AUTONOMOUS_ARMING.md

@@ -7,7 +7,11 @@ The robot can now be armed and operated autonomously from the Jetson without req
 
 ### Jetson Autonomous Arming
 - Command: `A\n` (single byte 'A' followed by newline)
+<<<<<<< HEAD
 - Sent via USB CDC to the ESP32 BALANCE firmware
+=======
+- Sent via USB Serial (CH343) to the ESP32-S3 firmware
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
 - Works even when RC is not connected or not armed
 
@@ -42,7 +46,11 @@ The robot can now be armed and operated autonomously from the Jetson without req
 
 ## Command Protocol
 
+<<<<<<< HEAD
 ### From Jetson to ESP32 BALANCE (USB CDC)
+=======
+### From Jetson to ESP32-S3 (USB Serial (CH343))
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ```
 A           — Request arm (triggers safety hold, then motors enable)
 D           — Request disarm (immediate motor stop)
@@ -52,7 +60,11 @@ H           — Heartbeat (refresh timeout timer, every 500ms)
 C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
 ```
 
+<<<<<<< HEAD
 ### From ESP32 BALANCE to Jetson (USB CDC)
+=======
+### From ESP32-S3 to Jetson (USB Serial (CH343))
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Motor commands are gated by `bal.state == BALANCE_ARMED`:
 - When ARMED: Motor commands sent every 20ms (50 Hz)
 - When DISARMED: Zero sent every 20ms (prevents ESC timeout)

CLAUDE.md

@@ -1,6 +1,7 @@
 # SaltyLab Firmware — Agent Playbook
 
 ## Project
+<<<<<<< HEAD
 **SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
 Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
 
@@ -11,16 +12,25 @@ Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFE
 | **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
 
 > **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
+=======
+Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Team
 | Agent | Role | Focus |
 |-------|------|-------|
+<<<<<<< HEAD
 | **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
 | **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
 | **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
+=======
+| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader |
+| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
+| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Status
-USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
+USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
 
 ## Repo Structure
 - `projects/saltybot/SALTYLAB.md` — Design doc
@@ -38,11 +48,11 @@ USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG order
 | `saltyrover-dev` | Integration — rover variant |
 | `saltytank` | Stable — tracked tank variant |
 | `saltytank-dev` | Integration — tank variant |
-| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) |
+| `main` | Shared code only (IMU drivers, USB Serial (CH343), balance core, safety) |
 
 ### Rules
 - Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
-- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main`
+- Shared/infrastructure code (IMU drivers, USB Serial (CH343), balance core, safety) goes in `main`
 - Variant-specific code (motor topology, kinematics, config) goes in variant branches
 - Stable branches get promoted from `-dev` after review and hardware testing
 - **Current SaltyLab team** works against `saltylab-dev`

TEAM.md

@@ -1,6 +1,7 @@
 # SaltyLab — Ideal Team
 
 ## Project
+<<<<<<< HEAD
 **SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
 Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
 
@@ -8,6 +9,14 @@ Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFE
 - **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
 - **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
 - **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
+=======
+Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM.
+
+## Current Status
+- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
+- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug
+- **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see `legacy/stm32/USB_CDC_BUG.md` for historical context
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ---
 
@@ -15,18 +24,30 @@ Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFE
 
 ### 1. Embedded Firmware Engineer (Lead)
 **Must-have:**
+<<<<<<< HEAD
 - Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
 - USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
 - SPI + UART + USB coexistence on ESP32
 - PlatformIO or bare-metal ESP32 toolchain
 - DFU bootloader implementation
+=======
+- Deep ESP-IDF experience (ESP32-S3 specifically)
+- USB Serial (CH343) / UART debugging on ESP32-S3
+- SPI + UART + USB coexistence on ESP32-S3
+- ESP-IDF / Arduino-ESP32 toolchain
+- OTA firmware update implementation
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 **Nice-to-have:**
-- Betaflight/iNav/ArduPilot codebase familiarity
+- ESP32-S3 peripheral coexistence (SPI + UART + USB)
 - PID control loop tuning for balance robots
 - FOC motor control (hoverboard ESC protocol)
 
+<<<<<<< HEAD
 **Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.
+=======
+**Why:** The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ### 2. Control Systems / Robotics Engineer
 **Must-have:**
@@ -44,7 +65,7 @@ Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFE
 
 ### 3. Perception / SLAM Engineer (Phase 2)
 **Must-have:**
-- Jetson Nano / NVIDIA Jetson platform
+- Jetson Orin Nano Super / NVIDIA Jetson platform
 - Intel RealSense D435i depth camera
 - RPLIDAR integration
 - SLAM (ORB-SLAM3, RTAB-Map, or similar)
@@ -55,19 +76,23 @@ Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFE
 - Obstacle avoidance
 - Nav2 stack
 
-**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
+**Why:** Phase 2 goal is autonomous navigation. Jetson Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.
 
 ---
 
 ## Hardware Reference
 | Component | Details |
 |-----------|---------|
+<<<<<<< HEAD
 | FC | ESP32 BALANCE (ESP32RET6, MPU6000) |
+=======
+| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | Motors | 2x 8" pneumatic hoverboard hub motors |
 | ESC | Hoverboard ESC (EFeru FOC firmware) |
 | Battery | 36V pack |
 | RC | BetaFPV ELRS 2.4GHz TX + RX |
-| AI Brain | Jetson Nano + Noctua fan |
+| AI Brain | Jetson Orin Nano Super + Noctua fan |
 | Depth | Intel RealSense D435i |
 | LIDAR | RPLIDAR A1M8 |
 | Spare IMUs | BNO055, MPU6050 |
@@ -75,4 +100,4 @@ Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFE
 ## Repo
 - Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
 - Design doc: `projects/saltybot/SALTYLAB.md`
-- Bug doc: `USB_CDC_BUG.md`
+- Bug doc: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era)

cad/assembly.scad

@@ -60,7 +60,7 @@ color("Purple", 0.9)
     translate([0, 0, h_fc])
         cube([36, 36, 5], center=true);
 
-// Jetson Nano
+// Jetson Orin Nano Super
 color("LimeGreen", 0.7)
     translate([0, 0, h_jetson])
         cube([100, 80, 29], center=true);

cad/dimensions.scad

@@ -20,7 +20,7 @@ fc_hole_dia = 3.2;      // M3 clearance
 fc_board_size = 36;      // Typical FC PCB
 fc_standoff_h = 5;       // Rubber standoff height
 
-// --- Jetson Nano ---
+// --- Jetson Orin Nano Super ---
 jetson_w = 100;
 jetson_d = 80;
 jetson_h = 29;           // With heatsink

cad/jetson_shelf.scad

@@ -1,7 +1,7 @@
 // ============================================
-// SaltyLab — Jetson Nano Shelf
+// SaltyLab — Jetson Orin Nano Super Shelf
 // 120×100×15mm PETG
-// Mounts Jetson Nano to 2020 extrusion
+// Mounts Jetson Orin Nano Super to 2020 extrusion
 // ============================================
 include <dimensions.scad>
 

chassis/ASSEMBLY.md

@@ -56,20 +56,24 @@
 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
 4. Insert battery pack; route Velcro straps through slots and cinch.
 
+<<<<<<< HEAD
 ### 7  MCU mount (ESP32 BALANCE + ESP32 IO)
 
 > ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE retired. Two ESP32 boards replace it.
 > Board dimensions and hole patterns TBD — await spec from max before machining mount plate.
 
+=======
+### 7  FC mount (ESP32-S3 BALANCE)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
 2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only.
 3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions.
 4. Orient USB connectors toward front of robot for cable access.
 
-### 8  Jetson Nano mount plate
+### 8  Jetson Orin Nano Super mount plate
 1. Press or thread M3 nylon standoffs (8mm) into plate holes.
 2. Bolt plate to deck: 4× M3×10 SHCS at deck corners.
-3. Set Jetson Nano B01 carrier onto plate standoffs; fasten M3×6 BHCS.
+3. Set Jetson Orin Nano Super B01 carrier onto plate standoffs; fasten M3×6 BHCS.
 
 ### 9  Bumper brackets
 1. Slide 22mm EMT conduit through saddle clamp openings.

chassis/BOM.md

@@ -41,7 +41,11 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 | 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` |
 | 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` |
 | 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative |
+<<<<<<< HEAD
 | 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) |
+=======
+| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
 
 ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
@@ -70,7 +74,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 | 10 | Motor fork bracket (R) | 1 | 8mm 6061 aluminium | Mirror of item 9 |
 | 11 | Battery tray | 1 | 3mm PETG FDM or 3mm aluminium fold | `chassis_frame.scad` — `battery_tray()` module |
 | 12 | FC mount plate / standoffs | 1 set | PETG or nylon FDM | Includes 4× M3 nylon standoffs, 6mm height |
-| 13 | Jetson Nano mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
+| 13 | Jetson Orin Nano Super mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
 | 14 | Front bumper bracket | 1 | 5mm PETG FDM | Saddle clamps for 22mm EMT conduit |
 | 15 | Rear bumper bracket | 1 | 5mm PETG FDM | Mirror of item 14 |
 
@@ -93,11 +97,18 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
 
 | # | Part | Qty | Spec | Notes |
 |---|------|-----|------|-------|
+<<<<<<< HEAD
 | 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE |
 | 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O |
 | 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation |
 | 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads |
 | 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
+=======
+| 13 | ESP32-S3 ESP32-S3 BALANCE FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
+| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
+| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
+| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
 
 ---

chassis/chassis_frame.scad

@@ -8,9 +8,9 @@
 // Requirements:
 //   - 600mm wheelbase
 //   - 2x hoverboard hub motors (170mm OD)
-//   - STM32 MAMBA F722S FC mount (30.5x30.5mm pattern)
+//   - ESP32-S3 ESP32-S3 BALANCE FC mount (30.5x30.5mm pattern)
 //   - Battery tray (24V 4Ah — ~180x70x50mm pack)
-//   - Jetson Nano B01 mount plate (100x80mm, M3 holes)
+//   - Jetson Orin Nano Super B01 mount plate (100x80mm, M3 holes)
 //   - Front/rear bumper brackets
 // =============================================================================
 
@@ -37,7 +37,7 @@ MOTOR_FORK_H       = 80;    // mm, total height of motor fork bracket
 MOTOR_FORK_T       = 8;     // mm, fork plate thickness
 AXLE_HEIGHT        = 310;   // mm, axle CL above ground (motor radius + clearance)
 
-// ── FC mount (MAMBA F722S — 30.5 × 30.5 mm M3 pattern) ──────────────────────
+// ── FC mount (ESP32-S3 BALANCE — 30.5 × 30.5 mm M3 pattern) ──────────────────────
 FC_MOUNT_SPACING   = 30.5;  // mm, hole pattern pitch
 FC_MOUNT_HOLE_D    = 3.2;   // mm, M3 clearance
 FC_STANDOFF_H      = 6;     // mm, standoff height
@@ -52,7 +52,7 @@ BATT_FLOOR         = 4;     // mm, tray floor thickness
 BATT_STRAP_W       = 20;    // mm, Velcro strap slot width
 BATT_STRAP_T       = 2;     // mm, strap slot depth
 
-// ── Jetson Nano B01 mount plate ──────────────────────────────────────────────
+// ── Jetson Orin Nano Super B01 mount plate ──────────────────────────────────────────────
 // B01 carrier board hole pattern: 58 x 58 mm M3 (inner) + corner pass-throughs
 JETSON_HOLE_PITCH  = 58;    // mm, M3 mounting hole pattern
 JETSON_HOLE_D      = 3.2;   // mm
@@ -210,7 +210,7 @@ module battery_tray() {
 
 // ─── FC mount holes helper ────────────────────────────────────────────────────
 module fc_mount_holes(z_offset=0, depth=10) {
-    // MAMBA F722S: 30.5×30.5 mm M3 pattern, centred at origin
+    // ESP32-S3 BALANCE: 30.5×30.5 mm M3 pattern, centred at origin
     for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
     for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
         translate([x, y, z_offset])
@@ -247,7 +247,7 @@ module fc_mount_plate() {
     }
 }
 
-// ─── Jetson Nano B01 mount plate ─────────────────────────────────────────────
+// ─── Jetson Orin Nano Super B01 mount plate ─────────────────────────────────────────────
 // Positioned rear of deck, elevated on standoffs
 module jetson_mount_plate() {
     jet_x =  60;   // offset toward rear

chassis/ip54_BOM.md

@@ -104,7 +104,11 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio
 | Component | Thermal strategy | Max junction | Enclosure budget |
 |-----------|-----------------|-------------|-----------------|
 | Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case |
+<<<<<<< HEAD
 | FC (ESP32 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
+=======
+| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
 | D435i | Passive; housing vent gap on rear cap | 45 °C surface | — |
 

chassis/prototype_baseplate.scad

@@ -65,7 +65,7 @@ CLAMP_ALIGN_D   =   4.1;   // Ø4 pin
 // D-cut bore clearance
 DCUT_CL         =  0.3;
 
-// FC mount — MAMBA F722S 30.5 × 30.5 mm M3
+// FC mount — ESP32-S3 BALANCE 30.5 × 30.5 mm M3
 FC_PITCH        = 30.5;
 FC_HOLE_D       =  3.2;
 // FC is offset toward front of plate (away from stem)
@@ -202,7 +202,7 @@ module base_plate() {
                 translate([STEM_FLANGE_BC/2, 0, -1])
                     cylinder(d=M5, h=PLATE_THICK + 2);
 
-        // ── FC mount (MAMBA F722S 30.5 × 30.5 M3) ────────────────────────
+        // ── FC mount (ESP32-S3 BALANCE 30.5 × 30.5 M3) ────────────────────────
         for (x = [FC_X_OFFSET - FC_PITCH/2, FC_X_OFFSET + FC_PITCH/2])
         for (y = [-FC_PITCH/2, FC_PITCH/2])
             translate([x, y, -1])

chassis/rover_electronics_bay.scad

@@ -11,7 +11,7 @@
 //          • Ventilation slots      — all 4 walls + lid
 //
 // Shared mounting patterns (swappable with SaltyLab):
-//   FC    : 30.5 × 30.5 mm M3 (MAMBA F722S / Pixhawk)
+//   FC    : 30.5 × 30.5 mm M3 (ESP32-S3 BALANCE / Pixhawk)
 //   Jetson: 58 × 49 mm M3    (Orin NX / Nano Devkit carrier)
 //
 // Coordinate: bay centred at origin; Z=0 = deck top face.

chassis/saltyrover_chassis_r2.scad

@@ -17,7 +17,7 @@
 //   • Weight target: <2 kg frame (excl. motors/electronics)
 //
 // Shared SaltyLab patterns (swappable electronics):
-//   FC  : 30.5 × 30.5 mm M3  (MAMBA F722S / Pixhawk)
+//   FC  : 30.5 × 30.5 mm M3  (ESP32-S3 BALANCE / Pixhawk)
 //   Jetson: 58 × 49 mm M3    (Orin NX / Nano carrier board)
 //   Stem  : Ø25 mm bore      (sensor head unchanged)
 //
@@ -87,7 +87,7 @@ STEM_COLLAR_OD = 50.0;
 STEM_COLLAR_H  = 20.0;   // raised boss height above deck top
 STEM_FLANGE_BC = 40.0;   // 4× M4 bolt circle for stem adapter
 
-// ── FC mount — MAMBA F722S / Pixhawk (30.5 × 30.5 mm M3) ────────────────────
+// ── FC mount — ESP32-S3 BALANCE / Pixhawk (30.5 × 30.5 mm M3) ────────────────────
 // Shared with SaltyLab — swappable electronics
 FC_PITCH    = 30.5;
 FC_HOLE_D   =  3.2;

docs/AGENTS.md

@@ -4,6 +4,7 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read
 
 ## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)
 
+<<<<<<< HEAD
 Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
 
 | Board | Role |
@@ -20,6 +21,20 @@ Jetson Orin ──CANable2──► CAN 500kbps ◄─────────
                                 │ CAN 500kbps
                       ┌─────────┴──────────┐
                  VESC Left (ID 68)    VESC Right (ID 56)
+=======
+A hoverboard-based balancing robot with two compute layers:
+1. **ESP32-S3 BALANCE** — ESP32-S3 BALANCE (ESP32-S3RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer.
+2. **Jetson Orin Nano Super** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.
+
+```
+Jetson (speed+steer via UART1)  ←→  ELRS RC (UART3, kill switch)
+         │
+         ▼
+   ESP32-S3 BALANCE (MPU6000 IMU, PID balance)
+         │
+         ▼ UART2
+   Hoverboard ESC (FOC) → 2× 8" hub motors
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ```
 
 Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`  
@@ -42,10 +57,14 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
 ## Repository Layout
 
 ```
+<<<<<<< HEAD
 firmware/              # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived)
+=======
+firmware/              # ESP-IDF firmware (PlatformIO)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ├── src/
 │   ├── main.c         # Entry point, clock config, main loop
-│   ├── icm42688.c     # ICM-42688-P SPI driver (backup IMU — currently broken)
+│   ├── icm42688.c     # QMI8658-P SPI driver (backup IMU — currently broken)
 │   ├── bmp280.c       # Barometer driver (disabled)
 │   └── status.c       # LED + buzzer status patterns
 ├── include/
@@ -56,7 +75,7 @@ firmware/              # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived)
 │   ├── crsf.h         # ELRS CRSF protocol
 │   ├── bmp280.h
 │   └── status.h
-├── lib/USB_CDC/       # USB CDC stack (serial over USB)
+├── lib/USB_CDC/       # USB Serial (CH343) stack (serial over USB)
 │   ├── src/           # CDC implementation, USB descriptors, PCD config
 │   └── include/
 └── platformio.ini     # Build config
@@ -89,16 +108,24 @@ PLATFORM.md            # Hardware platform reference
 
 ## Hardware Quick Reference
 
+<<<<<<< HEAD
 ### ESP32 BALANCE Flight Controller
 
 | Spec | Value |
 |------|-------|
 | MCU | ESP32RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
+=======
+### ESP32-S3 BALANCE Flight Controller
+
+| Spec | Value |
+|------|-------|
+| MCU | ESP32-S3RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
 | IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 |
 | IMU EXTI | PC4 (data ready interrupt) |
 | IMU Orientation | CW270 (Betaflight convention) |
-| Secondary IMU | ICM-42688-P (on same SPI1, CS unknown — currently non-functional) |
+| Secondary IMU | QMI8658-P (on same SPI1, CS unknown — currently non-functional) |
 | Betaflight Target | DIAT-MAMBAF722_2022B |
 | USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 |
 | VID/PID | 0x0483/0x5740 |
@@ -111,7 +138,7 @@ PLATFORM.md            # Hardware platform reference
 
 | UART | Pins | Connected To | Baud |
 |------|------|-------------|------|
-| USART1 | PA9/PA10 | Jetson Nano | 115200 |
+| USART1 | PA9/PA10 | Jetson Orin Nano Super | 115200 |
 | USART2 | PA2/PA3 | Hoverboard ESC | 115200 |
 | USART3 | PB10/PB11 | ELRS Receiver | 420000 (CRSF) |
 | UART4 | — | Spare | — |
@@ -132,7 +159,7 @@ PLATFORM.md            # Hardware platform reference
 | FC board size | ~36mm square |
 | Hub motor body | Ø200mm (~8") |
 | Motor axle | Ø12mm, 45mm long |
-| Jetson Nano | 100×80×29mm, M2.5 holes at 86×58mm |
+| Jetson Orin Nano Super | 100×80×29mm, M2.5 holes at 86×58mm |
 | RealSense D435i | 90×25×25mm, 1/4-20 tripod mount |
 | RPLIDAR A1 | Ø70×41mm, 4× M2.5 on Ø67mm circle |
 | Kill switch hole | Ø22mm panel mount |
@@ -167,19 +194,27 @@ PLATFORM.md            # Hardware platform reference
 ### Critical Lessons Learned (DON'T REPEAT THESE)
 
