRate);
-
-    return () => clearInterval(blinkInterval);
-  }, [emotion]);
-
-  // Mouth animation for talking
-  useEffect(() => {
-    if (!isTalking) {
-      setMouthFrame(0);
-      return;
-    }
-
-    let frameIndex = 0;
-    const mouthInterval = setInterval(() => {
-      frameIndex = (frameIndex + 1) % MOUTH_FRAMES.length;
-      setMouthFrame(frameIndex);
-    }, 100); // ~10fps mouth animation
-
-    return () => clearInterval(mouthInterval);
-  }, [isTalking]);
-
-  return (
-    <canvas
-      ref={canvasRef}
-      width={1024}
-      height={600}
-      className="w-full h-full block"
-    />
-  );
-}
-
-// Draw individual eye
-function drawEye(ctx, x, y, radius, config, isBlinking) {
-  ctx.fillStyle = '#1f2937';
-  ctx.beginPath();
-  ctx.arc(x, y, radius, 0, Math.PI * 2);
-  ctx.fill();
-
-  if (isBlinking) {
-    // Closed eye (line)
-    ctx.strokeStyle = config.color;
-    ctx.lineWidth = 3;
-    ctx.beginPath();
-    ctx.moveTo(x - radius * 0.7, y);
-    ctx.lineTo(x + radius * 0.7, y);
-    ctx.stroke();
-  } else {
-    // Open eye with pupil
-    const pupilRadius = radius * (config.eyeScale / 2);
-    ctx.fillStyle = config.color;
-    ctx.beginPath();
-    ctx.arc(x + config.pupilPos.x, y + config.pupilPos.y, pupilRadius, 0, Math.PI * 2);
-    ctx.fill();
-
-    // Highlight reflection
-    ctx.fillStyle = 'rgba(255, 255, 255, 0.6)';
-    ctx.beginPath();
-    ctx.arc(x + config.pupilPos.x + pupilRadius * 0.4, y + config.pupilPos.y - pupilRadius * 0.4, pupilRadius * 0.3, 0, Math.PI * 2);
-    ctx.fill();
-  }
-}
-
-// Draw mouth for talking
-function drawMouth(ctx, x, y, width, frame) {
-  ctx.strokeStyle = '#f59e0b';
-  ctx.lineWidth = 3;
-  ctx.lineCap = 'round';
-
-  if (frame.shape === 'closed') {
-    ctx.beginPath();
-    ctx.moveTo(x - width * 0.4, y);
-    ctx.lineTo(x + width * 0.4, y);
-    ctx.stroke();
-  } else if (frame.shape === 'smile-open' || frame.shape === 'smile-closed') {
-    ctx.beginPath();
-    ctx.arc(x, y, width * 0.5, 0, Math.PI, false);
-    ctx.stroke();
-  } else if (frame.shape === 'oh') {
-    ctx.fillStyle = '#f59e0b';
-    ctx.beginPath();
-    ctx.arc(x, y, width * 0.35 * frame.open, 0, Math.PI * 2);
-    ctx.fill();
-  } else if (frame.shape === 'ah') {
-    ctx.beginPath();
-    ctx.moveTo(x - width * 0.3, y - width * 0.2 * frame.open);
-    ctx.lineTo(x + width * 0.3, y - width * 0.2 * frame.open);
-    ctx.lineTo(x + width * 0.2, y + width * 0.3 * frame.open);
-    ctx.lineTo(x - width * 0.2, y + width * 0.3 * frame.open);
-    ctx.closePath();
-    ctx.stroke();
-  }
-}
-
-// Status HUD overlay
-function StatusOverlay({ botState, visible }) {
-  if (!visible) return null;
-
-  return (
-    <div className="absolute inset-0 flex flex-col justify-between p-4 text-xs font-mono pointer-events-none">
-      {/* Top-left: Battery & Status */}
-      <div className="flex flex-col gap-2">
-        <div className="flex items-center gap-2">
-          <span className="text-amber-400">⚡</span>
-          <span className="text-gray-300">{botState?.battery ?? '--'}%</span>
-        </div>
-        <div className="flex items-center gap-2">
-          <span className="text-cyan-400">●</span>
-          <span className="text-gray-300">{botState?.state ?? 'IDLE'}</span>
-        </div>
-      </div>
-
-      {/* Bottom-left: Distance & Health */}
-      <div className="flex flex-col gap-2">
-        <div className="flex items-center gap-2">
-          <span className="text-green-400">●</span>
-          <span className="text-gray-300">{botState?.distance?.toFixed(1) ?? '--'}m</span>
