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feat: IMU mount cal, CAN telemetry, LED CAN override (Issues #680, #672, #685) #686

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sl-jetson merged 2 commits from sl-jetson/issue-681-vesc-telemetry-publish into main 2026-03-18 07:49:12 -04:00
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2 Commits

Author SHA1 Message Date
sl-firmware
9ed678ca35 feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685) 
Issue #680 — IMU mount angle calibration:
- imu_cal_flash.h/.c: store pitch/roll offsets in flash sector 7
  (0x0807FF00, 64 bytes; preserves PID records across sector erase)
- mpu6000_set_mount_offset(): subtracts offsets from pitch/roll output
- mpu6000_has_mount_offset(): reports cal_status=2 to Orin
- 'O' CDC command: capture current pitch/roll → save to flash → ACK JSON
- Load offsets on boot; report in printf log

CAN telemetry correction (Tee: production has no USB to Orin):
- FC_IMU (0x402): pitch/roll/yaw/cal_status/balance_state at 50 Hz
- orin_can_broadcast_imu() rate-limited to ORIN_IMU_TLM_HZ (50 Hz)
- FC_BARO (0x403): pressure_pa/temp_x10/alt_cm at 1 Hz (Issue #672)
- orin_can_broadcast_baro() rate-limited to ORIN_BARO_TLM_HZ (1 Hz)

Issue #685 — LED CAN override:
- ORIN_CAN_ID_LED_CMD (0x304): pattern/brightness/duration_ms from Orin
- orin_can_led_override volatile state + orin_can_led_updated flag
- main.c: apply pattern to LED state machine on each LED_CMD received

Orin side:
- saltybot_can_node.py: production SocketCAN bridge — reads 0x400-0x403,
  publishes /saltybot/imu, /saltybot/balance_state, /saltybot/barometer;
  subscribes /cmd_vel → 0x301 DRIVE; /saltybot/leds → 0x304 LED_CMD;
  sends 0x300 HEARTBEAT at 5 Hz; sends 0x303 ESTOP on shutdown
- setup.py: register saltybot_can_node entry point + uart_bridge launch

Fix: re-apply --defsym __stack_end=_estack-0x1000 linker fix to branch

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-17 22:49:21 -04:00
sl-webui
06db56103f feat: Enable VESC driver telemetry publishing (Issue #681) 
vesc_driver_node.py:
- Add VescState dataclass with to_dict() serialization
- Add CAN_PACKET_STATUS/STATUS_4/STATUS_5 (9/16/27) RX constants
- Add FAULT_NAMES lookup (11 VESC FW 6.6 fault codes)
- Add background CAN RX thread (_rx_loop / _dispatch_frame) that
  parses STATUS broadcast frames using struct.unpack
- Add publishers for /saltybot/vesc/left and /saltybot/vesc/right
  (std_msgs/String JSON) at configurable telemetry_rate_hz (default 10 Hz)
- Combine watchdog + publish into single timer callback
- Proper thread cleanup in destroy_node()

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-03-17 22:49:06 -04:00