 1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times.
+<<<<<<< HEAD
 2. **DCache breaks SPI on ESP32** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
+=======
+2. **DCache breaks SPI on ESP32-S3** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes.
 4. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first.
-5. **USB CDC needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
+5. **USB Serial (CH343) needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
 
 ### DFU Reboot (Betaflight Method)
 
 The firmware supports reboot-to-DFU via USB command:
-1. Send `R` byte over USB CDC
+1. Send `R` byte over USB Serial (CH343)
 2. Firmware writes `0xDEADBEEF` to RTC backup register 0
 3. `NVIC_SystemReset()` — clean hardware reset
 4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic
+<<<<<<< HEAD
 5. If magic found: clears it, remaps system memory, jumps to ESP32 BALANCE bootloader at `0x1FF00000`
+=======
+5. If magic found: clears it, remaps system memory, jumps to ESP32-S3 bootloader at `0x1FF00000`
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 6. Board appears as DFU device, ready for `dfu-util` flash
 
 ### Build & Flash
@@ -205,14 +240,14 @@ Fallback: HSI 16MHz if HSE fails (PLL M=16)
 ## Current Status & Known Issues
 
 ### Working
-- USB CDC serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
+- USB Serial (CH343) serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`)
 - Clock config with HSE + HSI fallback
 - Reboot-to-DFU via USB 'R' command
 - LED status patterns (status.c)
 - Web UI with WebSerial + Three.js 3D visualization
 
 ### Broken / In Progress
-- **ICM-42688-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary.
+- **QMI8658-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary.
 - **MPU6000 driver** — header exists but implementation needs completion
 - **PID balance loop** — not yet implemented
 - **Hoverboard ESC UART** — protocol defined, driver not written
@@ -250,7 +285,7 @@ T:12.3,P:45,L:100,R:-80,S:3\n
 // T=tilt°, P=PID output, L/R=motor commands, S=state (0-3)
 ```
 
-### FC → USB CDC (50Hz JSON)
+### FC → USB Serial (CH343) (50Hz JSON)
 ```json
 {"ax":123,"ay":-456,"az":16384,"gx":10,"gy":-5,"gz":3,"t":250,"p":0,"bt":0}
 // Raw IMU values (int16), t=temp×10, p=pressure, bt=baro temp

docs/FACE_LCD_ANIMATION.md

@@ -1,6 +1,10 @@
 # Face LCD Animation System (Issue #507)
 
+<<<<<<< HEAD
 Implements expressive face animations on an ESP32 LCD display with 5 core emotions and smooth transitions.
+=======
+Implements expressive face animations on an ESP32-S3 LCD display with 5 core emotions and smooth transitions.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Features
 
@@ -82,7 +86,11 @@ STATUS      → Echo current emotion + idle state
 - Colors: Monochrome (1-bit) or RGB565
 
 ### Microcontroller
+<<<<<<< HEAD
 - ESP32xx (ESP32 BALANCE)
+=======
+- ESP32-S3xx (ESP32-S3 BALANCE)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - Available UART: USART3 (PB10=TX, PB11=RX)
 - Clock: 216 MHz
 

docs/PLATFORM.md

@@ -81,7 +81,7 @@
    │                     │
    │  [RealSense D435i]  │   ← Front-facing, angled down ~10°
    │                     │     Height: ~400mm from ground
-   │  [Jetson Nano]      │   ← Center, in ventilated enclosure
+   │  [Jetson Orin Nano Super]      │   ← Center, in ventilated enclosure
    │  [WiFi/4G module]   │     Noctua fan draws air through
    │                     │
    │  [Speaker]  [LEDs]  │   ← Rear: audio feedback + status
@@ -173,7 +173,7 @@ PACK1 ═╤═ PACK2 (parallel, XT60)
         │     │
         │     └── UART TX/RX ──→ Jetson GPIO
         │
-        ├──→ DC-DC 36V→5V ──→ Jetson Nano (barrel jack 5V/4A)
+        ├──→ DC-DC 36V→5V ──→ Jetson Orin Nano Super (barrel jack 5V/4A)
         │                  ──→ USB hub (sensors)
         │
         ├──→ DC-DC 36V→12V ──→ LED strips

docs/SALTYLAB-DETAILED.md

@@ -33,7 +33,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 
 | Component | Voltage | Current | Power (W) | Notes |
 |-----------|---------|---------|-----------|-------|
-| Jetson Nano | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg |
+| Jetson Orin Nano Super | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg |
 | RealSense D435i | 5V (USB) | 0.7A | 3.5W | Depth + RGB streaming |
 | RPLIDAR A1M8 | 5V | 0.5A | 2.5W | Spinning at 5.5Hz |
 | BNO055 IMU | 3.3V | 0.01A | 0.04W | Negligible |
@@ -80,7 +80,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 | Battery pack (1x) | 2500 | Estimated, weigh to verify |
 | 2x 8" hub motors | 2400 | ~1200g each with tire |
 | ESC board | 150 | Single board |
-| Jetson Nano + heatsink | 280 | With Noctua fan |
+| Jetson Orin Nano Super + heatsink | 280 | With Noctua fan |
 | RealSense D435i | 72 | Very light |
 | RPLIDAR A1M8 | 170 | With motor |
 | BNO055 breakout | 5 | Tiny |
@@ -233,7 +233,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
       0mm  — Base plate
      30mm  — Battery shelf (holds pack on its side)
     150mm  — ESC + DC-DC shelf  
-    250mm  — Jetson Nano shelf
+    250mm  — Jetson Orin Nano Super shelf
     300mm  — BNO055 (attached to spine directly)
     370mm  — RealSense bracket (front-facing arm)
     420mm  — LIDAR standoff begins
@@ -325,7 +325,7 @@ Self-balancing two-wheeled indoor robot with AI brain.
 - [ ] Assemble spine onto base plate
 - [ ] Mount battery to lowest shelf (velcro straps)
 - [ ] Mount ESC + DC-DC converters
-- [ ] Mount Jetson Nano on shelf, connect 5V power
+- [ ] Mount Jetson Orin Nano Super on shelf, connect 5V power
 - [ ] Wire Jetson UART → ESC UART
 - [ ] Install JetPack 4.6 on Jetson (if not already)
 - [ ] Write serial bridge: Jetson Python → ESC UART commands

docs/SALTYLAB.md

@@ -32,10 +32,8 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
 |------|--------|
 | 2x 8" pneumatic hub motors (36 PSI) | ✅ Have |
 | 1x hoverboard ESC (FOC firmware) | ✅ Have |
-| ~~1x Drone FC (ESP3245 + MPU-6000)~~ | ❌ RETIRED — replaced by ESP32 BALANCE |
+| 1x Drone FC (ESP32-S3 + QMI8658) | ✅ Have — balance brain |
-| 1x ESP32 BALANCE (PID loop) | ⬜ TBD — spec from max |
+| 1x Jetson Orin Nano Super + Noctua fan | ✅ Have |
-| 1x ESP32 IO (motors/sensors/comms) | ⬜ TBD — spec from max |
-| 1x Jetson Orin + Noctua fan | ✅ Have |
 | 1x RealSense D435i | ✅ Have |
 | 1x RPLIDAR A1M8 | ✅ Have |
 | 1x battery pack (36V) | ✅ Have |
@@ -51,20 +49,19 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
 | 1x BetaFPV ELRS 2.4GHz 1W TX module | ✅ Have — RC control + kill switch |
 | 1x ELRS receiver (matching) | ✅ Have — mounts on FC UART |
 
-### Drone FC Details — GEPRC GEP-F7 AIO
+### ESP32-S3 BALANCE Board Details — Waveshare ESP32-S3 Touch LCD 1.28
-- **MCU:** ESP32RET6 (216MHz Cortex-M7, 512KB flash, 256KB RAM)
+- **MCU:** ESP32-S3RET6 (Xtensa LX7 dual-core, 240MHz, 8MB Flash, 512KB SRAM)
-- **IMU:** TDK ICM-42688-P (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
+- **IMU:** QMI8658 (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
-- **Flash:** 8MB Winbond W25Q64 (blackbox, unused)
+- **Display:** 1.28" round LCD (GC9A01 driver, 240x240)
-- **OSD:** AT7456E (unused)
+- **DFU mode:** Hold BOOT button while plugging USB
-- **4-in-1 ESC:** Built into AIO board (unused — we use hoverboard ESC)
+- **Firmware:** Custom balance firmware (ESP-IDF / Arduino-ESP32)
-- **DFU mode:** Hold yellow BOOT button while plugging USB
+- **USB:** USB Serial via CH343 chip
-- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL) — LEGACY, see ESP32 BALANCE
+- **UART assignments:**
-- **UART pads (confirmed from silkscreen):**
+  - UART0 → USB Serial (CH343) → debug/flash
-  - T1/R1 (bottom) → USART1 (PA9/PA10) → Jetson
+  - UART1 → Jetson Orin Nano Super
-  - T2/R2 (right top) → USART2 (PA2/PA3) → Hoverboard ESC
+  - UART2 → Hoverboard ESC
-  - T3/R3 (bottom) → USART3 (PB10/PB11) → ELRS receiver
+  - UART3 → ELRS receiver
-  - T4/R4 (bottom) → UART4 → spare
+  - UART4/5 → spare
-  - T5/R5 (right bottom) → UART5 → spare
 
 ## Architecture
 
@@ -76,7 +73,7 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
                     │ RealSense    │ ← Forward-facing depth+RGB
                     │ D435i        │
                     ├──────────────┤
-                    │ Jetson Nano  │ ← AI brain: navigation, person tracking
+                    │ Jetson Orin Nano Super  │ ← AI brain: navigation, person tracking
                     │              │   Sends velocity commands via UART
                     ├──────────────┤
                     │ Drone FC     │ ← Balance brain: IMU + PID @ 8kHz
@@ -94,145 +91,22 @@ Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REF
            └─────┘                   └─────┘
 ```
 
-## Self-Balancing Control — Custom Firmware on Drone FC
+## Self-Balancing Control — ESP32-S3 BALANCE Board
 
-### Why a Drone FC?
+> For full system architecture, firmware details, and protocol specs, see
-The F745 board was a premium STM32 dev board (legacy; now replaced by ESP32 BALANCE) with a high-quality IMU (MPU-6000) already soldered on, proper voltage regulation, and multiple UARTs broken out. We write a lean custom balance firmware (~50 lines of C).
+> **docs/SAUL-TEE-SYSTEM-REFERENCE.md**
 
-### Architecture
+The balance controller runs on the Waveshare ESP32-S3 Touch LCD 1.28 board
-```
+(ESP32-S3 BALANCE). It reads the onboard QMI8658 IMU at 8kHz, runs a PID
-Jetson (speed+steer via UART1)
+balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super
-    │
+sends velocity commands over UART1. ELRS receiver on UART3 provides RC
-    ▼
+override and kill-switch capability.
-Drone FC (F745 + MPU-6000)
-    │  - Reads IMU @ 8kHz (SPI)
-    │  - Runs PID balance loop
-    │  - Mixes balance correction + Jetson commands
-    │  - Outputs speed+steer via UART2
-    ▼
-Hoverboard ESC (FOC firmware)
-    │  - Receives UART commands
-    │  - Drives hub motors
-    ▼
-Left + Right wheels
-```
 
-- **No motor outputs used** — FC talks UART directly to hoverboard ESC
+The legacy STM32 firmware (Mamba F722S era) has been archived to
-- **Custom firmware only** — no third-party flight software
+=======
-- **Dead motor output irrelevant** — not using any PWM channels
+The legacy STM32 firmware (STM32 era) has been archived to
-
+`legacy/stm32/` and is no longer built or deployed.
-### Wiring
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
-
-```
-Jetson UART1        Drone FC (UART1)
-────────────        ────────────────
-TX (Pin 8)   ──→   RX
-RX (Pin 10)  ──→   TX
-GND          ──→   GND
-
-Drone FC (UART2)    Hoverboard ESC
-────────────────    ──────────────
-TX           ──→   RX (serial input)
-GND          ──→   GND
-5V (BEC)     ←──   ESC 5V out (powers FC)
-
-ELRS Receiver       Drone FC (UART3)
-─────────────       ────────────────
-TX           ──→   RX
-RX           ←──   TX (for telemetry/binding)
-GND          ──→   GND
-5V           ←──   5V
-```
-
-### Custom Firmware (Legacy STM32 C — archived)
-
-```c
-// Core balance loop — runs in timer interrupt @ 1-8kHz
-void balance_loop(void) {
-    // 1. Read pitch angle from MPU-6000 (complementary filter)
-    float pitch = get_pitch_angle();  // SPI read + filter
-    
-    // 2. Get velocity command from Jetson (updated async via UART1 RX)
-    float target_speed = jetson_cmd.speed;   // -1000 to 1000
-    float target_steer = jetson_cmd.steer;   // -1000 to 1000
-    
-    // 3. PID on pitch error
-    //    Target angle shifts with speed command (lean forward = go forward)
-    float target_angle = target_speed * SPEED_TO_ANGLE_FACTOR;
-    float error = target_angle - pitch;
-    
-    integral += error * dt;
-    integral = clamp(integral, -MAX_I, MAX_I);  // anti-windup
-    float derivative = (error - prev_error) / dt;
-    prev_error = error;
-    
-    float output = Kp * error + Ki * integral + Kd * derivative;
-    
-    // 4. Mix balance + steering → hoverboard ESC UART command
-    int16_t left  = clamp(output + target_steer, -1000, 1000);
-    int16_t right = clamp(output - target_steer, -1000, 1000);
-    
-    // 5. Send to hoverboard ESC via UART2
-    send_hoverboard_cmd(left, right);
-    
-    // 6. Safety: kill motors if tipped beyond recovery
-    if (fabs(pitch) > MAX_TILT_DEG) {
-        send_hoverboard_cmd(0, 0);
-        disarm();
-    }
-    
-    // 7. Safety: RC kill switch (ELRS channel, checked every loop)
-    if (rc_channels.arm_switch == DISARMED) {
-        send_hoverboard_cmd(0, 0);
-        disarm();
-    }
-    
-    // 8. Safety: kill if Jetson UART heartbeat lost
-    if (millis() - jetson_last_rx > JETSON_TIMEOUT_MS) {
-        send_hoverboard_cmd(0, 0);
-        disarm();
-    }
-    
-    // 8. Safety: clamp output to max allowed speed
-    left  = clamp(left,  -max_speed_limit, max_speed_limit);
-    right = clamp(right, -max_speed_limit, max_speed_limit);
-}
-```
-
-### Hoverboard ESC UART Protocol
-```c
-typedef struct {
-    uint16_t start;    // 0xABCD
-    int16_t  speed;    // -1000 to 1000 (left)
-    int16_t  steer;    // -1000 to 1000 (right)
-    uint16_t checksum; // XOR of all bytes
-} HoverboardCmd;
-// 115200 baud, send at loop rate
-```
-
-### Jetson → FC Protocol (simple custom)
-```c
-typedef struct {
-    uint8_t  header;   // 0xAA
-    int16_t  speed;    // -1000 to 1000
-    int16_t  steer;    // -1000 to 1000
-    uint8_t  mode;     // 0=idle, 1=balance, 2=follow, 3=RC
-    uint8_t  checksum;
-} JetsonCmd;
-// 115200 baud, ~50Hz from Jetson is plenty
-```
-
-### PID Tuning
-| Param | Starting Value | Notes |
-|-------|---------------|-------|
-| Kp | 30-50 | Main balance response |
-| Ki | 0.5-2 | Drift correction |
-| Kd | 0.5-2 | Damping oscillation |
-| Loop rate | 1-8 kHz | Start at 1kHz, increase if needed |
-| Max tilt | ±25° | Beyond this = cut motors, require re-arm |
-| JETSON_TIMEOUT_MS | 200 | Kill motors if Jetson stops talking |
-| max_speed_limit | 100 | Start at 10% (100/1000), increase gradually |
-| SPEED_TO_ANGLE_FACTOR | 0.01-0.05 | How much lean per speed unit |
 
 ## LED Subsystem (ESP32-C3)
 
@@ -282,8 +156,8 @@ GND             ──→ Common ground
 ```
 
 ### Dev Tools
-- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD (legacy)
+- **Flashing:** ESP32-S3CubeProgrammer via USB (DFU mode) or SWD
-- **IDE:** PlatformIO + ESP-IDF (new) or STM32 HAL/STM32CubeIDE (legacy)
+- **IDE:** PlatformIO + ESP-IDF, or ESP32-S3CubeIDE
 - **Debug:** SWD via ST-Link (or use FC's USB as virtual COM for printf debug)
 
 ## Physical Design
@@ -350,7 +224,7 @@ GND             ──→ Common ground
 
 ## Software Stack
 
-### Jetson Nano
+### Jetson Orin Nano Super
 - **OS:** JetPack 4.6.1 (Ubuntu 18.04)
 - **ROS2 Humble** (or Foxy) for:
   - `nav2` — navigation stack
@@ -377,8 +251,8 @@ GND             ──→ Common ground
 - [ ] Install hardware kill switch inline with 36V battery (NC — press to kill)
 - [ ] Set up ceiling tether point above test area (rated for >15kg)
 - [ ] Clear test area: 3m radius, no loose items, shoes on
-- [ ] Set up PlatformIO project for ESP32 BALANCE (ESP-IDF)
+- [ ] Set up PlatformIO project for ESP32-S3 (ESP-IDF)
-- [ ] Write MPU-6000 SPI driver (read gyro+accel, complementary filter)
+- [ ] Write QMI8658 SPI driver (read gyro+accel, complementary filter)
 - [ ] Write PID balance loop with ALL safety checks:
   - ±25° tilt cutoff → disarm, require manual re-arm
   - Watchdog timer (50ms hardware WDT)

docs/board-viz.html

@@ -112,8 +112,13 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
 </style>
 </head>
 <body>
+<<<<<<< HEAD
 <h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout (Legacy / Archived)</h1>
 <p class="subtitle">ESP32RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
+=======
+<h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout</h1>
+<p class="subtitle">ESP32-S3RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 <div class="container">
   <div class="board-wrap">
@@ -125,7 +130,11 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
       <div class="mount br"></div>
 
       <!-- MCU -->
+<<<<<<< HEAD
       <div class="mcu"><div class="dot"></div>ESP32<br>(legacy:<br>F722RET6)</div>
+=======
+      <div class="mcu"><div class="dot"></div>ESP32-S3<br>F722RET6<br>216MHz</div>
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
       <!-- IMU -->
       <div class="imu">ICM<br>42688</div>
@@ -206,7 +215,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
     <h2>🔌 UART Assignments</h2>
     <div class="legend-item">
       <div class="swatch" style="background:#2196F3"></div>
-      <span><b>USART1</b> T1/R1 → Jetson Nano</span>
+      <span><b>USART1</b> T1/R1 → Jetson Orin Nano Super</span>
     </div>
     <div class="legend-item">
       <div class="swatch" style="background:#FF9800"></div>

docs/wiring-diagram.md

@@ -14,8 +14,12 @@
 │                        ORIN NANO SUPER                              │
 │                     (Top Plate — 25W)                               │
 │                                                                     │
+<<<<<<< HEAD
 │  USB-A ──── CANable2 USB-CAN adapter (slcan0, 500 kbps)           │
 │  USB-A ──── ESP32-S3 IO (/dev/esp32-io, 460800 baud)              │
+=======
+│  USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud)            │
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 │  USB-A1 ─── RealSense D435i (USB 3.1)                             │
 │  USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200)             │
 │  USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP)     │
@@ -34,8 +38,13 @@
          │ 500 kbps                       │
          ▼                                ▼
 ┌─────────────────────────────────────────────────────────────────────┐
+<<<<<<< HEAD
 │                  ESP32-S3 BALANCE                                    │
 │          (Waveshare Touch LCD 1.28, Middle Plate)                   │
+=======
+│                     ESP32-S3 BALANCE (FC)                                 │
+│                  (Middle Plate — foam mounted)                       │
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 │                                                                     │
 │  CAN bus ──── CANable2 → Orin (primary link, ISO 11898)            │
 │  UART0 ──── Orin UART fallback (460800 baud, 3.3V)                │
@@ -68,7 +77,11 @@
 
