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fda6ab99ff
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feat(arch): align CAN/UART bridges with SAUL-TEE-SYSTEM-REFERENCE.md spec
Update CAN and serial bridge code to match authoritative protocol spec
from docs/SAUL-TEE-SYSTEM-REFERENCE.md §5-6 (hal, 2026-04-04).
mamba_protocol.py (CAN, Orin ↔ ESP32 BALANCE):
- 0x300 DRIVE: [speed:i16][steer:i16][mode:u8][flags:u8][_:u16] — combined frame
- 0x301 ARM: [arm:u8]
- 0x302 PID: [kp:f16][ki:f16][kd:f16][_:u16] — half-float gains
- 0x303 ESTOP: [0xE5] — magic byte cut
- 0x400 ATTITUDE: [pitch:f16][speed:f16][yaw_rate:f16][state:u8][flags:u8]
- 0x401 BATTERY: [vbat_mv:u16][fault_code:u8][rssi:i8]
- Add VESC STATUS1/4/5 decode helpers; VESC IDs 56 (left) / 68 (right)
can_bridge_node.py:
- /cmd_vel → encode_drive_cmd (speed/steer int16, MODE_DRIVE)
- /estop → encode_estop_cmd (magic 0xE5); clear → DISARM
- /saltybot/arm → encode_arm_cmd (new subscription)
- Watchdog sends DRIVE(0,0,MODE_IDLE) when /cmd_vel silent
- ATTITUDE (0x400) → /saltybot/attitude + /saltybot/balance_state JSON
- BATTERY (0x401) → /can/battery BatteryState
- VESC STATUS1 frames → /can/vesc/left|right/state
stm32_cmd_node.py — rewritten for inter-board protocol API:
- Imports from updated stm32_protocol (BAUD_RATE=460800, new frame types)
- RX: RcChannels → /saltybot/rc_channels, SensorData → /saltybot/sensors
- TX: encode_led_cmd, encode_output_cmd from /saltybot/leds + /saltybot/outputs
- HEARTBEAT (0x20) timer replaces old SPEED_STEER/ARM logic
stm32_cmd_params.yaml: serial_port=/dev/esp32-io, baud=460800
stm32_cmd.launch.py: updated defaults and description
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:59:45 -04:00 |
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308be74330
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feat(arch): implement SAUL-TEE ESP32 protocol specs from hal reference doc
Spec source: docs/SAUL-TEE-SYSTEM-REFERENCE.md (hal, 2026-04-04)
stm32_protocol.py — rewritten for inter-board UART protocol (ESP32 BALANCE ↔ IO):
- Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8] @ 460800 baud (was STX/ETX/CRC16)
- CRC-8 poly 0x07 over LEN+TYPE+PAYLOAD
- New message types: RC_CHANNELS(0x01), SENSORS(0x02), LED_CMD(0x10),
OUTPUT_CMD(0x11), MOTOR_CMD(0x12), HEARTBEAT(0x20)
mamba_protocol.py — updated CAN IDs and frame formats:
- Orin→BALANCE: DRIVE(0x300) f32×2 LE, MODE(0x301), ESTOP(0x302), LED(0x303)
- BALANCE→Orin: FC_STATUS(0x400) pitch/vbat/state, FC_VESC(0x401) rpm/current
- VESC node IDs: Left=56, Right=68 (authoritative per §8)
- VESC extended frames: STATUS1(cmd=9), STATUS4(cmd=16), STATUS5(cmd=27)
- Replaced old MAMBA_CMD_*/MAMBA_TELEM_* constants
can_bridge_node.py — updated to use new IDs:
- ORIN_CMD_DRIVE/MODE/ESTOP replace MAMBA_CMD_VELOCITY/MODE/ESTOP
- FC_STATUS handler: publishes pitch→/can/imu, vbat_mv→/can/battery
- FC_VESC handler: publishes rpm/cur→/can/vesc/left|right/state
- VESC STATUS1 extended frames decoded per node ID (56/68)
- Removed PID CAN command (not in new spec)
CLAUDE.md — updated with ESP32-S3 BALANCE/IO hardware summary + key protocols
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:59:28 -04:00 |
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