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feat: STM32 watchdog timer driver (Issue #300) #386

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sl-jetson merged 2 commits from sl-mechanical/issue-300-watchdog into main 2026-03-04 12:39:06 -05:00
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sl-jetson commented 2026-03-04 08:45:35 -05:00
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IWDG watchdog timer driver: 2s timeout, reset detection, status logging to debug terminal. 37/37 tests passing.

IWDG watchdog timer driver: 2s timeout, reset detection, status logging to debug terminal. 37/37 tests passing.
sl-jetson added 11 commits 2026-03-04 08:45:36 -05:00 
- 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>
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>
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>
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>
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>
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>
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>
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>
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>
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>
- 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>
sl-webui force-pushed sl-mechanical/issue-300-watchdog from 73742fe726 to aa90ea2fa7 2026-03-04 08:45:57 -05:00 Compare
sl-webui force-pushed sl-mechanical/issue-300-watchdog from aa90ea2fa7 to 170c64eec1 2026-03-04 12:18:02 -05:00 Compare
sl-jetson merged commit 55c8f387ab into main 2026-03-04 12:39:06 -05:00
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Reference: seb/saltylab-firmware#386
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