 ## Wire-by-Wire Connections
 
+<<<<<<< HEAD
 ### 1. Orin <-> ESP32-S3 BALANCE (Primary: CAN Bus via CANable2)
+=======
+### 1. Orin ↔ FC (Primary: USB Serial (CH343))
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 | From | To | Wire | Notes |
 |------|----|------|-------|
@@ -76,10 +89,16 @@
 | CANable2 CAN-H | ESP32-S3 BALANCE CAN-H | twisted pair | ISO 11898 differential |
 | CANable2 CAN-L | ESP32-S3 BALANCE CAN-L | twisted pair | ISO 11898 differential |
 
+<<<<<<< HEAD
 - Interface: SocketCAN `slcan0`, 500 kbps
 - Device node: `/dev/canable2` (via udev, symlink to ttyUSBx)
 - Protocol: CAN frames --- ORIN_CMD_DRIVE (0x300), ORIN_CMD_MODE (0x301), ORIN_CMD_ESTOP (0x302)
 - Telemetry: BALANCE_STATUS (0x400), BALANCE_VESC (0x401), BALANCE_IMU (0x402), BALANCE_BATTERY (0x403)
+=======
+- Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge`
+- Baud: 921600, 8N1
+- Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ### 2. Orin <-> ESP32-S3 BALANCE (Fallback: Hardware UART)
 
@@ -145,6 +164,7 @@ BATTERY (36V) ──┬── VESC Left  (36V direct -> BLDC left motor)
 | CANable2 | USB-CAN | USB-A | `/dev/canable2` -> `slcan0` |
 
 
+<<<<<<< HEAD
 ## FC UART Summary (MAMBA F722S — OBSOLETE)
 
 | Interface | Pins | Baud/Rate | Assignment | Notes |
@@ -171,6 +191,19 @@ BATTERY (36V) ──┬── VESC Left  (36V direct -> BLDC left motor)
 | 0x910+ID | VESC Right -> | VESC_STATUS_1 | erpm:i32, current x10:i16, duty x1000:i16 |
 
 VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
+=======
+## FC UART Summary (ESP32-S3 BALANCE)
+
+| UART | Pins | Baud | Assignment | Notes |
+|------|------|------|------------|-------|
+| USART1 | PB6=TX, PB7=RX | — | SmartAudio/VTX | Unused in SaltyLab |
+| USART2 | PA2=TX, PA3=RX | 26400 | Hoverboard ESC | Binary motor commands |
+| USART3 | PB10=TX, PB11=RX | — | Available | Was SBUS default |
+| UART4 | PA0=TX, PA1=RX | 420000 | ELRS RX (CRSF) | RC control |
+| UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional |
+| USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link |
+| USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 
 ### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header)
@@ -230,9 +263,13 @@ VESC Left CAN ID = 56 (0x38), VESC Right CAN ID = 68 (0x44).
 
 | Device | Interface | Power Draw |
 |--------|-----------|------------|
+<<<<<<< HEAD
 | CANable2 USB-CAN | USB-A | ~0.5W |
 | ESP32-S3 BALANCE | USB-C | ~0.8W (WiFi off) |
 | ESP32-S3 IO | USB-C | ~0.5W |
+=======
+| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | RealSense D435i | USB-A | ~1.5W (3.5W peak) |
 | RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
 | SIM7600A | USB | ~1W idle, 3W TX peak |
@@ -257,15 +294,24 @@ Orin Nano Super delivers up to 25W --- USB peripherals are well within budget.
                     └──────┬───────┘
                            │ UART
               ┌────────────▼────────────┐
+<<<<<<< HEAD
               │   ESP32-S3 BALANCE      │
               │  (Waveshare LCD 1.28)   │
+=======
+              │      ESP32-S3 BALANCE        │
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
               │                         │
               │  QMI8658 -> Balance PID │
               │  RC -> Mode Manager     │
               │  Safety Monitor         │
               │                         │
               └──┬──────────┬───────────┘
+<<<<<<< HEAD
     CAN 500kbps─┘          └───── CAN bus / UART fallback
+=======
+    USART2 ─────┘          └───── USB Serial (CH343) / USART6
+    26400 baud                    921600 baud
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
          │                              │
     ┌────┴────────────┐                 ▼
     │ CAN bus (500k)  │        ┌───────────────────┐

jetson/Dockerfile

@@ -2,7 +2,7 @@
 # Base: JetPack 6 (L4T R36.2.0) + CUDA 12.x / Ubuntu 22.04
 #
 # Hardware: Jetson Orin Nano Super 8GB (67 TOPS, 1024-core Ampere)
-# Previous: Jetson Nano 4GB (JetPack 4.6 / L4T R32.6.1) — see git history
+# Previous: Jetson Orin Nano Super 4GB (JetPack 4.6 / L4T R32.6.1) — see git history
 
 FROM nvcr.io/nvidia/l4t-jetpack:r36.2.0
 

jetson/README.md

@@ -1,12 +1,12 @@
-# Jetson Nano — AI/SLAM Platform Setup
+# Jetson Orin Nano Super — AI/SLAM Platform Setup
 
-Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
+Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack.
 
 ## Stack
 
 | Component | Version / Part |
 |-----------|---------------|
-| Platform | Jetson Nano 4GB |
+| Platform | Jetson Orin Nano Super 4GB |
 | JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
 | ROS2 | Humble Hawksbill |
 | DDS | CycloneDDS |
@@ -14,7 +14,11 @@ Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
 | Nav | Nav2 |
 | Depth camera | Intel RealSense D435i |
 | LiDAR | RPLIDAR A1M8 |
+<<<<<<< HEAD
 | MCU bridge | ESP32 (USB CDC @ 921600) |
+=======
+| MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Quick Start
 
@@ -42,7 +46,11 @@ bash scripts/build-and-run.sh shell
 ```
 jetson/
 ├── Dockerfile              # L4T base + ROS2 Humble + SLAM packages
+<<<<<<< HEAD
 ├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
+=======
+├── docker-compose.yml      # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ├── README.md               # This file
 ├── docs/
 │   ├── pinout.md           # GPIO/I2C/UART pinout reference

jetson/config/RECOVERY_BEHAVIORS.md

@@ -34,7 +34,11 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path
 
 The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
 
+<<<<<<< HEAD
 Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.
+=======
+Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ## Behavior Tree Sequence
 

jetson/config/nav2_params.yaml

@@ -12,7 +12,11 @@
 #   /scan                    — RPLIDAR A1M8  (obstacle layer)
 #   /camera/depth/color/points — RealSense D435i (voxel layer)
 #
+<<<<<<< HEAD
 # Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
+=======
+# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 bt_navigator:
   ros__parameters:

jetson/docker-compose.yml

@@ -97,7 +97,11 @@ services:
           rgb_camera.profile:=640x480x30
       "
 
+<<<<<<< HEAD
   # ── ESP32 bridge node (bidirectional serial<->ROS2) ────────────────────────
+=======
+  # ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ────────────────────────
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   esp32-bridge:
     image: saltybot/ros2-humble:jetson-orin
     build:
@@ -208,8 +212,13 @@ services:
       "
 
 
+<<<<<<< HEAD
   # -- Remote e-stop bridge (MQTT over 4G -> ESP32 CDC) ----------------------
   # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE.
+=======
+  # -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ----------------------
+  # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
   remote-estop:
     image: saltybot/ros2-humble:jetson-orin

jetson/docs/pinout.md

@@ -1,5 +1,9 @@
 # Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference
+<<<<<<< HEAD
 ## Self-Balancing Robot: ESP32 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
+=======
+## Self-Balancing Robot: ESP32-S3 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Last updated: 2026-02-28
 JetPack version: 6.x (L4T R36.x / Ubuntu 22.04)
@@ -43,21 +47,37 @@ i2cdetect -l
 
 ---
 
+<<<<<<< HEAD
 ## 1. ESP32 Bridge (USB CDC — Primary)
 
 The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
+=======
+## 1. ESP32-S3 Bridge (USB Serial (CH343) — Primary)
 
-### USB CDC Connection
+The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **USB Serial (CH343) serial**.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+
+### USB Serial (CH343) Connection
 | Connection | Detail |
 |-----------|--------|
+<<<<<<< HEAD
 | Interface | USB on ESP32 BALANCE board → USB-A on Jetson |
 | Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
 | Baud rate | 921600 (configured in ESP32 BALANCE firmware) |
+=======
+| Interface | USB Micro-B on ESP32-S3 dev board → USB-A on Jetson |
+| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
+| Baud rate | 921600 (configured in ESP32-S3 firmware) |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) |
 | Power | Powered via robot 5V bus (data-only via USB) |
 
 ### Hardware UART (Fallback — 40-pin header)
+<<<<<<< HEAD
 | Jetson Pin | Signal | ESP32 Pin | Notes |
+=======
+| Jetson Pin | Signal | ESP32-S3 Pin | Notes |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 |-----------|--------|-----------|-------|
 | Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
 | Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
@@ -65,7 +85,11 @@ The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is v
 
 **Jetson device node:** `/dev/ttyTHS0`
 **Baud rate:** 921600, 8N1
+<<<<<<< HEAD
 **Voltage level:** 3.3V — both Jetson Orin and ESP32 are 3.3V GPIO
+=======
+**Voltage level:** 3.3V — both Jetson Orin and ESP32-S3 are 3.3V GPIO
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ```bash
 # Verify UART
@@ -75,6 +99,7 @@ sudo usermod -aG dialout $USER
 picocom -b 921600 /dev/ttyTHS0
 ```
 
+<<<<<<< HEAD
 **ROS2 topics (ESP32 bridge node):**
 | ROS2 Topic | Direction | Content |
 |-----------|-----------|---------
@@ -82,6 +107,15 @@ picocom -b 921600 /dev/ttyTHS0
 | `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state |
 | `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C<spd>,<str>\n` |
 | `/saltybot/estop` | Jetson→ESP32 BALANCE | Emergency stop |
+=======
+**ROS2 topics (ESP32-S3 bridge node):**
+| ROS2 Topic | Direction | Content |
+|-----------|-----------|---------
+| `/saltybot/imu` | ESP32-S3→Jetson | IMU data (accel, gyro) at 50Hz |
+| `/saltybot/balance_state` | ESP32-S3→Jetson | Motor cmd, pitch, state |
+| `/cmd_vel` | Jetson→ESP32-S3 | Velocity commands → `C<spd>,<str>\n` |
+| `/saltybot/estop` | Jetson→ESP32-S3 | Emergency stop |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 ---
 
@@ -266,7 +300,11 @@ sudo mkdir -p /mnt/nvme
 |------|------|----------|
 | USB-A (top, blue) | USB 3.1 Gen 1 | RealSense D435i |
 | USB-A (bottom) | USB 2.0 | RPLIDAR (via USB-UART adapter) |
+<<<<<<< HEAD
 | USB-C | USB 3.1 Gen 1 (+ DP) | ESP32 CDC or host flash |
+=======
+| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32-S3 CDC or host flash |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | Micro-USB | Debug/flash | JetPack flash only |
 
 ---
@@ -277,10 +315,17 @@ sudo mkdir -p /mnt/nvme
 |-------------|----------|---------|----------|
 | 3 | SDA1 | 3.3V | I2C data (i2c-7) |
 | 5 | SCL1 | 3.3V | I2C clock (i2c-7) |
+<<<<<<< HEAD
 | 8 | TXD0 | 3.3V | UART TX → ESP32 BALANCE (fallback) |
 | 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) |
 | USB-A ×2 | — | 5V | D435i, RPLIDAR |
 | USB-C | — | 5V | ESP32 CDC |
+=======
+| 8 | TXD0 | 3.3V | UART TX → ESP32-S3 (fallback) |
+| 10 | RXD0 | 3.3V | UART RX ← ESP32-S3 (fallback) |
+| USB-A ×2 | — | 5V | D435i, RPLIDAR |
+| USB-C | — | 5V | ESP32-S3 CDC |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left |
 | CSI-B (J8) | MIPI CSI-2 | — | Cameras rear + right |
 | M.2 Key M | PCIe Gen3 ×4 | — | NVMe SSD |
@@ -298,7 +343,11 @@ Apply stable device names:
 KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
   SYMLINK+="rplidar", MODE="0666"
 
+<<<<<<< HEAD
 # ESP32 USB CDC (STMicroelectronics)
+=======
+# ESP32-S3 USB Serial (CH343) (STMicroelectronics)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
   SYMLINK+="esp32-bridge", MODE="0666"
 

jetson/docs/power-budget.md

@@ -56,7 +56,11 @@ sudo jtop
 |-----------|----------|------------|----------|-----------|-------|
 | RealSense D435i | 0.3 | 1.5 | 3.5 | USB 3.1 | Peak during boot/init |
 | RPLIDAR A1M8 | 0.4 | 2.6 | 3.0 | USB (UART adapter) | Motor spinning |
+<<<<<<< HEAD
 | ESP32 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
+=======
+| ESP32-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | Self-powered from robot 5V |
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 | 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active |
 | **Peripheral Subtotal** | **0.9** | **6.1** | **8.9** | | |
 
