seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

refactor: remove all Mamba/STM32 refs, replace with balance_protocol #717

Closed
sl-perception wants to merge 3 commits from sl-perception/cleanup-legacy-hw into main
pull from: sl-perception/cleanup-legacy-hw
merge into: seb:main
Conversation 0 Commits 3 Files Changed 177 +5627 -7786

3 Commits

Author SHA1 Message Date
sl-jetson
cea3eaff97 cleanup: Remove all Mamba/STM32/BlackPill references — ESP32-S3 only 
- Renamed mamba_protocol.py → balance_protocol.py; updated all importers
- can_bridge_node.py rewritten to use balance_protocol.py API (ESP32-S3 BALANCE)
- test_can_bridge.py rewritten to test actual balance_protocol.py constants/functions
- All STM32/Mamba references in Python, YAML, Markdown, shell scripts replaced:
  * Hardware: MAMBA F722S → ESP32-S3 BALANCE/IO
  * Device paths: /dev/stm32-bridge → /dev/esp32-io
  * Node names: stm32_serial_bridge → esp32_io_serial_bridge
  * hardware_id: stm32f722 → esp32s3-balance/esp32s3-io
- C/C++ src/include/lib/test files: added DEPRECATED header comment
- Covers: saltybot_bridge, saltybot_can_bridge, saltybot_can_e2e_test,
  saltybot_bringup, saltybot_diagnostics, saltybot_mode_switch, and all
  chassis, docs, scripts, and project files

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:56:09 -04:00
sl-perception
ec4527b8f3 refactor: replace mamba_protocol with balance_protocol, remove all Mamba/STM32 refs 
- Add balance_protocol.py: canonical CAN codec for Orin <-> ESP32 BALANCE + VESC
  - ORIN_CMD_DRIVE 0x300, ORIN_CMD_MODE 0x301, ORIN_CMD_ESTOP 0x302
  - FC_STATUS 0x400, FC_VESC 0x401; VESC_LEFT_ID=56, VESC_RIGHT_ID=68
- Delete mamba_protocol.py (had MAMBA_CMD_* 0x100-0x102, MAMBA_TELEM_* 0x200-0x201)
- Rewrite can_bridge_node.py: uses balance_protocol, can0 interface, no mamba_can_id param
- Rewrite test_can_bridge.py: tests balance_protocol encode/decode
- Rewrite saltybot_can_e2e_test: protocol_defs.py + all 5 test files use new IDs
- Update saltybot_bridge: stm32f722 → esp32_balance in hardware_id fields
- Update configs/YAMLs: remove Mamba F722S/STM32F722/slcan0 references

Hardware: Orin Nano Super, ESP32-S3 BALANCE, ESP32-S3 IO, FSESC 6.7 VESC ×2

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:51:50 -04:00
sl-android
8b070d9e94 chore: remove all Mamba F722S / STM32 / BlackPill refs from docs/AGENTS.md 
Replace old hardware (Mamba F722S, STM32F722, Jetson Nano, hoverboard ESC)
with new architecture: Orin Nano Super, ESP32-S3 BALANCE, ESP32-S3 IO,
VESC IDs 68/56. Update architecture diagram, hardware tables, UART
assignments, firmware build instructions, protocol docs, and 3D parts list.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-04 08:47:05 -04:00