-        </div>
-        <div className="flex items-center gap-2">
-          <span className={botState?.health > 75 ? 'text-green-400' : botState?.health > 50 ? 'text-yellow-400' : 'text-red-400'}>◇</span>
-          <span className="text-gray-300">{botState?.health ?? '--'}%</span>
-        </div>
-      </div>
-
-      {/* Top-right: Speed */}
-      <div className="absolute top-4 right-4 flex flex-col items-end gap-2">
-        <div className="text-cyan-400">{botState?.speed?.toFixed(1) ?? '--'} m/s</div>
-        <div className="text-gray-500 text-xs">[tap to hide]</div>
-      </div>
-    </div>
-  );
-}
-
-// Main component
-export function SaltyFace({ subscribe }) {
-  const [emotion, setEmotion] = useState(EMOTIONS.HAPPY);
-  const [isTalking, setIsTalking] = useState(false);
-  const [audioLevel, setAudioLevel] = useState(0);
-  const [showOverlay, setShowOverlay] = useState(true);
-  const [botState, setBotState] = useState({
-    battery: 85,
-    state: 'IDLE',
-    distance: 0,
-    speed: 0,
-    health: 90,
-    hasTarget: false,
-    obstacles: 0,
-  });
-
-  // Subscribe to robot state
-  useEffect(() => {
-    if (!subscribe) return;
-
-    const unsub1 = subscribe('/saltybot/state', 'std_msgs/String', (msg) => {
-      try {
-        const data = JSON.parse(msg.data);
-        setBotState((prev) => ({ ...prev, state: data.state || 'IDLE' }));
-
-        // Update emotion based on state
-        if (data.state === 'EMERGENCY') {
-          setEmotion(EMOTIONS.EMERGENCY);
-        } else if (data.state === 'TRACKING') {
-          setEmotion(EMOTIONS.HAPPY);
-        } else if (data.state === 'SEARCHING') {
-          setEmotion(EMOTIONS.CONFUSED);
-        } else if (data.state === 'IDLE') {
-          setEmotion(EMOTIONS.HAPPY);
-        }
-      } catch (e) {}
-    });
-
-    const unsub2 = subscribe('/saltybot/target_track', 'geometry_msgs/Pose', (msg) => {
-      setBotState((prev) => ({ ...prev, hasTarget: msg ? true : false }));
-      if (msg) setEmotion(EMOTIONS.EXCITED);
-    });
-
-    const unsub3 = subscribe('/saltybot/obstacles', 'sensor_msgs/LaserScan', (msg) => {
-      const obstacleCount = msg?.ranges?.filter((r) => r < 0.5).length ?? 0;
-      setBotState((prev) => ({ ...prev, obstacles: obstacleCount }));
-      if (obstacleCount > 0) setEmotion(EMOTIONS.ALERT);
-    });
-
-    const unsub4 = subscribe('/social/speech/is_speaking', 'std_msgs/Bool', (msg) => {
-      setIsTalking(msg.data ?? false);
-      if (msg.data) setEmotion(EMOTIONS.TALKING);
-    });
-
-    const unsub5 = subscribe('/social/speech/is_listening', 'std_msgs/Bool', (msg) => {
-      if (msg.data) setEmotion(EMOTIONS.LISTENING);
-    });
-
-    const unsub6 = subscribe('/saltybot/battery', 'std_msgs/Float32', (msg) => {
-      setBotState((prev) => ({ ...prev, battery: Math.round(msg.data) }));
-    });
-
-    const unsub7 = subscribe('/saltybot/audio_level', 'std_msgs/Float32', (msg) => {
-      setAudioLevel(msg.data ?? 0);
-    });
-
-    return () => {
-      unsub1?.();
-      unsub2?.();
-      unsub3?.();
-      unsub4?.();
-      unsub5?.();
-      unsub6?.();
-      unsub7?.();
-    };
-  }, [subscribe]);
-
-  return (
-    <div className="relative w-full h-screen bg-gray-950 overflow-hidden" onClick={() => setShowOverlay(!showOverlay)}>
-      <FaceCanvas emotion={emotion} isTalking={isTalking} audioLevel={audioLevel} showOverlay={showOverlay} botState={botState} />
-      <StatusOverlay botState={botState} visible={showOverlay} />
-    </div>
-  );
-}