@@ -72,7 +76,7 @@ sudo jtop
 
 ## Budget Analysis vs Previous Platform
 
-| Metric | Jetson Nano | Jetson Orin Nano Super |
+| Metric | Jetson Orin Nano Super | Jetson Orin Nano Super |
 |--------|------------|------------------------|
 | TDP | 10W | 25W |
 | CPU | 4× Cortex-A57 @ 1.43GHz | 6× A78AE @ 1.5GHz |
@@ -151,7 +155,11 @@ LiPo 4S (16.8V max)
        ├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W)
        │   (e.g., XL4016E1)
        │
+<<<<<<< HEAD
        ├─► DC-DC Buck → 5V 3A ──► ESP32 + logic 5V rail
+=======
+       ├─► DC-DC Buck → 5V 3A ──► ESP32-S3 + logic 5V rail
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
        │
        └─► Hoverboard ESC ──► Hub motors (48V loop)
 ```

jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml

@@ -11,7 +11,11 @@ reconnect_delay:  2.0    # seconds between reconnect attempts on serial disconne
 # ── saltybot_cmd_node (bidirectional) only ─────────────────────────────────────
 
 # Heartbeat: H\n sent every heartbeat_period seconds.
+<<<<<<< HEAD
 # ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
+=======
+# ESP32-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 heartbeat_period: 0.2    # seconds (= 200ms)
 
 # Twist → ESC command scaling

jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml

@@ -1,5 +1,9 @@
 # cmd_vel_bridge_params.yaml
+<<<<<<< HEAD
 # Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE autonomous drive.
+=======
+# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 autonomous drive.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #
 # Run with:
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py
@@ -14,7 +18,11 @@ timeout:          0.05       # serial readline timeout (s)
 reconnect_delay:  2.0        # seconds between reconnect attempts
 
 # ── Heartbeat ──────────────────────────────────────────────────────────────────
+<<<<<<< HEAD
 # ESP32 BALANCE jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
+=======
+# ESP32-S3 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # Keep heartbeat well below that threshold.
 heartbeat_period: 0.2        # seconds (200ms)
 
@@ -50,5 +58,9 @@ ramp_rate:        500        # ESC units/second
 # ── Deadman switch ─────────────────────────────────────────────────────────────
 # If /cmd_vel is not received for this many seconds, target speed/steer are
 # zeroed immediately. The ramp then drives the robot to a stop.
+<<<<<<< HEAD
 # 500ms matches the ESP32 BALANCE jetson heartbeat timeout for consistency.
+=======
+# 500ms matches the ESP32-S3 jetson heartbeat timeout for consistency.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 cmd_vel_timeout:  0.5        # seconds

jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml

@@ -0,0 +1,49 @@
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml
+# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge)
+# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud.
+# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]
+# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
+
+# ── Serial port ────────────────────────────────────────────────────────────────
+# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md).
+# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed.
+serial_port:      /dev/esp32-io
+baud_rate:        460800
+reconnect_delay:  2.0        # seconds between reconnect attempts
+
+# ── Heartbeat ─────────────────────────────────────────────────────────────────
+# HEARTBEAT (0x20) sent every heartbeat_period.
+# ESP32 IO watchdog fires if no heartbeat for ~500 ms.
+heartbeat_period: 0.2        # 200 ms → well within 500 ms watchdog
+=======
+# esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119)
+# Binary-framed Jetson↔ESP32-S3 bridge at 921600 baud.
+
+# ── Serial port ────────────────────────────────────────────────────────────────
+# Use /dev/esp32-bridge if the udev rule is applied:
+#   SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",
+#   SYMLINK+="esp32-bridge", MODE="0660", GROUP="dialout"
+serial_port:      /dev/ttyACM0
+baud_rate:        921600
+reconnect_delay:  2.0        # seconds between USB reconnect attempts
+
+# ── Heartbeat ─────────────────────────────────────────────────────────────────
+# HEARTBEAT frame sent every heartbeat_period seconds.
+# ESP32-S3 fires watchdog and reverts to safe state if no frame received for 500ms.
+heartbeat_period: 0.2        # 200ms → well within 500ms ESP32-S3 watchdog
+
+# ── Watchdog (Jetson-side) ────────────────────────────────────────────────────
+# If no /cmd_vel message received for watchdog_timeout seconds,
+# send SPEED_STEER(0,0) to stop the robot.
+watchdog_timeout: 0.5        # 500ms
+
+# ── Twist velocity scaling ────────────────────────────────────────────────────
+# speed = clamp(linear.x  * speed_scale, -1000, 1000)  (m/s → ESC units)
+# steer = clamp(angular.z * steer_scale, -1000, 1000)  (rad/s → ESC units)
+#
+# Default: 1 m/s → 1000 ESC units, ±2 rad/s → ±1000 steer.
+# Negative steer_scale flips ROS2 CCW+ convention to match ESC steer direction.
+# Tune speed_scale to set the physical top speed.
+speed_scale:  1000.0
+steer_scale:  -500.0
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml

jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml

@@ -1,16 +0,0 @@
-# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (ESP32-S3 IO bridge)
-# Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud.
-# Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]
-# Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
-
-# ── Serial port ────────────────────────────────────────────────────────────────
-# Use /dev/esp32-io if udev rule is applied (see jetson/docs/udev-rules.md).
-# ESP32-S3 IO appears as USB-JTAG/Serial device; no external UART bridge needed.
-serial_port:      /dev/esp32-io
-baud_rate:        460800
-reconnect_delay:  2.0        # seconds between reconnect attempts
-
-# ── Heartbeat ─────────────────────────────────────────────────────────────────
-# HEARTBEAT (0x20) sent every heartbeat_period.
-# ESP32 IO watchdog fires if no heartbeat for ~500 ms.
-heartbeat_period: 0.2        # 200 ms → well within 500 ms watchdog

jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py

@@ -6,7 +6,11 @@ Two deployment modes:
   1. Full bidirectional (recommended for Nav2):
        ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional
      Starts saltybot_cmd_node — owns serial port, handles both RX telemetry
+<<<<<<< HEAD
      and TX /cmd_vel → ESP32 BALANCE commands + heartbeat.
+=======
+     and TX /cmd_vel → ESP32-S3 commands + heartbeat.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   2. RX-only (telemetry monitor, no drive commands):
        ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
@@ -65,7 +69,11 @@ def generate_launch_description():
         DeclareLaunchArgument("mode",         default_value="bidirectional",
                               description="bidirectional | rx_only"),
         DeclareLaunchArgument("serial_port",  default_value="/dev/ttyACM0",
+<<<<<<< HEAD
                               description="ESP32 USB CDC device node"),
+=======
+                              description="ESP32-S3 USB CDC device node"),
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         DeclareLaunchArgument("baud_rate",    default_value="921600"),
         DeclareLaunchArgument("speed_scale",  default_value="1000.0",
                               description="m/s → ESC units (linear.x scale)"),

jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py

@@ -1,10 +1,18 @@
 """
+<<<<<<< HEAD
 cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE autonomous drive bridge.
+=======
+cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32-S3 autonomous drive bridge.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Starts cmd_vel_bridge_node, which owns the serial port exclusively and provides:
   - /cmd_vel subscription with velocity limits + smooth ramp
   - Deadman switch (zero speed if /cmd_vel silent > cmd_vel_timeout)
+<<<<<<< HEAD
   - Mode gate (drives only when ESP32 BALANCE is in AUTONOMOUS mode, md=2)
+=======
+  - Mode gate (drives only when ESP32-S3 is in AUTONOMOUS mode, md=2)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   - Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
   - /saltybot/cmd publisher (observability)
 
@@ -72,12 +80,20 @@ def generate_launch_description():
             description="Full path to cmd_vel_bridge_params.yaml (overrides inline args)"),
         DeclareLaunchArgument(
             "serial_port",     default_value="/dev/ttyACM0",
+<<<<<<< HEAD
             description="ESP32 USB CDC device node"),
+=======
+            description="ESP32-S3 USB CDC device node"),
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         DeclareLaunchArgument(
             "baud_rate",       default_value="921600"),
         DeclareLaunchArgument(
             "heartbeat_period",default_value="0.2",
+<<<<<<< HEAD
             description="Heartbeat interval (s); must be < ESP32 BALANCE HB timeout (0.5s)"),
+=======
+            description="Heartbeat interval (s); must be < ESP32-S3 HB timeout (0.5s)"),
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         DeclareLaunchArgument(
             "max_linear_vel",  default_value="0.5",
             description="Hard speed cap before scaling (m/s)"),

jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py

@@ -1,3 +1,4 @@
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py
 """stm32_cmd.launch.py — Launch the ESP32-S3 IO auxiliary bridge node.
 
 Connects to ESP32-S3 IO board via USB-CDC @ 460800 baud (inter-board protocol).
@@ -9,6 +10,19 @@ Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §5
 Usage:
   ros2 launch saltybot_bridge stm32_cmd.launch.py
   ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM0
+=======
+"""esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119).
+
+Usage:
+  # Default (binary protocol, bidirectional):
+  ros2 launch saltybot_bridge esp32_cmd.launch.py
+
+  # Override serial port:
+  ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1
+
+  # Custom velocity scales:
+  ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py
 """
 
 import os
@@ -21,7 +35,7 @@ from launch_ros.actions import Node
 
 def generate_launch_description() -> LaunchDescription:
     pkg = get_package_share_directory("saltybot_bridge")
-    params_file = os.path.join(pkg, "config", "stm32_cmd_params.yaml")
+    params_file = os.path.join(pkg, "config", "esp32_cmd_params.yaml")
 
     return LaunchDescription([
         DeclareLaunchArgument("serial_port",     default_value="/dev/esp32-io"),
@@ -30,8 +44,8 @@ def generate_launch_description() -> LaunchDescription:
 
         Node(
             package="saltybot_bridge",
-            executable="stm32_cmd_node",
+            executable="esp32_cmd_node",
-            name="stm32_cmd_node",
+            name="esp32_cmd_node",
             output="screen",
             emulate_tty=True,
             parameters=[

jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py

@@ -2,7 +2,11 @@
 uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
 
 Launches serial_bridge_node configured for Jetson Orin UART port.
+<<<<<<< HEAD
 Bridges Flight Controller (ESP32) telemetry from /dev/ttyTHS1 into ROS2.
+=======
+Bridges Flight Controller (ESP32-S3) telemetry from /dev/ttyTHS1 into ROS2.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Published topics (same as USB CDC bridge):
   /saltybot/imu              sensor_msgs/Imu         — pitch/roll/yaw as angular velocity
@@ -20,7 +24,11 @@ Usage:
 
 Prerequisites:
   - Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
+<<<<<<< HEAD
   - ESP32 BALANCE firmware transmitting JSON telemetry frames (50 Hz)
+=======
+  - ESP32-S3 firmware transmitting JSON telemetry frames (50 Hz)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   - ROS2 environment sourced (source install/setup.bash)
 
 Note:

jetson/ros2_ws/src/saltybot_bridge/package.xml

@@ -4,9 +4,9 @@
   <name>saltybot_bridge</name>
   <version>0.1.0</version>
   <description>
-    STM32F722 USB CDC serial bridge for saltybot.
+    ESP32-S3 USB CDC serial bridge for saltybot.
     serial_bridge_node: JSON telemetry RX → sensor_msgs/Imu + diagnostics.
-    stm32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX,
+    esp32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX,
       commands: HEARTBEAT, SPEED_STEER, ARM, SET_MODE, PID_UPDATE;
       telemetry: IMU, BATTERY, MOTOR_RPM, ARM_STATE, ERROR; watchdog 500ms.
     battery_node (Issue #125): SoC tracking, threshold alerts, SQLite history.

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py

@@ -1,6 +1,6 @@
 """battery_node.py — Battery management for saltybot (Issue #125).
 
-Subscribes to /saltybot/telemetry/battery (JSON from stm32_cmd_node) and:
+Subscribes to /saltybot/telemetry/battery (JSON from esp32_cmd_node) and:
   - Publishes sensor_msgs/BatteryState on /saltybot/battery
   - Publishes JSON alerts on /saltybot/battery/alert at threshold crossings
   - Reduces speed limit at low SoC via /saltybot/speed_limit (std_msgs/Float32)
@@ -14,7 +14,11 @@ Alert levels (SoC thresholds):
    5%  EMERGENCY — publish zero /cmd_vel, disarm, log + alert
 
 SoC source priority:
+<<<<<<< HEAD
   1. soc_pct field from ESP32 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE)
+=======
+  1. soc_pct field from ESP32-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known
 
 Parameters (config/battery_params.yaml):
@@ -320,7 +324,11 @@ class BatteryNode(Node):
         self._speed_limit_pub.publish(msg)
 
     def _execute_safe_stop(self) -> None:
+<<<<<<< HEAD
         """Send zero /cmd_vel and disarm the ESP32 BALANCE."""
+=======
+        """Send zero /cmd_vel and disarm the ESP32-S3."""
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
         # Publish zero velocity
         zero_twist = Twist()

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py

@@ -1,5 +1,9 @@
 """
+<<<<<<< HEAD
 cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE drive command bridge.
+=======
+cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 drive command bridge.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Extends the basic saltybot_cmd_node with four additions required for safe
 autonomous operation on a self-balancing robot:
@@ -12,7 +16,11 @@ autonomous operation on a self-balancing robot:
   3. Deadman switch    — if /cmd_vel is silent for cmd_vel_timeout seconds,
                          zero targets immediately (Nav2 node crash / planner
                          stall → robot coasts to stop rather than running away).
+<<<<<<< HEAD
   4. Mode gate         — only issue non-zero drive commands when ESP32 BALANCE reports
+=======
+  4. Mode gate         — only issue non-zero drive commands when ESP32-S3 reports
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
                          md=2 (AUTONOMOUS). In any other mode (RC_MANUAL,
                          RC_ASSISTED) Jetson cannot override the RC pilot.
                          On mode re-entry current ramp state resets to 0 so
@@ -20,9 +28,15 @@ autonomous operation on a self-balancing robot:
 
 Serial protocol (C<speed>,<steer>\\n / H\\n — same as saltybot_cmd_node):
   C<spd>,<str>\\n  — drive command. speed/steer: -1000..+1000 integers.
+<<<<<<< HEAD
   H\\n             — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence.
 
 Telemetry (50 Hz from ESP32 BALANCE):
+=======
+  H\\n             — heartbeat. ESP32-S3 reverts steer to 0 after 500ms silence.
+
+Telemetry (50 Hz from ESP32-S3):
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   Same RX/publish pipeline as saltybot_cmd_node.
   The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate.
 
@@ -150,7 +164,11 @@ class CmdVelBridgeNode(Node):
         self._open_serial()
 
         # ── Timers ────────────────────────────────────────────────────────────
+<<<<<<< HEAD
         # Telemetry read at 100 Hz (ESP32 BALANCE sends at 50 Hz)
+=======
+        # Telemetry read at 100 Hz (ESP32-S3 sends at 50 Hz)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._read_timer    = self.create_timer(0.01,             self._read_cb)
         # Control loop at 50 Hz: ramp + deadman + mode gate + send
         self._control_timer = self.create_timer(1.0 / _CONTROL_HZ, self._control_cb)
@@ -238,7 +256,11 @@ class CmdVelBridgeNode(Node):
             speed = self._current_speed
             steer = self._current_steer
 
+<<<<<<< HEAD
         # Send to ESP32 BALANCE
+=======
+        # Send to ESP32-S3
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         frame = f"C{speed},{steer}\n".encode("ascii")
         if not self._write(frame):
             self.get_logger().warn(
@@ -256,7 +278,11 @@ class CmdVelBridgeNode(Node):
     # ── Heartbeat TX ──────────────────────────────────────────────────────────
 
     def _heartbeat_cb(self):
+<<<<<<< HEAD
         """H\\n keeps ESP32 BALANCE jetson_cmd heartbeat alive regardless of mode."""
+=======
+        """H\\n keeps ESP32-S3 jetson_cmd heartbeat alive regardless of mode."""
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._write(b"H\n")
 
     # ── Telemetry RX ──────────────────────────────────────────────────────────
@@ -378,7 +404,11 @@ class CmdVelBridgeNode(Node):
         diag.header.stamp = stamp
         status = DiagnosticStatus()
         status.name        = "saltybot/balance_controller"
+<<<<<<< HEAD
         status.hardware_id = "esp32"
+=======
+        status.hardware_id = "esp32s322"
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         status.message     = f"{state_label} [{mode_label}]"
         status.level = (
             DiagnosticStatus.OK    if state == 1 else
@@ -406,11 +436,19 @@ class CmdVelBridgeNode(Node):
         status = DiagnosticStatus()
         status.level       = DiagnosticStatus.ERROR
         status.name        = "saltybot/balance_controller"
+<<<<<<< HEAD
         status.hardware_id = "esp32"
         status.message     = f"IMU fault errno={errno}"
         diag.status.append(status)
         self._diag_pub.publish(diag)
         self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
+=======
+        status.hardware_id = "esp32s322"
+        status.message     = f"IMU fault errno={errno}"
+        diag.status.append(status)
+        self._diag_pub.publish(diag)
+        self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     # ── Lifecycle ─────────────────────────────────────────────────────────────
 

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py

@@ -1,27 +1,61 @@
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 """stm32_cmd_node.py — Orin ↔ ESP32-S3 IO auxiliary bridge node.
+=======
+"""esp32_cmd_node.py — Full bidirectional binary-framed ESP32-S3↔Jetson bridge.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
 Connects to the ESP32-S3 IO board via USB-CDC (/dev/esp32-io) using the
 inter-board binary protocol (docs/SAUL-TEE-SYSTEM-REFERENCE.md §5).
 
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 This node is NOT the primary drive path (that is CAN via can_bridge_node).
 It handles auxiliary I/O: RC monitoring, sensor data, LED/output control.
+=======
+TX commands (Jetson → ESP32-S3):
+  SPEED_STEER  — 50 Hz from /cmd_vel subscription
+  HEARTBEAT    — 200 ms timer (ESP32-S3 watchdog fires at 500 ms)
+  ARM          — via /saltybot/arm service
+  SET_MODE     — via /saltybot/set_mode service
+  PID_UPDATE   — via /saltybot/pid_update topic
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
 Frame format: [0xAA][LEN][TYPE][PAYLOAD][CRC8]  @ 460800 baud
 
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 RX from ESP32 IO:
   RC_CHANNELS (0x01) → /saltybot/rc_channels  (std_msgs/String JSON)
   SENSORS     (0x02) → /saltybot/sensors       (std_msgs/String JSON)
+=======
+RX telemetry (ESP32-S3 → Jetson):
+  IMU          → /saltybot/imu           (sensor_msgs/Imu)
+  BATTERY      → /saltybot/telemetry/battery (std_msgs/String JSON)
+  MOTOR_RPM    → /saltybot/telemetry/motor_rpm (std_msgs/String JSON)
+  ARM_STATE    → /saltybot/arm_state     (std_msgs/String JSON)
+  ERROR        → /saltybot/error         (std_msgs/String JSON)
+  All frames   → /diagnostics            (diagnostic_msgs/DiagnosticArray)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
 TX to ESP32 IO:
   LED_CMD     (0x10) ← /saltybot/leds          (std_msgs/String JSON)
   OUTPUT_CMD  (0x11) ← /saltybot/outputs       (std_msgs/String JSON)
   HEARTBEAT   (0x20)  — sent every heartbeat_period (keep IO watchdog alive)
 
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 Parameters (config/stm32_cmd_params.yaml):
   serial_port       /dev/esp32-io
   baud_rate         460800
   reconnect_delay   2.0
   heartbeat_period  0.2   (ESP32 IO watchdog fires at ~500 ms)
+=======
+Parameters (config/esp32_cmd_params.yaml):
+  serial_port       /dev/ttyACM0
+  baud_rate         921600
+  reconnect_delay   2.0   (seconds)
+  heartbeat_period  0.2   (seconds)
+  watchdog_timeout  0.5   (seconds — no /cmd_vel → send zero-speed)
+  speed_scale       1000.0 (linear.x m/s → ESC units)
+  steer_scale      -500.0  (angular.z rad/s → ESC units, neg to flip convention)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 """
 
 from __future__ import annotations
@@ -39,8 +73,12 @@ import serial
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from std_msgs.msg import String
 
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
 from .stm32_protocol import (
     BAUD_RATE,
+=======
+from .esp32_protocol import (
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
     FrameParser,
     RcChannels,
     SensorData,
@@ -51,10 +89,14 @@ from .stm32_protocol import (
 
 
 class Stm32CmdNode(Node):
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
     """Orin ↔ ESP32-S3 IO auxiliary bridge node."""
+=======
+    """Binary-framed Jetson↔ESP32-S3 bridge node."""
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
     def __init__(self) -> None:
-        super().__init__("stm32_cmd_node")
+        super().__init__("esp32_cmd_node")
 
         # ── Parameters ────────────────────────────────────────────────────
         self.declare_parameter("serial_port",      "/dev/esp32-io")
@@ -96,7 +138,12 @@ class Stm32CmdNode(Node):
         self._diag_timer = self.create_timer(1.0,             self._publish_diagnostics)
 
         self.get_logger().info(
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
             f"stm32_cmd_node started — {self._port_name} @ {self._baud} baud"
+=======
+            f"esp32_cmd_node started — {port} @ {baud} baud | "
+            f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms"
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
         )
 
     # ── Serial management ─────────────────────────────────────────────────
@@ -198,7 +245,120 @@ class Stm32CmdNode(Node):
             type_code, _ = msg
             self.get_logger().debug(f"Unknown inter-board type 0x{type_code:02X}")
 
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
     # ── TX ────────────────────────────────────────────────────────────────
+=======
+        elif isinstance(frame, ArmStateFrame):
+            self._publish_arm_state(frame, now)
+
+        elif isinstance(frame, ErrorFrame):
+            self._publish_error(frame, now)
+
+        elif isinstance(frame, tuple):
+            type_code, payload = frame
+            self.get_logger().debug(
+                f"Unknown telemetry type 0x{type_code:02X} len={len(payload)}"
+            )
+
+    # ── Telemetry publishers ──────────────────────────────────────────────────
+
+    def _publish_imu(self, frame: ImuFrame, stamp) -> None:
+        msg = Imu()
+        msg.header.stamp    = stamp
+        msg.header.frame_id = IMU_FRAME_ID
+
+        # orientation: unknown — signal with -1 in first covariance
+        msg.orientation_covariance[0] = -1.0
+
+        msg.angular_velocity.x = math.radians(frame.pitch_deg)
+        msg.angular_velocity.y = math.radians(frame.roll_deg)
+        msg.angular_velocity.z = math.radians(frame.yaw_deg)
+        cov = math.radians(0.3) ** 2    # ±0.3° noise estimate from ESP32-S3 BMI088
+        msg.angular_velocity_covariance[0] = cov
+        msg.angular_velocity_covariance[4] = cov
+        msg.angular_velocity_covariance[8] = cov
+
+        msg.linear_acceleration.x = frame.accel_x
+        msg.linear_acceleration.y = frame.accel_y
+        msg.linear_acceleration.z = frame.accel_z
+        acov = 0.05 ** 2    # ±0.05 m/s² noise
+        msg.linear_acceleration_covariance[0] = acov
+        msg.linear_acceleration_covariance[4] = acov
+        msg.linear_acceleration_covariance[8] = acov
+
+        self._imu_pub.publish(msg)
+
+    def _publish_battery(self, frame: BatteryFrame, stamp) -> None:
+        payload = {
+            "voltage_v":  round(frame.voltage_mv / 1000.0, 3),
+            "voltage_mv": frame.voltage_mv,
+            "current_ma": frame.current_ma,
+            "soc_pct":    frame.soc_pct,
+            "charging":   frame.current_ma < -100,
+            "ts":         f"{stamp.sec}.{stamp.nanosec:09d}",
+        }
+        self._last_battery_mv = frame.voltage_mv
+        msg = String()
+        msg.data = json.dumps(payload)
+        self._battery_pub.publish(msg)
+
+    def _publish_motor_rpm(self, frame: MotorRpmFrame, stamp) -> None:
+        payload = {
+            "left_rpm":  frame.left_rpm,
+            "right_rpm": frame.right_rpm,
+            "ts":        f"{stamp.sec}.{stamp.nanosec:09d}",
+        }
+        msg = String()
+        msg.data = json.dumps(payload)
+        self._rpm_pub.publish(msg)
+
+    def _publish_arm_state(self, frame: ArmStateFrame, stamp) -> None:
+        label = _ARM_LABEL.get(frame.state, f"UNKNOWN({frame.state})")
+        if frame.state != self._last_arm_state:
+            self.get_logger().info(f"Arm state → {label} (flags=0x{frame.error_flags:02X})")
+            self._last_arm_state = frame.state
+
+        payload = {
+            "state":       frame.state,
+            "state_label": label,
+            "error_flags": frame.error_flags,
+            "ts":          f"{stamp.sec}.{stamp.nanosec:09d}",
+        }
+        msg = String()
+        msg.data = json.dumps(payload)
+        self._arm_pub.publish(msg)
+
+    def _publish_error(self, frame: ErrorFrame, stamp) -> None:
+        self.get_logger().error(
+            f"ESP32-S3 error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
+        )
+        payload = {
+            "error_code": frame.error_code,
+            "subcode":    frame.subcode,
+            "ts":         f"{stamp.sec}.{stamp.nanosec:09d}",
+        }
+        msg = String()
+        msg.data = json.dumps(payload)
+        self._error_pub.publish(msg)
+
+    # ── TX — command send ─────────────────────────────────────────────────────
+
+    def _on_cmd_vel(self, msg: Twist) -> None:
+        """Convert /cmd_vel Twist to SPEED_STEER frame at up to 50 Hz."""
+        speed = int(_clamp(msg.linear.x  * self._speed_scale, -1000.0, 1000.0))
+        steer = int(_clamp(msg.angular.z * self._steer_scale, -1000.0, 1000.0))
+        self._last_speed    = speed
+        self._last_steer    = steer
+        self._last_cmd_t    = time.monotonic()
+        self._watchdog_sent = False
+
+        frame = encode_speed_steer(speed, steer)
+        if not self._write(frame):
+            self.get_logger().warn(
+                "SPEED_STEER dropped — serial not open",
+                throttle_duration_sec=2.0,
+            )
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
 
     def _heartbeat_cb(self) -> None:
         self._write(encode_heartbeat())
@@ -239,8 +399,14 @@ class Stm32CmdNode(Node):
         diag = DiagnosticArray()
         diag.header.stamp = self.get_clock().now().to_msg()
         status = DiagnosticStatus()
+<<<<<<< HEAD:jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
         status.name        = "saltybot/esp32_io_bridge"
         status.hardware_id = "esp32-s3-io"
+=======
+        status.name        = "saltybot/esp32_cmd_node"
+        status.hardware_id = "esp32s322"
+
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only):jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py
         port_ok = self._ser is not None and self._ser.is_open
         status.level   = DiagnosticStatus.OK if port_ok else DiagnosticStatus.ERROR
         status.message = "Serial OK" if port_ok else f"Disconnected: {self._port_name}"

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py

@@ -0,0 +1,332 @@
+"""esp32_protocol.py — Binary frame codec for Jetson↔ESP32-S3 communication.
+
+Issue #119: defines the binary serial protocol between the Jetson Orin Nano Super and the
+ESP32-S3 ESP32-S3 BALANCE over USB CDC @ 921600 baud.
+
+Frame layout (all multi-byte fields are big-endian):
+  ┌──────┬──────┬──────┬──────────────────┬───────────┬──────┐
+  │  STX │ TYPE │  LEN │     PAYLOAD      │  CRC16    │  ETX │
+  │ 0x02 │  1B  │  1B  │    LEN bytes     │   2B BE   │ 0x03 │
+  └──────┴──────┴──────┴──────────────────┴───────────┴──────┘
+
+CRC16 covers: TYPE + LEN + PAYLOAD (not STX, ETX, or CRC bytes themselves).
+CRC algorithm: CCITT-16, polynomial=0x1021, init=0xFFFF, no final XOR.
+
+Command types (Jetson → ESP32-S3):
+  0x01  HEARTBEAT   — no payload              (len=0)
+  0x02  SPEED_STEER — int16 speed + int16 steer (len=4)  range: -1000..+1000
+  0x03  ARM         — uint8 (0=disarm, 1=arm)  (len=1)
+  0x04  SET_MODE    — uint8 mode               (len=1)
+  0x05  PID_UPDATE  — float32 kp + ki + kd     (len=12)
+
+Telemetry types (ESP32-S3 → Jetson):
+  0x10  IMU         — int16×6: pitch,roll,yaw (×100 deg), ax,ay,az (×100 m/s²) (len=12)
+  0x11  BATTERY     — uint16 voltage_mv + int16 current_ma + uint8 soc_pct (len=5)
+  0x12  MOTOR_RPM   — int16 left_rpm + int16 right_rpm     (len=4)
+  0x13  ARM_STATE   — uint8 state + uint8 error_flags       (len=2)
+  0x14  ERROR       — uint8 error_code + uint8 subcode      (len=2)
+
+Usage:
+  # Encoding (Jetson → ESP32-S3)
+  frame = encode_speed_steer(300, -150)
+  ser.write(frame)
+
+  # Decoding (ESP32-S3 → Jetson), one byte at a time
+  parser = FrameParser()
+  for byte in incoming_bytes:
+      result = parser.feed(byte)
+      if result is not None:
+          handle_frame(result)
+"""
+
+from __future__ import annotations
+
+import struct
+from dataclasses import dataclass
+from enum import IntEnum
+from typing import Optional
+
+# ── Frame constants ───────────────────────────────────────────────────────────
+
+STX = 0x02
+ETX = 0x03
+MAX_PAYLOAD_LEN = 64       # hard limit; any frame larger is corrupt
+
+
+# ── Command / telemetry type codes ────────────────────────────────────────────
+
+class CmdType(IntEnum):
+    HEARTBEAT   = 0x01
+    SPEED_STEER = 0x02
+    ARM         = 0x03
+    SET_MODE    = 0x04
+    PID_UPDATE  = 0x05
+
+
+class TelType(IntEnum):
+    IMU       = 0x10
+    BATTERY   = 0x11
+    MOTOR_RPM = 0x12
+    ARM_STATE = 0x13
+    ERROR     = 0x14
+
+
+# ── Parsed telemetry objects ──────────────────────────────────────────────────
+
+@dataclass
+class ImuFrame:
+    pitch_deg: float      # degrees (positive = forward tilt)
+    roll_deg:  float
+    yaw_deg:   float
+    accel_x:   float      # m/s²
+    accel_y:   float
+    accel_z:   float
+
+
+@dataclass
+class BatteryFrame:
+    voltage_mv:  int      # millivolts (e.g. 11100 = 11.1 V)
+    current_ma:  int      # milliamps (negative = charging)
+    soc_pct:     int      # state of charge 0–100 (from ESP32-S3 fuel gauge or lookup)
+
+
+@dataclass
+class MotorRpmFrame:
+    left_rpm:   int
+    right_rpm:  int
+
+
+@dataclass
+class ArmStateFrame:
+    state:       int      # 0=DISARMED 1=ARMED 2=TILT_FAULT
+    error_flags: int      # bitmask
+
+
+@dataclass
+class ErrorFrame:
+    error_code: int
+    subcode:    int
+
+
+# Union type for decoded results
+TelemetryFrame = ImuFrame | BatteryFrame | MotorRpmFrame | ArmStateFrame | ErrorFrame
+
+
+# ── CRC16 CCITT ───────────────────────────────────────────────────────────────
+
+def _crc16_ccitt(data: bytes, init: int = 0xFFFF) -> int:
+    """CRC16-CCITT: polynomial 0x1021, init 0xFFFF, no final XOR."""
+    crc = init
+    for byte in data:
+        crc ^= byte << 8
+        for _ in range(8):
+            if crc & 0x8000:
+                crc = (crc << 1) ^ 0x1021
+            else:
+                crc <<= 1
+        crc &= 0xFFFF
+    return crc
+
+
+# ── Frame encoder ─────────────────────────────────────────────────────────────
+
+def _build_frame(cmd_type: int, payload: bytes) -> bytes:
+    """Assemble a complete binary frame with CRC16."""
+    assert len(payload) <= MAX_PAYLOAD_LEN, "Payload too large"
+    length = len(payload)
+    header = bytes([cmd_type, length])
+    crc = _crc16_ccitt(header + payload)
+    return bytes([STX, cmd_type, length]) + payload + struct.pack(">H", crc) + bytes([ETX])
+
+
+def encode_heartbeat() -> bytes:
+    """HEARTBEAT frame — no payload."""
+    return _build_frame(CmdType.HEARTBEAT, b"")
+
+
+def encode_speed_steer(speed: int, steer: int) -> bytes:
+    """SPEED_STEER frame — int16 speed + int16 steer, both in -1000..+1000."""
+    speed = max(-1000, min(1000, int(speed)))
+    steer = max(-1000, min(1000, int(steer)))
+    return _build_frame(CmdType.SPEED_STEER, struct.pack(">hh", speed, steer))
+
+
+def encode_arm(arm: bool) -> bytes:
+    """ARM frame — 0=disarm, 1=arm."""
+    return _build_frame(CmdType.ARM, struct.pack("B", 1 if arm else 0))
+
+
+def encode_set_mode(mode: int) -> bytes:
+    """SET_MODE frame — mode byte."""
+    return _build_frame(CmdType.SET_MODE, struct.pack("B", mode & 0xFF))
+
+
+def encode_pid_update(kp: float, ki: float, kd: float) -> bytes:
+    """PID_UPDATE frame — three float32 values."""
+    return _build_frame(CmdType.PID_UPDATE, struct.pack(">fff", kp, ki, kd))
+
+
+# ── Frame decoder (state-machine parser) ─────────────────────────────────────
+
+class ParserState(IntEnum):
+    WAIT_STX  = 0
+    WAIT_TYPE = 1
+    WAIT_LEN  = 2
+    PAYLOAD   = 3
+    CRC_HI    = 4
+    CRC_LO    = 5
+    WAIT_ETX  = 6
+
+
+class ParseError(Exception):
+    pass
+
+
+class FrameParser:
+    """Byte-by-byte streaming parser for ESP32-S3 telemetry frames.
+
+    Feed individual bytes via feed(); returns a decoded TelemetryFrame (or raw
+    bytes tuple) when a complete valid frame is received.
+
+    Thread-safety: single-threaded — wrap in a lock if shared across threads.
+
+    Usage::
+        parser = FrameParser()
+        for b in incoming:
+            result = parser.feed(b)
+            if result is not None:
+                process(result)
+    """
+
+    def __init__(self) -> None:
+        self._state    = ParserState.WAIT_STX
+        self._type     = 0
+        self._length   = 0
+        self._payload  = bytearray()
+        self._crc_rcvd = 0
+        self.frames_ok    = 0
+        self.frames_error = 0
+
+    def reset(self) -> None:
+        """Reset parser to initial state (call after error or port reconnect)."""
+        self._state   = ParserState.WAIT_STX
+        self._payload = bytearray()
+
+    def feed(self, byte: int) -> Optional[TelemetryFrame | tuple]:
+        """Process one byte. Returns decoded frame on success, None otherwise.
+
+        On CRC error, increments frames_error and resets. The return value on
+        success is a dataclass (ImuFrame, BatteryFrame, etc.) or a
+        (type_code, raw_payload) tuple for unknown type codes.
+        """
+        s = self._state
+
+        if s == ParserState.WAIT_STX:
+            if byte == STX:
+                self._state = ParserState.WAIT_TYPE
+            return None
+
+        if s == ParserState.WAIT_TYPE:
+            self._type  = byte
+            self._state = ParserState.WAIT_LEN
+            return None
+
+        if s == ParserState.WAIT_LEN:
+            self._length  = byte
+            self._payload = bytearray()
+            if self._length > MAX_PAYLOAD_LEN:
+                # Corrupt frame — too big; reset
+                self.frames_error += 1
+                self.reset()
+                return None
+            if self._length == 0:
+                self._state = ParserState.CRC_HI
+            else:
+                self._state = ParserState.PAYLOAD
+            return None
+
+        if s == ParserState.PAYLOAD:
+            self._payload.append(byte)
+            if len(self._payload) == self._length:
+                self._state = ParserState.CRC_HI
+            return None
+
+        if s == ParserState.CRC_HI:
+            self._crc_rcvd = byte << 8
+            self._state    = ParserState.CRC_LO
+            return None
+
+        if s == ParserState.CRC_LO:
+            self._crc_rcvd |= byte
+            self._state     = ParserState.WAIT_ETX
+            return None
+
+        if s == ParserState.WAIT_ETX:
+            self.reset()   # always reset so we look for next STX
+            if byte != ETX:
+                self.frames_error += 1
+                return None
+
+            # Verify CRC
+            crc_data = bytes([self._type, self._length]) + self._payload
+            expected = _crc16_ccitt(crc_data)
+            if expected != self._crc_rcvd:
+                self.frames_error += 1
+                return None
+
+            # Decode
+            self.frames_ok += 1
+            return _decode_telemetry(self._type, bytes(self._payload))
+
+        # Should never reach here
+        self.reset()
+        return None
+
+
+# ── Telemetry decoder ─────────────────────────────────────────────────────────
+
+def _decode_telemetry(type_code: int, payload: bytes) -> Optional[TelemetryFrame | tuple]:
+    """Decode a validated telemetry payload into a typed dataclass."""
+    try:
+        if type_code == TelType.IMU:
+            if len(payload) < 12:
+                return None
+            p, r, y, ax, ay, az = struct.unpack_from(">hhhhhh", payload)
+            return ImuFrame(
+                pitch_deg=p  / 100.0,
+                roll_deg=r   / 100.0,
+                yaw_deg=y    / 100.0,
+                accel_x=ax   / 100.0,
+                accel_y=ay   / 100.0,
+                accel_z=az   / 100.0,
+            )
+
+        if type_code == TelType.BATTERY:
+            if len(payload) < 5:
+                return None
+            v_mv, i_ma, soc = struct.unpack_from(">HhB", payload)
+            return BatteryFrame(voltage_mv=v_mv, current_ma=i_ma, soc_pct=soc)
+
+        if type_code == TelType.MOTOR_RPM:
+            if len(payload) < 4:
+                return None
+            left, right = struct.unpack_from(">hh", payload)
+            return MotorRpmFrame(left_rpm=left, right_rpm=right)
+
+        if type_code == TelType.ARM_STATE:
+            if len(payload) < 2:
+                return None
+            state, flags = struct.unpack_from("BB", payload)
+            return ArmStateFrame(state=state, error_flags=flags)
+
+        if type_code == TelType.ERROR:
+            if len(payload) < 2:
+                return None
+            code, sub = struct.unpack_from("BB", payload)
+            return ErrorFrame(error_code=code, subcode=sub)
+
+    except struct.error:
+        return None
+
+    # Unknown telemetry type — return raw
+    return (type_code, payload)

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py

@@ -1,8 +1,15 @@
 """
+<<<<<<< HEAD
 remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 USB CDC
 
 {"kill": true}  -> writes 'E\n' to ESP32 BALANCE (ESTOP_REMOTE, immediate motor cutoff)
 {"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm)
+=======
+remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32-S3 USB CDC
+
+{"kill": true}  -> writes 'E\n' to ESP32-S3 (ESTOP_REMOTE, immediate motor cutoff)
+{"kill": false} -> writes 'Z\n' to ESP32-S3 (clear latch, robot can re-arm)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in
 AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT).

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py

@@ -322,7 +322,11 @@ class SaltybotCanNode(Node):
         diag.header.stamp = stamp
         st = DiagnosticStatus()
         st.name        = "saltybot/balance_controller"
+<<<<<<< HEAD
         st.hardware_id = "esp32"
+=======
+        st.hardware_id = "esp32s322"
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         st.message     = state_label
         st.level       = (DiagnosticStatus.OK    if state == 1 else
                           DiagnosticStatus.WARN   if state == 0 else

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py

@@ -1,9 +1,14 @@
 """
+<<<<<<< HEAD
 saltybot_cmd_node — full bidirectional ESP32 BALANCE↔Jetson bridge
+=======
+saltybot_cmd_node — full bidirectional ESP32-S3↔Jetson bridge
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Combines telemetry RX (from serial_bridge_node) with drive command TX.
 
 Owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node.
 
+<<<<<<< HEAD
 RX path (50Hz from ESP32 BALANCE):
   JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
 
@@ -15,6 +20,19 @@ Protocol:
   H\\n              — heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms.
   C<spd>,<str>\\n   — drive command. speed/steer: -1000..+1000 integers.
                       C command also refreshes ESP32 BALANCE heartbeat timer.
+=======
+RX path (50Hz from ESP32-S3):
+  JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
+
+TX path:
+  /cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n  → ESP32-S3
+  Heartbeat timer (200ms)        → H\\n                 → ESP32-S3
+
+Protocol:
+  H\\n              — heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms.
+  C<spd>,<str>\\n   — drive command. speed/steer: -1000..+1000 integers.
+                      C command also refreshes ESP32-S3 heartbeat timer.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Twist mapping (configurable via ROS2 params):
   speed = clamp(linear.x  * speed_scale, -1000, 1000)
@@ -100,7 +118,11 @@ class SaltybotCmdNode(Node):
         self._open_serial()
 
         # ── Timers ────────────────────────────────────────────────────────────
+<<<<<<< HEAD
         # Telemetry read at 100Hz (ESP32 BALANCE sends at 50Hz)
+=======
+        # Telemetry read at 100Hz (ESP32-S3 sends at 50Hz)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._read_timer = self.create_timer(0.01, self._read_cb)
         # Heartbeat TX at configured period (default 200ms)
         self._hb_timer   = self.create_timer(self._hb_period, self._heartbeat_cb)
@@ -266,7 +288,11 @@ class SaltybotCmdNode(Node):
         diag.header.stamp = stamp
         status = DiagnosticStatus()
         status.name = "saltybot/balance_controller"
+<<<<<<< HEAD
         status.hardware_id = "esp32"
+=======
+        status.hardware_id = "esp32s322"
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         status.message = state_label
         if state == 1:
             status.level = DiagnosticStatus.OK
@@ -294,11 +320,19 @@ class SaltybotCmdNode(Node):
         status = DiagnosticStatus()
         status.level = DiagnosticStatus.ERROR
         status.name = "saltybot/balance_controller"
+<<<<<<< HEAD
         status.hardware_id = "esp32"
         status.message = f"IMU fault errno={errno}"
         diag.status.append(status)
         self._diag_pub.publish(diag)
         self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
+=======
+        status.hardware_id = "esp32s322"
+        status.message = f"IMU fault errno={errno}"
+        diag.status.append(status)
+        self._diag_pub.publish(diag)
+        self.get_logger().error(f"ESP32-S3 IMU fault: errno={errno}")
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     # ── TX — command send ─────────────────────────────────────────────────────
 
@@ -316,7 +350,11 @@ class SaltybotCmdNode(Node):
             )
 
     def _heartbeat_cb(self):
+<<<<<<< HEAD
         """Send H\\n heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms."""
+=======
+        """Send H\\n heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms."""
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._write(b"H\n")
 
     # ── Lifecycle ─────────────────────────────────────────────────────────────

jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py

@@ -1,6 +1,10 @@
 """
 saltybot_bridge — serial_bridge_node
+<<<<<<< HEAD
 ESP32 USB CDC → ROS2 topic publisher
+=======
+ESP32-S3 USB CDC → ROS2 topic publisher
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Telemetry frame (50 Hz, newline-delimited JSON):
   {"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
@@ -29,7 +33,11 @@ from sensor_msgs.msg import Imu
 from std_msgs.msg import String
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 
+<<<<<<< HEAD
 # Balance state labels matching ESP32 BALANCE balance_state_t enum
+=======
+# Balance state labels matching ESP32-S3 balance_state_t enum
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 _STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
 
 # Sensor frame_id published in Imu header
@@ -83,7 +91,11 @@ class SerialBridgeNode(Node):
 
         # ── Open serial and start read timer ──────────────────────────────────
         self._open_serial()
+<<<<<<< HEAD
         # Poll at 100 Hz — ESP32 BALANCE sends at 50 Hz, so we never miss a frame
+=======
+        # Poll at 100 Hz — ESP32-S3 sends at 50 Hz, so we never miss a frame
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         self._timer = self.create_timer(0.01, self._read_cb)
 
         self.get_logger().info(
@@ -117,7 +129,11 @@ class SerialBridgeNode(Node):
 
     def write_serial(self, data: bytes) -> bool:
         """
+<<<<<<< HEAD
         Send raw bytes to ESP32 BALANCE over the open serial port.
+=======
+        Send raw bytes to ESP32-S3 over the open serial port.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         Returns False if port is not open (caller should handle gracefully).
         Note: for bidirectional use prefer saltybot_cmd_node which owns TX natively.
         """
@@ -206,7 +222,11 @@ class SerialBridgeNode(Node):
         """
         Publish sensor_msgs/Imu.
 
+<<<<<<< HEAD
         The ESP32 BALANCE IMU gives Euler angles (pitch/roll from accelerometer+gyro
+=======
+        The ESP32-S3 IMU gives Euler angles (pitch/roll from accelerometer+gyro
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         fusion, yaw from gyro integration). We publish them as angular_velocity
         for immediate use by slam_toolbox / robot_localization.
 
@@ -264,7 +284,11 @@ class SerialBridgeNode(Node):
         diag.header.stamp = stamp
         status = DiagnosticStatus()
         status.name = "saltybot/balance_controller"
+<<<<<<< HEAD
         status.hardware_id = "esp32"
+=======
+        status.hardware_id = "esp32s322"
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
         status.message = state_label
 
         if state == 1:   # ARMED
@@ -293,11 +317,19 @@ class SerialBridgeNode(Node):
         status = DiagnosticStatus()
         status.level = DiagnosticStatus.ERROR
         status.name = "saltybot/balance_controller"
+<<<<<<< HEAD
         status.hardware_id = "esp32"
         status.message = f"IMU fault errno={errno}"
         diag.status.append(status)
         self._diag_pub.publish(diag)
         self.get_logger().error(f"ESP32 BALANCE reported IMU fault: errno={errno}")
+=======
+        status.hardware_id = "esp32s322"
+        status.message = f"IMU fault errno={errno}"
+        diag.status.append(status)
+        self._diag_pub.publish(diag)
+        self.get_logger().error(f"ESP32-S3 reported IMU fault: errno={errno}")
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     def destroy_node(self):
         self._close_serial()

jetson/ros2_ws/src/saltybot_bridge/setup.py

@@ -13,7 +13,7 @@ setup(
             "launch/bridge.launch.py",
             "launch/cmd_vel_bridge.launch.py",
             "launch/remote_estop.launch.py",
-            "launch/stm32_cmd.launch.py",
+            "launch/esp32_cmd.launch.py",
             "launch/battery.launch.py",
             "launch/uart_bridge.launch.py",
         ]),
@@ -21,7 +21,7 @@ setup(
             "config/bridge_params.yaml",
             "config/cmd_vel_bridge_params.yaml",
             "config/estop_params.yaml",
-            "config/stm32_cmd_params.yaml",
+            "config/esp32_cmd_params.yaml",
             "config/battery_params.yaml",
         ]),
     ],
@@ -29,7 +29,11 @@ setup(
     zip_safe=True,
     maintainer="sl-jetson",
     maintainer_email="sl-jetson@saltylab.local",
+<<<<<<< HEAD
     description="ESP32 USB CDC → ROS2 serial bridge for saltybot",
+=======
+    description="ESP32-S3 USB CDC → ROS2 serial bridge for saltybot",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     license="MIT",
     tests_require=["pytest"],
     entry_points={
@@ -41,8 +45,13 @@ setup(
             # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
             "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
             "remote_estop_node  = saltybot_bridge.remote_estop_node:main",
+<<<<<<< HEAD
             # Binary-framed ESP32 BALANCE command node (Issue #119)
             "stm32_cmd_node    = saltybot_bridge.stm32_cmd_node:main",
+=======
+            # Binary-framed ESP32-S3 command node (Issue #119)
+            "esp32_cmd_node    = saltybot_bridge.esp32_cmd_node:main",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
             # Battery management node (Issue #125)
             "battery_node      = saltybot_bridge.battery_node:main",
             # Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)

jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py

@@ -1,5 +1,9 @@
 """
+<<<<<<< HEAD
 Unit tests for Jetson→ESP32 BALANCE command serialization logic.
+=======
+Unit tests for Jetson→ESP32-S3 command serialization logic.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Tests Twist→speed/steer conversion and frame formatting.
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
 """

jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py

@@ -1,4 +1,4 @@
-"""test_stm32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port.
+"""test_esp32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port.
 
 Tests:
   - Serial open/close lifecycle
@@ -12,7 +12,7 @@ Tests:
   - Zero-speed sent on node shutdown
   - CRC errors counted correctly
 
-Run with: pytest test/test_stm32_cmd_node.py -v
+Run with: pytest test/test_esp32_cmd_node.py -v
 No ROS2 runtime required — uses mock Node infrastructure.
 """
 
@@ -29,7 +29,7 @@ import pytest
 
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
 
-from saltybot_bridge.stm32_protocol import (
+from saltybot_bridge.esp32_protocol import (
     STX, ETX, CmdType, TelType,
     encode_speed_steer, encode_heartbeat, encode_arm, encode_pid_update,
     _build_frame, _crc16_ccitt,
@@ -219,10 +219,10 @@ class TestMockSerialTX:
 class TestMockSerialRX:
     """Test RX parsing path using MockSerial with pre-loaded telemetry data."""
 
-    from saltybot_bridge.stm32_protocol import FrameParser
+    from saltybot_bridge.esp32_protocol import FrameParser
 
     def test_rx_imu_frame(self):
-        from saltybot_bridge.stm32_protocol import FrameParser, ImuFrame
+        from saltybot_bridge.esp32_protocol import FrameParser, ImuFrame
         raw = _imu_frame_bytes(pitch=500, roll=-200, yaw=100, ax=0, ay=0, az=981)
         ms  = MockSerial(rx_data=raw)
         parser = FrameParser()
@@ -241,7 +241,7 @@ class TestMockSerialRX:
         assert f.accel_z   == pytest.approx(9.81)
 
     def test_rx_battery_frame(self):
-        from saltybot_bridge.stm32_protocol import FrameParser, BatteryFrame
+        from saltybot_bridge.esp32_protocol import FrameParser, BatteryFrame
         raw = _battery_frame_bytes(v_mv=10500, i_ma=1200, soc=45)
         ms  = MockSerial(rx_data=raw)
         parser = FrameParser()
@@ -257,7 +257,7 @@ class TestMockSerialRX:
         assert f.soc_pct    == 45
 
     def test_rx_multiple_frames_in_one_read(self):
-        from saltybot_bridge.stm32_protocol import FrameParser
+        from saltybot_bridge.esp32_protocol import FrameParser
         raw = (_imu_frame_bytes() + _arm_state_frame_bytes() + _battery_frame_bytes())
         ms  = MockSerial(rx_data=raw)
         parser = FrameParser()
@@ -271,7 +271,7 @@ class TestMockSerialRX:
         assert parser.frames_error == 0
 
     def test_rx_bad_crc_counted_as_error(self):
-        from saltybot_bridge.stm32_protocol import FrameParser
+        from saltybot_bridge.esp32_protocol import FrameParser
         raw = bytearray(_arm_state_frame_bytes(state=1))
         raw[-3] ^= 0xFF    # corrupt CRC
         ms = MockSerial(rx_data=bytes(raw))
@@ -282,7 +282,7 @@ class TestMockSerialRX:
         assert parser.frames_error == 1
 
     def test_rx_resync_after_corrupt_byte(self):
-        from saltybot_bridge.stm32_protocol import FrameParser, ArmStateFrame
+        from saltybot_bridge.esp32_protocol import FrameParser, ArmStateFrame
         garbage = b"\xDE\xAD\x00\x00"
         valid   = _arm_state_frame_bytes(state=1)
         ms = MockSerial(rx_data=garbage + valid)

jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_protocol.py

@@ -1,4 +1,4 @@
-"""test_stm32_protocol.py — Unit tests for binary STM32 frame codec.
+"""test_esp32_protocol.py — Unit tests for binary ESP32-S3 frame codec.
 
 Tests:
   - CRC16-CCITT correctness
@@ -12,7 +12,7 @@ Tests:
   - Speed/steer clamping in encode_speed_steer
   - Round-trip encode → decode for all known telemetry types
 
-Run with: pytest test/test_stm32_protocol.py -v
+Run with: pytest test/test_esp32_protocol.py -v
 """
 
 from __future__ import annotations
@@ -25,7 +25,7 @@ import os
 # ── Path setup (no ROS2 install needed) ──────────────────────────────────────
 sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
 
-from saltybot_bridge.stm32_protocol import (
+from saltybot_bridge.esp32_protocol import (
     STX, ETX,
     CmdType, TelType,
     ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame,

jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py

@@ -1,5 +1,9 @@
 """
+<<<<<<< HEAD
 Unit tests for ESP32 BALANCE telemetry parsing logic.
+=======
+Unit tests for ESP32-S3 telemetry parsing logic.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
 """
 

jetson/ros2_ws/src/saltybot_bridge_msgs/msg/WheelTicks.msg

@@ -1,4 +1,4 @@
-# WheelTicks.msg — cumulative wheel encoder tick counts from STM32 (Issue #184)
+# WheelTicks.msg — cumulative wheel encoder tick counts from ESP32-S3 (Issue #184)
 #
 # left_ticks  : cumulative left  encoder count (int32, wraps at ±2^31)
 # right_ticks : cumulative right encoder count (int32, wraps at ±2^31)

jetson/ros2_ws/src/saltybot_bridge_msgs/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>saltybot_bridge_msgs</name>
   <version>0.1.0</version>
-  <description>STM32 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184)</description>
+  <description>ESP32-S3 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184)</description>
   <maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
   <license>MIT</license>
 

jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml

@@ -19,7 +19,11 @@
 #   inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
 #   DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer)
 #
+<<<<<<< HEAD
 # Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
+=======
+# Output: /cmd_vel (Twist) — ESP32-S3 bridge consumes this topic.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 bt_navigator:
   ros__parameters:

jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml

@@ -2,7 +2,11 @@
 # Master configuration for full stack bringup
 
 # ────────────────────────────────────────────────────────────────────────────
+<<<<<<< HEAD
 # HARDWARE — ESP32 BALANCE Bridge & Motor Control
+=======
+# HARDWARE — ESP32-S3 Bridge & Motor Control
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # ────────────────────────────────────────────────────────────────────────────
 
 saltybot_bridge_node:

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

@@ -39,7 +39,11 @@ Modes
     ─ UWB driver (2-anchor DW3000, publishes /uwb/target)
     ─ YOLOv8n person detection (TensorRT)
     ─ Person follower with UWB+camera fusion
+<<<<<<< HEAD
     ─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate)
+=======
+    ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     ─ rosbridge WebSocket (port 9090)
 
   outdoor
@@ -57,8 +61,13 @@ Modes
 Launch sequence (wall-clock delays — conservative for cold start)
 ─────────────────────────────────────────────────────────────────
    t= 0s  robot_description   (URDF + TF tree)
+<<<<<<< HEAD
    t= 0s  ESP32 bridge        (serial port owner — must be first)
    t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32 bridge up)
+=======
+   t= 0s  ESP32-S3 bridge        (serial port owner — must be first)
+   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32-S3 bridge up)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
    t= 2s  sensors             (RPLIDAR + RealSense)
    t= 4s  UWB driver          (independent serial device)
    t= 4s  CSI cameras         (optional, independent)
@@ -71,10 +80,17 @@ Launch sequence (wall-clock delays — conservative for cold start)
 
 Safety wiring
 ─────────────
+<<<<<<< HEAD
   • ESP32 bridge must be up before cmd_vel bridge sends any command.
   • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
   • ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
     until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel.
+=======
+  • ESP32-S3 bridge must be up before cmd_vel bridge sends any command.
+  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
+  • ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
+    until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   • follow_enabled:=false disables person follower without stopping the node.
   • To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
 
@@ -91,7 +107,11 @@ Topics published by this stack
   /person/target                   PoseStamped    (camera position, base_link)
   /person/detections               Detection2DArray
   /cmd_vel                         Twist          (from follower or Nav2)
+<<<<<<< HEAD
   /saltybot/cmd                    String         (to ESP32 BALANCE)
+=======
+  /saltybot/cmd                    String         (to ESP32-S3)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   /saltybot/imu                    Imu
   /saltybot/balance_state          String
 """
@@ -209,7 +229,11 @@ def generate_launch_description():
     enable_bridge_arg = DeclareLaunchArgument(
         "enable_bridge",
         default_value="true",
+<<<<<<< HEAD
         description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
+=======
+        description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     enable_rosbridge_arg = DeclareLaunchArgument(
@@ -270,7 +294,11 @@ enable_mission_logging_arg = DeclareLaunchArgument(
     esp32_port_arg = DeclareLaunchArgument(
         "esp32_port",
         default_value="/dev/esp32-bridge",
+<<<<<<< HEAD
         description="ESP32 USB CDC serial port",
+=======
+        description="ESP32-S3 USB CDC serial port",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     # ── Shared substitution handles ───────────────────────────────────────────
@@ -290,7 +318,11 @@ enable_mission_logging_arg = DeclareLaunchArgument(
         launch_arguments={"use_sim_time": use_sim_time}.items(),
     )
 
+<<<<<<< HEAD
     # ── t=0s  ESP32 bidirectional serial bridge ────────────────────────────────
+=======
+    # ── t=0s  ESP32-S3 bidirectional serial bridge ────────────────────────────────
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     esp32_bridge = GroupAction(
         condition=IfCondition(LaunchConfiguration("enable_bridge")),
         actions=[
@@ -320,7 +352,11 @@ enable_mission_logging_arg = DeclareLaunchArgument(
         ],
     )
 
+<<<<<<< HEAD
     # ── t=2s  cmd_vel safety bridge (depends on ESP32 bridge) ────────────────
+=======
+    # ── t=2s  cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     cmd_vel_bridge = TimerAction(
         period=2.0,
         actions=[

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

@@ -1,7 +1,7 @@
 """
 realsense.launch.py — Intel RealSense D435i driver (standalone)
 
-Launches realsense2_camera_node with Jetson Nano power-budget settings:
+Launches realsense2_camera_node with Jetson Orin Nano Super power-budget settings:
   - 640×480 @ 15fps (depth + RGB) — saves ~0.4W vs 30fps
   - IMU enabled with linear interpolation (unified /camera/imu topic)
   - Depth aligned to color frame

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

@@ -19,7 +19,11 @@ Usage
 
 Startup sequence
 ────────────────
+<<<<<<< HEAD
   GROUP A — Drivers      t= 0 s  ESP32 bridge, RealSense+RPLIDAR, motor daemon, IMU
+=======
+  GROUP A — Drivers      t= 0 s  ESP32-S3 bridge, RealSense+RPLIDAR, motor daemon, IMU
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
   GROUP B — Perception   t= 8 s  UWB, person detection, object detection, depth costmap, gimbal
   health gate ───────────────────────────────────────────────── t=16 s (full/debug)
@@ -123,7 +127,11 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
     esp32_port_arg = DeclareLaunchArgument(
         "esp32_port",
         default_value="/dev/esp32-bridge",
+<<<<<<< HEAD
         description="ESP32 UART bridge serial device",
+=======
+        description="ESP32-S3 USART bridge serial device",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
 
     uwb_port_a_arg = DeclareLaunchArgument(
@@ -198,7 +206,11 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
 
     # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
     # GROUP A — DRIVERS   (t = 0 s, all profiles)
+<<<<<<< HEAD
     # Dependency order: ESP32 bridge first, then sensors, then motor daemon.
+=======
+    # Dependency order: ESP32-S3 bridge first, then sensors, then motor daemon.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     # Health gate: subsequent groups delayed until t_perception (8 s full/debug).
     # ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
 
@@ -212,7 +224,11 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
         launch_arguments={"use_sim_time": use_sim_time}.items(),
     )
 
+<<<<<<< HEAD
     # ESP32 BALANCE bridge
+=======
+    # ESP32-S3 bidirectional bridge (JLINK USART1)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     esp32_bridge = IncludeLaunchDescription(
         _launch("saltybot_bridge", "launch", "bridge.launch.py"),
         launch_arguments={
@@ -232,7 +248,11 @@ def generate_launch_description() -> LaunchDescription:  # noqa: C901
         ],
     )
 
+<<<<<<< HEAD
     # Motor daemon: /cmd_vel → ESP32 BALANCE DRIVE frames (depends on bridge at t=0)
+=======
+    # Motor daemon: /cmd_vel → ESP32-S3 DRIVE frames (depends on bridge at t=0)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     motor_daemon = TimerAction(
         period=2.5,
         actions=[

jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py

@@ -20,7 +20,11 @@ theta is kept in (−π, π] after every step.
 
 Int32 rollover
 --------------
+<<<<<<< HEAD
 ESP32 BALANCE encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
+=======
+ESP32-S3 encoder counters are int32 and wrap at ±2^31.  `unwrap_delta` handles
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 this by detecting jumps larger than half the int32 range and adjusting by the
 full range:
 

jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py

@@ -69,7 +69,11 @@ class Profile:
     t_ui:         float = 22.0  # Group D (nav2 needs ~4 s to load costmaps)
 
     # ── Safety ────────────────────────────────────────────────────────────
+<<<<<<< HEAD
     watchdog_timeout_s:  float = 5.0   # max silence from ESP32 bridge (s)
+=======
+    watchdog_timeout_s:  float = 5.0   # max silence from ESP32-S3 bridge (s)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     cmd_vel_deadman_s:   float = 0.5   # cmd_vel watchdog in bridge
     max_linear_vel:      float = 0.5   # m/s cap passed to bridge + follower
     follow_distance_m:   float = 1.5   # target follow distance (m)
@@ -90,7 +94,11 @@ class Profile:
 # ── Profile factory ────────────────────────────────────────────────────────────
 
 def _minimal() -> Profile:
+<<<<<<< HEAD
     """Minimal: ESP32 bridge + sensors + motor daemon.
+=======
+    """Minimal: ESP32-S3 bridge + sensors + motor daemon.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     Safe drive control only.  No AI, no nav, no social.
     Boot time ~4 s.  RAM ~400 MB.

jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py

@@ -1,7 +1,11 @@
 """
 wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184).
 
+<<<<<<< HEAD
 Subscribes to raw encoder tick counts from the ESP32 bridge, integrates
+=======
+Subscribes to raw encoder tick counts from the ESP32-S3 bridge, integrates
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
 Optionally broadcasts the odom → base_link TF transform.
 

jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md

@@ -61,7 +61,11 @@ kill %1
 
 ### Core System Components
 - Robot Description (URDF/TF tree)
+<<<<<<< HEAD
 - ESP32 Serial Bridge
+=======
+- ESP32-S3 Serial Bridge
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - cmd_vel Bridge  
 - Rosbridge WebSocket
 
@@ -125,7 +129,11 @@ free -h
 
 ### cmd_vel bridge not responding
 ```bash
+<<<<<<< HEAD
 # Verify ESP32 bridge is running first
+=======
+# Verify ESP32-S3 bridge is running first
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 ros2 node list | grep bridge
 
 # Check serial port

jetson/ros2_ws/src/saltybot_bringup/urdf/saltybot.urdf.xacro

@@ -10,7 +10,7 @@
     - Sensors:
       * RPLIDAR A1M8 (360° scanning LiDAR)
       * RealSense D435i (RGB-D camera + IMU)
-      * BNO055 (9-DOF IMU, STM32 FC)
+      * BNO055 (9-DOF IMU, ESP32-S3 FC)
     - Actuators:
       * 2x differential drive motors
       * Pan/Tilt servos for camera
@@ -120,7 +120,7 @@
     <child link="right_wheel_link" />
   </joint>
 
-  <!-- IMU Link (STM32 FC BNO055, mounted on main board) -->
+  <!-- IMU Link (ESP32-S3 FC BNO055, mounted on main board) -->
   <link name="imu_link">
     <inertial>
       <mass value="0.01" />

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py

@@ -1 +1 @@
-"""SaltyBot CAN bridge package — ESP32 IO motor controller and VESC telemetry via python-can."""
+"""SaltyBot CAN bridge package — ESP32-S3 BALANCE controller and VESC telemetry via python-can."""

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py

@@ -0,0 +1,224 @@
+#!/usr/bin/env python3
+"""
+balance_protocol.py — CAN message encoding/decoding for the ESP32-S3 BALANCE motor controller
+and VESC telemetry.
+
+CAN message layout
+------------------
+Command frames  (Orin → ESP32-S3 BALANCE / VESC):
+  MAMBA_CMD_VELOCITY  0x100  8 bytes  left_speed (f32, m/s) | right_speed (f32, m/s)
+  MAMBA_CMD_MODE      0x101  1 byte   mode (0=idle, 1=drive, 2=estop)
+  MAMBA_CMD_ESTOP     0x102  1 byte   0x01 = stop
+
+Telemetry frames (ESP32-S3 BALANCE → Orin):
+  MAMBA_TELEM_IMU     0x200  24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
+  MAMBA_TELEM_BATTERY 0x201   8 bytes voltage (f32, V) | current (f32, A)
+
+VESC telemetry frame (VESC → Orin):
+  VESC_TELEM_STATE    0x300  16 bytes erpm (f32) | duty (f32) | voltage (f32) | current (f32)
+
+All multi-byte fields are big-endian.
+
+Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/674
+"""
+
+import struct
+from dataclasses import dataclass
+from typing import Tuple
+
+# ---------------------------------------------------------------------------
+# CAN message IDs
+# ---------------------------------------------------------------------------
+
+MAMBA_CMD_VELOCITY: int = 0x100
+MAMBA_CMD_MODE: int = 0x101
+MAMBA_CMD_ESTOP: int = 0x102
+
+MAMBA_TELEM_IMU: int = 0x200
+MAMBA_TELEM_BATTERY: int = 0x201
+
+VESC_TELEM_STATE: int = 0x300
+ORIN_CAN_ID_PID_SET: int = 0x305
+ORIN_CAN_ID_FC_PID_ACK: int = 0x405
+
+# ---------------------------------------------------------------------------
+# Mode constants
+# ---------------------------------------------------------------------------
+
+MODE_IDLE: int = 0
+MODE_DRIVE: int = 1
+MODE_ESTOP: int = 2
+
+# ---------------------------------------------------------------------------
+# Data classes for decoded telemetry
+# ---------------------------------------------------------------------------
+
+
+@dataclass
+class ImuTelemetry:
+    """Decoded IMU telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_IMU)."""
+
+    accel_x: float = 0.0  # m/s²
+    accel_y: float = 0.0
+    accel_z: float = 0.0
+    gyro_x: float = 0.0   # rad/s
+    gyro_y: float = 0.0
+    gyro_z: float = 0.0
+
+
+@dataclass
+class BatteryTelemetry:
+    """Decoded battery telemetry from ESP32-S3 BALANCE (MAMBA_TELEM_BATTERY)."""
+
+    voltage: float = 0.0   # V
+    current: float = 0.0   # A
+
+
+@dataclass
+class VescStateTelemetry:
+    """Decoded VESC state telemetry (VESC_TELEM_STATE)."""
+
+    erpm: float = 0.0      # electrical RPM
+    duty: float = 0.0      # duty cycle [-1.0, 1.0]
+    voltage: float = 0.0   # bus voltage, V
+    current: float = 0.0   # phase current, A
+
+
+@dataclass
+class PidGains:
+    """Balance PID gains (Issue #693)."""
+    kp: float = 0.0
+    ki: float = 0.0
+    kd: float = 0.0
+
+
+# ---------------------------------------------------------------------------
+# Encode helpers
+# ---------------------------------------------------------------------------
+
+_FMT_VEL = ">ff"       # 2 × float32, big-endian
+_FMT_MODE = ">B"       # 1 × uint8
+_FMT_ESTOP = ">B"      # 1 × uint8
+_FMT_IMU = ">ffffff"   # 6 × float32
+_FMT_BAT = ">ff"       # 2 × float32
+_FMT_VESC = ">ffff"    # 4 × float32
+
+
+def encode_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
+    """
+    Encode a MAMBA_CMD_VELOCITY payload.
+
+    Parameters
+    ----------
+    left_mps:  target left wheel speed in m/s  (positive = forward)
+    right_mps: target right wheel speed in m/s (positive = forward)
+
+    Returns
+    -------
+    8-byte big-endian payload suitable for a CAN frame.
+    """
+    return struct.pack(_FMT_VEL, float(left_mps), float(right_mps))
+
+
+def encode_mode_cmd(mode: int) -> bytes:
+    """
+    Encode a MAMBA_CMD_MODE payload.
+
+    Parameters
+    ----------
+    mode: one of MODE_IDLE (0), MODE_DRIVE (1), MODE_ESTOP (2)
+
+    Returns
+    -------
+    1-byte payload.
+    """
+    if mode not in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
+        raise ValueError(f"Invalid mode {mode!r}; expected 0, 1, or 2")
+    return struct.pack(_FMT_MODE, mode)
+
+
+def encode_estop_cmd(stop: bool = True) -> bytes:
+    """
+    Encode a MAMBA_CMD_ESTOP payload.
+
+    Parameters
+    ----------
+    stop: True to assert e-stop, False to clear.
+
+    Returns
+    -------
+    1-byte payload (0x01 = stop, 0x00 = clear).
+    """
+    return struct.pack(_FMT_ESTOP, 0x01 if stop else 0x00)
+
+
+def encode_pid_set_cmd(kp: float, ki: float, kd: float) -> bytes:
+    """Encode ORIN_CAN_ID_PID_SET (6 bytes, uint16 BE x3). Issue #693."""
+    if kp < 0.0 or ki < 0.0 or kd < 0.0:
+        raise ValueError("PID gains must be non-negative")
+    return struct.pack(_FMT_PID, round(min(kp,_PID_KP_MAX)*100), round(min(ki,_PID_KI_MAX)*100), round(min(kd,_PID_KD_MAX)*100))
+
+
+# ---------------------------------------------------------------------------
+# Decode helpers
+# ---------------------------------------------------------------------------
+
+def decode_imu_telem(data: bytes) -> ImuTelemetry:
+    """
+    Decode a MAMBA_TELEM_IMU payload.
+
+    Parameters
+    ----------
+    data: exactly 24 bytes (6 × float32, big-endian).
+
+    Returns
+    -------
+    ImuTelemetry dataclass instance.
+
+    Raises
+    ------
+    struct.error if data is the wrong length.
+    """
+    ax, ay, az, gx, gy, gz = struct.unpack(_FMT_IMU, data)
+    return ImuTelemetry(
+        accel_x=ax, accel_y=ay, accel_z=az,
+        gyro_x=gx, gyro_y=gy, gyro_z=gz,
+    )
+
+
+def decode_battery_telem(data: bytes) -> BatteryTelemetry:
+    """
+    Decode a MAMBA_TELEM_BATTERY payload.
+
+    Parameters
+    ----------
+    data: exactly 8 bytes (2 × float32, big-endian).
+
+    Returns
+    -------
+    BatteryTelemetry dataclass instance.
+    """
+    voltage, current = struct.unpack(_FMT_BAT, data)
+    return BatteryTelemetry(voltage=voltage, current=current)
+
+
+def decode_vesc_state(data: bytes) -> VescStateTelemetry:
+    """
+    Decode a VESC_TELEM_STATE payload.
+
+    Parameters
+    ----------
+    data: exactly 16 bytes (4 × float32, big-endian).
+
+    Returns
+    -------
+    VescStateTelemetry dataclass instance.
+    """
+    erpm, duty, voltage, current = struct.unpack(_FMT_VESC, data)
+    return VescStateTelemetry(erpm=erpm, duty=duty, voltage=voltage, current=current)
+
+
+def decode_pid_ack(data: bytes) -> PidGains:
+    """Decode ORIN_CAN_ID_FC_PID_ACK (6 bytes). Issue #693."""
+    kp_x100, ki_x100, kd_x100 = struct.unpack(_FMT_PID, data)
+    return PidGains(kp=kp_x100/100.0, ki=ki_x100/100.0, kd=kd_x100/100.0)

jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py

@@ -1,24 +1,22 @@
 #!/usr/bin/env python3
 """
-can_bridge_node.py — ROS2 node bridging the Jetson Orin to the ESP32-S3 BALANCE
+can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32-S3 BALANCE motor
-board and VESC motor controllers over CAN bus (CANable 2.0 / slcan0, 500 kbps).
+controller and VESC motor controllers over CAN bus.
 
 Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §6 (2026-04-04)
 
 Subscriptions
 -------------
-  /cmd_vel              geometry_msgs/Twist     → ORIN_CMD_DRIVE (0x300)
+  /cmd_vel          geometry_msgs/Twist          → VESC speed commands (CAN)
-  /estop                std_msgs/Bool           → ORIN_CMD_ESTOP (0x303)
+  /estop            std_msgs/Bool                → ESP32-S3 BALANCE e-stop (CAN)
-  /saltybot/arm         std_msgs/Bool           → ORIN_CMD_ARM   (0x301)
 
 Publications
 ------------
-  /saltybot/attitude      std_msgs/String (JSON)   pitch, speed, yaw_rate, state
+  /can/imu                sensor_msgs/Imu              ESP32-S3 BALANCE IMU telemetry
-  /saltybot/balance_state std_msgs/String (JSON)   alias of /saltybot/attitude
+  /can/battery            sensor_msgs/BatteryState     ESP32-S3 BALANCE battery telemetry
-  /can/battery            sensor_msgs/BatteryState  vbat_mv, fault, rssi
+  /can/vesc/left/state    std_msgs/Float32MultiArray   Left VESC state
-  /can/vesc/left/state    std_msgs/Float32MultiArray  VESC STATUS_1 left
+  /can/vesc/right/state   std_msgs/Float32MultiArray   Right VESC state
-  /can/vesc/right/state   std_msgs/Float32MultiArray  VESC STATUS_1 right
+  /can/connection_status  std_msgs/String              "connected" | "disconnected"
-  /can/connection_status  std_msgs/String            "connected" | "disconnected"
 
 Parameters
 ----------
@@ -41,14 +39,14 @@ from sensor_msgs.msg import BatteryState
 from std_msgs.msg import Bool, Float32MultiArray, String
 
 from saltybot_can_bridge.balance_protocol import (
-    ORIN_CMD_DRIVE,
+    MAMBA_CMD_ESTOP,
-    ORIN_CMD_ARM,
+    MAMBA_CMD_MODE,
-    ORIN_CMD_ESTOP,
+    MAMBA_CMD_VELOCITY,
-    ESP32_TELEM_ATTITUDE,
+    MAMBA_TELEM_BATTERY,
-    ESP32_TELEM_BATTERY,
+    MAMBA_TELEM_IMU,
-    VESC_LEFT_ID,
+    VESC_TELEM_STATE,
-    VESC_RIGHT_ID,
+    ORIN_CAN_ID_FC_PID_ACK,
-    VESC_STATUS_1,
+    ORIN_CAN_ID_PID_SET,
     MODE_DRIVE,
     MODE_IDLE,
     encode_drive_cmd,
@@ -67,7 +65,7 @@ _WATCHDOG_HZ: float = 10.0
 
 
 class CanBridgeNode(Node):
-    """CAN bus bridge between Orin ROS2 and ESP32 BALANCE / VESC controllers."""
+    """CAN bus bridge between Orin ROS2 and ESP32-S3 BALANCE / VESC controllers."""
 
     def __init__(self) -> None:
         super().__init__("can_bridge_node")
@@ -167,27 +165,34 @@ class CanBridgeNode(Node):
         self._last_cmd_time = time.monotonic()
         if not self._connected:
             return
-        speed = int(max(-1000.0, min(1000.0, msg.linear.x  * self._speed_scale)))
+
-        steer = int(max(-1000.0, min(1000.0, msg.angular.z * self._steer_scale)))
+        # Differential drive decomposition — individual wheel speeds in m/s.
-        self._send_can(ORIN_CMD_DRIVE, encode_drive_cmd(speed, steer, MODE_DRIVE), "cmd_vel")
+        # The VESC nodes interpret linear velocity directly; angular is handled
+        # by the sign difference between left and right.
+        linear = msg.linear.x
+        angular = msg.angular.z
+
+        # Forward left = forward right for pure translation; for rotation
+        # left slows and right speeds up (positive angular = CCW = left turn).
+        # The ESP32-S3 BALANCE velocity command carries both wheels independently.
+        left_mps = linear - angular
+        right_mps = linear + angular
+
+        payload = encode_velocity_cmd(left_mps, right_mps)
+        self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
+
+        # Keep ESP32-S3 BALANCE in DRIVE mode while receiving commands
+        self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
 
     def _estop_cb(self, msg: Bool) -> None:
-        """Forward /estop to ESP32 BALANCE over CAN."""
+        """Forward /estop to ESP32-S3 BALANCE over CAN."""
         if not self._connected:
             return
         if msg.data:
-            self._send_can(ORIN_CMD_ESTOP, encode_estop_cmd(), "estop")
+            self._send_can(
-            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32 BALANCE")
+                MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
-        else:
+            )
-            # Clear estop: send DISARM then re-ARM (let operator decide to re-arm)
+            self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32-S3 BALANCE")
-            self._send_can(ORIN_CMD_ARM, encode_arm_cmd(False), "estop_clear")
-
-    def _arm_cb(self, msg: Bool) -> None:
-        """Forward /saltybot/arm to ORIN_CMD_ARM."""
-        if not self._connected:
-            return
-        self._send_can(ORIN_CMD_ARM, encode_arm_cmd(msg.data), "arm")
-        self.get_logger().info(f"ARM command: {'ARM' if msg.data else 'DISARM'}")
 
     # ── Watchdog ──────────────────────────────────────────────────────────
 

jetson/ros2_ws/src/saltybot_can_bridge/setup.py

@@ -15,7 +15,11 @@ setup(
     zip_safe=True,
     maintainer="sl-controls",
     maintainer_email="sl-controls@saltylab.local",
+<<<<<<< HEAD
     description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry",
+=======
+    description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     license="MIT",
     tests_require=["pytest"],
     entry_points={

jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-Unit tests for saltybot_can_bridge.mamba_protocol.
+Unit tests for saltybot_can_bridge.balance_protocol.
 
 No ROS2 or CAN hardware required — tests exercise encode/decode round-trips
 and boundary conditions entirely in Python.
@@ -11,7 +11,7 @@ Run with:  pytest test/test_can_bridge.py -v
 import struct
 import unittest
 
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
     MAMBA_CMD_ESTOP,
     MAMBA_CMD_MODE,
     MAMBA_CMD_VELOCITY,

jetson/ros2_ws/src/saltybot_can_e2e_test/package.xml

@@ -17,7 +17,7 @@
   <maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
   <license>MIT</license>
 
-  <!-- Runtime dependency on saltybot_can_bridge for mamba_protocol -->
+  <!-- Runtime dependency on saltybot_can_bridge for balance_protocol -->
   <exec_depend>saltybot_can_bridge</exec_depend>
 
   <buildtool_depend>ament_python</buildtool_depend>

jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py

@@ -1,28 +1,31 @@
 #!/usr/bin/env python3
 """
 protocol_defs.py — CAN message ID constants and frame builders/parsers for the
-Orin↔ESP32 IO↔VESC integration test suite.
+Orin↔ESP32-S3 BALANCE↔VESC integration test suite.
 
 All IDs and payload formats are derived from:
-  include/orin_can.h   — Orin↔FC (ESP32 IO) protocol
+  include/orin_can.h   — Orin↔FC (ESP32-S3 BALANCE) protocol
   include/vesc_can.h   — VESC CAN protocol
-  saltybot_can_bridge/mamba_protocol.py — existing bridge constants
+  saltybot_can_bridge/balance_protocol.py — existing bridge constants
 
 CAN IDs used in tests
 ---------------------
-Orin → FC (ESP32 IO) commands (standard 11-bit, matching orin_can.h):
+Orin → FC (ESP32-S3 BALANCE) commands (standard 11-bit, matching orin_can.h):
   ORIN_CMD_HEARTBEAT  0x300
   ORIN_CMD_DRIVE      0x301    int16 speed (−1000..+1000), int16 steer (−1000..+1000)
   ORIN_CMD_MODE       0x302    uint8 mode byte
   ORIN_CMD_ESTOP      0x303    uint8 action (1=ESTOP, 0=CLEAR)
 
-FC (ESP32 IO) → Orin telemetry (standard 11-bit, matching orin_can.h):
+FC (ESP32-S3 BALANCE) → Orin telemetry (standard 11-bit, matching orin_can.h):
   FC_STATUS           0x400    8 bytes (see orin_can_fc_status_t)
   FC_VESC             0x401    8 bytes (see orin_can_fc_vesc_t)
   FC_IMU              0x402    8 bytes
   FC_BARO             0x403    8 bytes
 
-ESP32 IO ↔ VESC internal commands (matching mamba_protocol.py):
+Mamba ↔ VESC internal commands (matching balance_protocol.py):
+=======
+ESP32-S3 BALANCE ↔ VESC internal commands (matching balance_protocol.py):
+>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
   MAMBA_CMD_VELOCITY  0x100    8 bytes  left_mps (f32) | right_mps (f32) big-endian
   MAMBA_CMD_MODE      0x101    1 byte   mode (0=idle,1=drive,2=estop)
   MAMBA_CMD_ESTOP     0x102    1 byte   0x01=stop
@@ -36,7 +39,7 @@ import struct
 from typing import Tuple
 
 # ---------------------------------------------------------------------------
-# Orin → FC (ESP32 IO) command IDs  (from orin_can.h)
+# Orin → FC (ESP32-S3 BALANCE) command IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 
 ORIN_CMD_HEARTBEAT: int = 0x300
@@ -45,7 +48,7 @@ ORIN_CMD_MODE: int      = 0x302
 ORIN_CMD_ESTOP: int     = 0x303
 
 # ---------------------------------------------------------------------------
-# FC (ESP32 IO) → Orin telemetry IDs  (from orin_can.h)
+# FC (ESP32-S3 BALANCE) → Orin telemetry IDs  (from orin_can.h)
 # ---------------------------------------------------------------------------
 
 FC_STATUS: int = 0x400
@@ -54,7 +57,10 @@ FC_IMU: int    = 0x402
 FC_BARO: int   = 0x403
 
 # ---------------------------------------------------------------------------
-# ESP32 IO → VESC internal command IDs  (from mamba_protocol.py)
+# Mamba → VESC internal command IDs  (from balance_protocol.py)
+=======
+# ESP32-S3 BALANCE → VESC internal command IDs  (from balance_protocol.py)
+>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
 # ---------------------------------------------------------------------------
 
 MAMBA_CMD_VELOCITY: int = 0x100
@@ -136,14 +142,17 @@ def build_estop_cmd(action: int = 1) -> bytes:
 
 
 # ---------------------------------------------------------------------------
-# Frame builders — ESP32 IO velocity commands (mamba_protocol.py encoding)
+# Frame builders — Mamba velocity commands (balance_protocol.py encoding)
+=======
+# Frame builders — ESP32-S3 BALANCE velocity commands (balance_protocol.py encoding)
+>>>>>>> 9aed963 (fix: scrub remaining Mamba references in can_bridge and e2e test protocol files)
 # ---------------------------------------------------------------------------
 
 def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
     """
     Build a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian).
 
-    Matches encode_velocity_cmd() in mamba_protocol.py.
+    Matches encode_velocity_cmd() in balance_protocol.py.
     """
     return struct.pack(">ff", float(left_mps), float(right_mps))
 

jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py

@@ -14,7 +14,7 @@ setup(
     zip_safe=True,
     maintainer="sl-jetson",
     maintainer_email="sl-jetson@saltylab.local",
-    description="End-to-end CAN integration tests for Orin↔ESP32 IO↔VESC full loop",
+    description="End-to-end CAN integration tests for Orin↔ESP32-S3 BALANCE↔VESC full loop",
     license="MIT",
     tests_require=["pytest"],
     entry_points={

jetson/ros2_ws/src/saltybot_can_e2e_test/test/conftest.py

@@ -14,7 +14,7 @@ _pkg_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 if _pkg_root not in sys.path:
     sys.path.insert(0, _pkg_root)
 
-# Also add the saltybot_can_bridge package so we can import mamba_protocol.
+# Also add the saltybot_can_bridge package so we can import balance_protocol.
 _bridge_pkg = os.path.join(
     os.path.dirname(_pkg_root), "saltybot_can_bridge"
 )
@@ -60,7 +60,7 @@ def loopback_can_bus():
 @pytest.fixture(scope="function")
 def bridge_components():
     """
-    Return the mamba_protocol encode/decode callables and a fresh mock bus.
+    Return the balance_protocol encode/decode callables and a fresh mock bus.
 
     Yields a dict with keys:
       bus         — MockCANBus instance
@@ -69,7 +69,7 @@ def bridge_components():
       encode_estop — encode_estop_cmd(stop) → bytes
       decode_vesc  — decode_vesc_state(data) → VescStateTelemetry
     """
-    from saltybot_can_bridge.mamba_protocol import (
+    from saltybot_can_bridge.balance_protocol import (
         encode_velocity_cmd,
         encode_mode_cmd,
         encode_estop_cmd,

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py

@@ -3,7 +3,7 @@
 test_drive_command.py — Integration tests for the drive command path.
 
 Tests verify:
-  DRIVE cmd → ESP32 IO receives velocity command frame → mock VESC status response
+  DRIVE cmd → ESP32-S3 BALANCE receives velocity command frame → mock VESC status response
   → FC_VESC broadcast contains correct RPMs.
 
 All tests run without real hardware or a running ROS2 system.
@@ -28,7 +28,7 @@ from saltybot_can_e2e_test.protocol_defs import (
     parse_velocity_cmd,
     parse_fc_vesc,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
     encode_velocity_cmd,
     encode_mode_cmd,
 )
@@ -61,7 +61,7 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None:
 class TestDriveForward:
     def test_drive_forward_velocity_frame_sent(self, mock_can_bus):
         """
-        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32 IO receives
+        Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32-S3 BALANCE receives
         a MAMBA_CMD_VELOCITY frame with correct payload.
         """
         _send_drive(mock_can_bus, 1.0, 1.0)
@@ -84,7 +84,7 @@ class TestDriveForward:
     def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus):
         """
         Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct.
-        (In the real loop ESP32 IO computes RPM from m/s and broadcasts FC_VESC.)
+        (In the real loop ESP32-S3 BALANCE computes RPM from m/s and broadcasts FC_VESC.)
         This test checks the FC_VESC frame format and parser.
         """
         # Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py

@@ -32,7 +32,7 @@ from saltybot_can_e2e_test.protocol_defs import (
     parse_velocity_cmd,
     parse_fc_status,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
     encode_velocity_cmd,
     encode_mode_cmd,
     encode_estop_cmd,

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py

@@ -30,7 +30,7 @@ from saltybot_can_e2e_test.protocol_defs import (
     parse_fc_vesc,
     parse_vesc_status,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
     VESC_TELEM_STATE as BRIDGE_VESC_TELEM_STATE,
     decode_vesc_state,
 )
@@ -47,7 +47,7 @@ class VescStatusAggregator:
       2. Builds an FC_VESC broadcast payload
       3. Injects the FC_VESC frame onto the mock bus
 
-    This represents the ESP32 IO → Orin telemetry path.
+    This represents the ESP32-S3 BALANCE → Orin telemetry path.
     """
 
     def __init__(self, bus: MockCANBus):

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py

@@ -33,7 +33,7 @@ from saltybot_can_e2e_test.protocol_defs import (
     build_velocity_cmd,
     parse_velocity_cmd,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
     encode_velocity_cmd,
     encode_mode_cmd,
     encode_estop_cmd,
@@ -90,7 +90,7 @@ class HeartbeatSimulator:
 def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
     """
     Simulate the firmware-side logic: when heartbeat timeout expires,
-    the FC sends an e-stop command by setting estop mode on the ESP32 IO bus.
+    the FC sends an e-stop command by setting estop mode on the ESP32-S3 BALANCE bus.
     We model this as the bridge sending zero velocity + ESTOP mode.
     """
 

jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py

@@ -27,7 +27,7 @@ from saltybot_can_e2e_test.protocol_defs import (
     build_velocity_cmd,
     parse_velocity_cmd,
 )
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
     encode_velocity_cmd,
     encode_mode_cmd,
     encode_estop_cmd,
@@ -189,7 +189,7 @@ class TestModeCommandEncoding:
         """build_mode_cmd in protocol_defs must produce identical bytes."""
         for mode in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP):
             assert build_mode_cmd(mode) == encode_mode_cmd(mode), \
-                f"protocol_defs.build_mode_cmd({mode}) != mamba_protocol.encode_mode_cmd({mode})"
+                f"protocol_defs.build_mode_cmd({mode}) != balance_protocol.encode_mode_cmd({mode})"
 
 
 class TestInvalidMode:
@@ -218,8 +218,8 @@ class TestInvalidMode:
         accepted = sm.set_mode(-1)
         assert accepted is False
 
-    def test_mamba_protocol_invalid_mode_raises(self):
+    def test_balance_protocol_invalid_mode_raises(self):
-        """mamba_protocol.encode_mode_cmd must raise on invalid mode."""
+        """balance_protocol.encode_mode_cmd must raise on invalid mode."""
         with pytest.raises(ValueError):
             encode_mode_cmd(99)
         with pytest.raises(ValueError):

jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml

@@ -27,7 +27,11 @@ robot:
   stem_od:     0.0381          # m  STEM_OD = 38.1mm
   stem_height: 1.050           # m  nominal cut length
 
+<<<<<<< HEAD
   # ── FC / IMU (ESP32 BALANCE) ──────────────────────────────────────────────────
+=======
+  # ── FC / IMU (ESP32-S3 BALANCE) ──────────────────────────────────────────────────
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
   # z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
   imu_x:  0.050                # m  forward of base_link center

jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro

@@ -172,7 +172,7 @@
   <xacro:wheel name="wheel_right_link" side="-1"/>
 
   <!-- ═══════════════════════════════════════════════════════════════════
-       imu_link  — MPU-6000 on MAMBA F722S flight controller
+       imu_link  — MPU-6000 on ESP32-S3 BALANCE ESP32-S3 BALANCE
        fc_x = -50mm SCAD = +x ROS;  z = pad + standoff above deck = 12mm
        ═══════════════════════════════════════════════════════════════════ -->
   <link name="imu_link"/>

jetson/ros2_ws/src/saltybot_diagnostics/README.md

@@ -5,7 +5,11 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot.
 ## Features
 
 ### Startup Checks
+<<<<<<< HEAD
 - RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos
+=======
+- RPLIDAR, RealSense, VESC, Jabra mic, ESP32-S3, servos
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 - WiFi, GPS, disk space, RAM
 - Boot result TTS + face animation
 - JSON logging

jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py

@@ -138,7 +138,11 @@ class DiagnosticsNode(Node):
             self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})
 
     def _check_stm32(self):
+<<<<<<< HEAD
         self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {})
+=======
+        self.hardware_checks["stm32"] = ("OK", "ESP32-S3 bridge online", {})
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     def _check_servos(self):
         try:

jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml

@@ -7,7 +7,11 @@
 #   ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2
 #
 # IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46)
+<<<<<<< HEAD
 # applies the ESC ramp, deadman switch, and ESP32 BALANCE AUTONOMOUS mode gate.
+=======
+# applies the ESC ramp, deadman switch, and ESP32-S3 AUTONOMOUS mode gate.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # Do not run this node without the cmd_vel bridge running on the same robot.
 
 # ── Follow geometry ────────────────────────────────────────────────────────────
@@ -70,5 +74,9 @@ control_rate:     20.0        # Hz — lower than cmd_vel bridge (50Hz) by desig
 # ── Mode integration ──────────────────────────────────────────────────────────
 # Master enable for the follow controller. When false, node publishes zero cmd_vel.
 # Toggle at runtime: ros2 param set /person_follower follow_enabled false
+<<<<<<< HEAD
 # The cmd_vel bridge independently gates on ESP32 BALANCE AUTONOMOUS mode (md=2).
+=======
+# The cmd_vel bridge independently gates on ESP32-S3 AUTONOMOUS mode (md=2).
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 follow_enabled:   true

jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py

@@ -28,7 +28,11 @@ State machine
 
 Safety wiring
 -------------
+<<<<<<< HEAD
   * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32 BALANCE AUTONOMOUS mode gate --
+=======
+  * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32-S3 AUTONOMOUS mode gate --
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     this node publishes raw /cmd_vel, the bridge handles hardware safety.
   * follow_enabled param (default True) lets the operator disable the controller
     at runtime: ros2 param set /person_follower follow_enabled false

jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml

@@ -1,6 +1,10 @@
 gimbal_node:
   ros__parameters:
+<<<<<<< HEAD
     # Serial port connecting to ESP32 BALANCE over JLINK protocol
+=======
+    # Serial port connecting to ESP32-S3 over JLINK protocol
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     serial_port: "/dev/ttyTHS1"
     baud_rate: 921600
 

jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py

@@ -14,7 +14,11 @@ def generate_launch_description() -> LaunchDescription:
     serial_port_arg = DeclareLaunchArgument(
         "serial_port",
         default_value="/dev/ttyTHS1",
+<<<<<<< HEAD
         description="JLINK serial port to ESP32 BALANCE",
+=======
+        description="JLINK serial port to ESP32-S3",
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
     )
     pan_limit_arg = DeclareLaunchArgument(
         "pan_limit_deg",

jetson/ros2_ws/src/saltybot_gimbal/package.xml

@@ -3,7 +3,7 @@
   <name>saltybot_gimbal</name>
   <version>1.0.0</version>
   <description>
-    ROS2 gimbal control node: pan/tilt camera head via JLINK serial to STM32.
+    ROS2 gimbal control node: pan/tilt camera head via JLINK serial to ESP32-S3.
     Smooth trapezoidal motion profiles, configurable limits, look_at 3D projection.
     Issue #548.
   </description>

jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py

@@ -1,7 +1,11 @@
 #!/usr/bin/env python3
 """gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548).
 
+<<<<<<< HEAD
 Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32 BALANCE.
+=======
+Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32-S3.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 Implements smooth trapezoidal motion profiles with configurable axis limits.
 
 Subscribed topics:

jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py

@@ -1,19 +1,29 @@
 """jlink_gimbal.py — JLINK binary frame codec for gimbal commands (Issue #548).
 
+<<<<<<< HEAD
 Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32 side).
 
 Command type (Jetson → ESP32 BALANCE):
+=======
+Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32-S3 side).
+
+Command type (Jetson → ESP32-S3):
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   0x0B  GIMBAL_POS  — int16 pan_x10 + int16 tilt_x10 + uint16 speed   (6 bytes)
                        pan_x10  = pan_deg  * 10  (±1500 for ±150°)
                        tilt_x10 = tilt_deg * 10  (±450  for ±45°)
                        speed    = servo speed register 0–4095 (0 = max)
 
+<<<<<<< HEAD
 Telemetry type (ESP32 BALANCE → Jetson):
+=======
+Telemetry type (ESP32-S3 → Jetson):
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   0x84  GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 +
                         uint16 pan_speed_raw + uint16 tilt_speed_raw +
                         uint8 torque_en + uint8 rx_err_pct             (10 bytes)
 
-Frame format (shared with stm32_protocol.py):
+Frame format (shared with esp32_protocol.py):
   [STX=0x02][CMD][LEN][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03]
   CRC16-CCITT: poly=0x1021, init=0xFFFF, covers CMD+LEN+PAYLOAD bytes.
 """
@@ -31,8 +41,13 @@ ETX = 0x03
 
 # ── Command / telemetry type codes ─────────────────────────────────────────────
 
+<<<<<<< HEAD
 CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32 BALANCE: set pan/tilt target
 TLM_GIMBAL_STATE = 0x84   # ESP32 BALANCE → Jetson: measured state
+=======
+CMD_GIMBAL_POS   = 0x0B   # Jetson → ESP32-S3: set pan/tilt target
+TLM_GIMBAL_STATE = 0x84   # ESP32-S3 → Jetson: measured state
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 # Speed register: 0 = maximum servo speed; 4095 = slowest non-zero speed.
 # Map deg/s to this register: speed_reg = max(0, 4095 - int(deg_s * 4095 / 360))

jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml

@@ -5,7 +5,11 @@
 #
 # Topic wiring:
 #   /rc/joy                          → mode_switch_node (CRSF channels)
+<<<<<<< HEAD
 #   /saltybot/balance_state          → mode_switch_node (ESP32 BALANCE state)
+=======
+#   /saltybot/balance_state          → mode_switch_node (ESP32-S3 state)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #   /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix)
 #   /saltybot/control_mode           ← mode_switch_node (JSON mode + alpha)
 #   /saltybot/led_pattern            ← mode_switch_node (LED name)

jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py

@@ -13,7 +13,11 @@ Topic graph
 
 In RC mode (blend_alpha ≈ 0) the node publishes Twist(0,0) so the bridge
 receives zeros — this is harmless because the bridge's mode gate already
+<<<<<<< HEAD
 prevents autonomous commands when the ESP32 BALANCE is in RC_MANUAL.
+=======
+prevents autonomous commands when the ESP32-S3 is in RC_MANUAL.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 The bridge's existing ESC ramp handles hardware-level smoothing;
 the blend_alpha here provides the higher-level cmd_vel policy ramp.

jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py

@@ -6,9 +6,15 @@ state machine can be exercised in unit tests without a ROS2 runtime.
 
 Mode vocabulary
 ---------------
+<<<<<<< HEAD
   "RC"            — ESP32 BALANCE executing RC pilot commands; Jetson cmd_vel blocked.
   "RAMP_TO_AUTO"  — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
   "AUTO"          — ESP32 BALANCE executing Jetson cmd_vel; RC sticks idle.
+=======
+  "RC"            — ESP32-S3 executing RC pilot commands; Jetson cmd_vel blocked.
+  "RAMP_TO_AUTO"  — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
+  "AUTO"          — ESP32-S3 executing Jetson cmd_vel; RC sticks idle.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   "RAMP_TO_RC"    — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s.
 
 Blend alpha

jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py

@@ -9,7 +9,11 @@ Inputs
         axes[stick_axes...]   Roll/Pitch/Throttle/Yaw — override detection
 
   /saltybot/balance_state  (std_msgs/String JSON)
+<<<<<<< HEAD
       Parsed for RC link health (field "rc_link") and ESP32 BALANCE mode.
+=======
+      Parsed for RC link health (field "rc_link") and ESP32-S3 mode.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   <slam_fix_topic>         (geometry_msgs/PoseWithCovarianceStamped)
       Any message received within slam_fix_timeout_s → SLAM fix valid.

jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml

@@ -1,8 +1,13 @@
 vesc_can_odometry:
   ros__parameters:
     # ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
+<<<<<<< HEAD
     left_can_id:        56      # left  motor VESC CAN ID (ESP32 BALANCE)
     right_can_id:       68      # right motor VESC CAN ID (ESP32 BALANCE)
+=======
+    left_can_id:        56      # left  motor VESC CAN ID (ESP32-S3 BALANCE)
+    right_can_id:       68      # right motor VESC CAN ID (ESP32-S3 BALANCE)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
     # ── State topic names (must match VESC telemetry publisher) ──────────────
     left_state_topic:   /vesc/left/state

jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml

@@ -12,7 +12,11 @@
 # Hardware:
 #   IMU:  RealSense D435i BMI055 → /imu/data
 #   GPS:  SIM7600X cellular     → /gps/fix  (±2.5 m CEP)
+<<<<<<< HEAD
 #   Odom: ESP32 BALANCE wheel encoders  → /odom
+=======
+#   Odom: ESP32-S3 wheel encoders  → /odom
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #   RTK:  ZED-F9P (optional)    → /gps/fix  (±2 cm CEP when use_rtk: true)
 
 # ── Local EKF: fuses wheel odometry + IMU in odom frame ──────────────────────

jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py

@@ -71,7 +71,11 @@ class ParameterServer(Node):
         defs = {
             'hardware': {
                 'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string',
+<<<<<<< HEAD
                                         'hardware', description='ESP32 bridge serial port'),
+=======
+                                        'hardware', description='ESP32-S3 bridge serial port'),
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
                 'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware',
                                       min_val=9600, max_val=3000000,
                                       description='Serial baud rate'),

jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py

@@ -370,7 +370,11 @@ class PIDAutotuneNode(Node):
                 ser.write(frame_set)
                 time.sleep(0.05)   # allow FC to process PID_SET
                 ser.write(frame_save)
+<<<<<<< HEAD
                 # Flash erase takes ~1s on ESP32; wait for it
+=======
+                # Flash erase takes ~1s on ESP32-S3; wait for it
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
                 time.sleep(1.5)
 
             self.get_logger().info(

jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml

@@ -9,7 +9,11 @@
 #
 # GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65
 # Heading:    D435i IMU → /imu/data, converted yaw → route waypoint heading_deg
+<<<<<<< HEAD
 # Odometry:   ESP32 BALANCE wheel encoders → /odom
+=======
+# Odometry:   ESP32-S3 wheel encoders → /odom
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 # UWB:        /uwb/target (follow-me reference, logged for context)
 
 route_recorder:

jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py

@@ -10,7 +10,11 @@ Depends on:
   saltybot-nav2 container (Nav2 action server /navigate_through_poses)
   saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65)
   saltybot_uwb (/uwb/target — PR #66, used for context during recording)
+<<<<<<< HEAD
   ESP32 bridge (/odom from wheel encoders)
+=======
+  ESP32-S3 bridge (/odom from wheel encoders)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   D435i (/imu/data for heading)
 
 Usage — record a route:

jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py

@@ -5,7 +5,11 @@ Hardware
 ────────
   SaltyRover: 4-wheel ground robot with individual brushless ESCs.
   ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
+<<<<<<< HEAD
   Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
+=======
+  Communication: USB CDC serial to ESP32-S3 or Raspberry Pi Pico GPIO PWM bridge.
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
   ESC channel assignments (configurable):
     CH1 = left-front

jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml

@@ -39,6 +39,12 @@ safety_zone:
     # ── cmd_vel topics ───────────────────────────────────────────────────────
     # Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop.
     # Typical chain:
+<<<<<<< HEAD
     #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32 BALANCE
     cmd_vel_input_topic:  /cmd_vel_input   # upstream velocity (remap as needed)
     cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32 bridge)
+=======
+    #   cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32-S3
+    cmd_vel_input_topic:  /cmd_vel_input   # upstream velocity (remap as needed)
+    cmd_vel_output_topic: /cmd_vel         # downstream (to ESP32-S3 bridge)
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)

jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml

@@ -10,7 +10,11 @@
 #   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
 #
 # Data flow:
+<<<<<<< HEAD
 #   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
+=======
+#   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 # ── Controller ─────────────────────────────────────────────────────────────────
 control_rate:   50.0           # Hz — 50ms tick, same as cmd_vel_bridge
@@ -83,11 +87,19 @@ ride:
   target_vel_max:   15.0    # m/s  — cap; EUC max ~30 km/h = 8.3 m/s typical
 
 # ── Notes ─────────────────────────────────────────────────────────────────────
+<<<<<<< HEAD
 # 1. To enable ride profile, the Jetson → ESP32 BALANCE cmd_vel_bridge must also be
 #    reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
 #    at ride speed (slower ramp = smoother balance).
 #
 # 2. The ESP32 BALANCE balance PID gains likely need retuning for ride speed. Expect
+=======
+# 1. To enable ride profile, the Jetson → ESP32-S3 cmd_vel_bridge must also be
+#    reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
+#    at ride speed (slower ramp = smoother balance).
+#
+# 2. The ESP32-S3 balance PID gains likely need retuning for ride speed. Expect
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 #    increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s.
 #
 # 3. Test sequence recommendation:

jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py

@@ -10,7 +10,11 @@ cmd_vel_bridge with matching limits:
   ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
 
 Prerequisite node pipeline:
+<<<<<<< HEAD
   person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
+=======
+  person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32-S3
+>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
 
 Usage:
   # Defaults (walk profile initially, adapts via UWB + GPS):