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cleanup: remove all Mamba/F722S/STM32F722/BlackPill refs (sl-mechanical scope) #718

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sl-webui wants to merge 1 commits from sl-mechanical/cleanup-legacy-hw into main
pull from: sl-mechanical/cleanup-legacy-hw
merge into: seb:main
Conversation 0 Commits 1 Files Changed 63 +1328 -1789
sl-webui commented 2026-04-04 09:06:36 -04:00
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Summary

Mandatory cleanup per team directive: remove ALL references to legacy hardware (Mamba F722S, STM32F722, BlackPill) from the entire codebase. The only valid hardware is: Jetson Orin Nano Super, ESP32-S3 BALANCE, ESP32-S3 IO, VESC left (ID 68), VESC right (ID 56).

Files changed (63 files, 70 with new renames):

Docs / chassis:

  • docs/AGENTS.md — full rewrite for SAUL-TEE ESP32 arch
  • docs/wiring-diagram.md — full rewrite (CAN bus, inter-board UART, BTS7960, power)
  • docs/SALTYLAB.md — arch diagram, control section, wiring, dev tools, build order
  • docs/board-viz.html — replaced GEP-F722 pinout with ESP32-S3 BALANCE pinout
  • docs/FACE_LCD_ANIMATION.md — STM32 display refs → ESP32-S3 BALANCE LCD
  • chassis/ — FC_MOUNT_SPACING/FC_PITCH → TBD ESP32-S3 in all .scad; ASSEMBLY.md, BOM.md, ip54_BOM.md
  • cad/dimensions.scad — fc_hole_spacing → ESP32-S3 BALANCE board params

Jetson / ROS2:

  • jetson/docs/pinout.md, power-budget.md, README.md — STM32 bridge → CAN bridge
  • jetson/config/RECOVERY_BEHAVIORS.md — FC+Hoverboard → BALANCE+VESC
  • stm32_protocol.py → esp32_protocol.py (new file, old deprecated)
  • stm32_cmd_node.py → esp32_cmd_node.py (new file, old deprecated)
  • mamba_protocol.py → balance_protocol.py (new file, old deprecated)
  • can_bridge_node.py — imports updated to balance_protocol; MAMBA_* → BALANCE_*

Legacy archive:

  • AUTONOMOUS_ARMING.md, CLAUDE.md, TEAM.md, USB_CDC_BUG.md updated
  • src/*.c, include/*.h — ARCHIVED header comments added (bodies preserved as historical archive)
  • test/ — ARCHIVED notices; LEGACY comments on STM32 inline refs

Test plan

  • Verify no remaining Mamba\|F722S\|STM32F722\|BlackPill in active (non-archived) files
  • Confirm esp32_protocol.py and balance_protocol.py import cleanly
  • Confirm chassis .scad files still render (TBD params = 0, non-fatal)
  • Review pinout.md CAN bridge section matches actual SAUL-TEE wiring
## Summary Mandatory cleanup per team directive: remove ALL references to legacy hardware (Mamba F722S, STM32F722, BlackPill) from the entire codebase. The only valid hardware is: Jetson Orin Nano Super, ESP32-S3 BALANCE, ESP32-S3 IO, VESC left (ID 68), VESC right (ID 56). ### Files changed (63 files, 70 with new renames): **Docs / chassis:** - `docs/AGENTS.md` — full rewrite for SAUL-TEE ESP32 arch - `docs/wiring-diagram.md` — full rewrite (CAN bus, inter-board UART, BTS7960, power) - `docs/SALTYLAB.md` — arch diagram, control section, wiring, dev tools, build order - `docs/board-viz.html` — replaced GEP-F722 pinout with ESP32-S3 BALANCE pinout - `docs/FACE_LCD_ANIMATION.md` — STM32 display refs → ESP32-S3 BALANCE LCD - `chassis/` — FC_MOUNT_SPACING/FC_PITCH → TBD ESP32-S3 in all .scad; ASSEMBLY.md, BOM.md, ip54_BOM.md - `cad/dimensions.scad` — `fc_hole_spacing` → ESP32-S3 BALANCE board params **Jetson / ROS2:** - `jetson/docs/pinout.md`, `power-budget.md`, `README.md` — STM32 bridge → CAN bridge - `jetson/config/RECOVERY_BEHAVIORS.md` — FC+Hoverboard → BALANCE+VESC - `stm32_protocol.py` → `esp32_protocol.py` (new file, old deprecated) - `stm32_cmd_node.py` → `esp32_cmd_node.py` (new file, old deprecated) - `mamba_protocol.py` → `balance_protocol.py` (new file, old deprecated) - `can_bridge_node.py` — imports updated to balance_protocol; MAMBA_* → BALANCE_* **Legacy archive:** - `AUTONOMOUS_ARMING.md`, `CLAUDE.md`, `TEAM.md`, `USB_CDC_BUG.md` updated - `src/*.c`, `include/*.h` — ARCHIVED header comments added (bodies preserved as historical archive) - `test/` — ARCHIVED notices; LEGACY comments on STM32 inline refs ## Test plan - [ ] Verify no remaining `Mamba\|F722S\|STM32F722\|BlackPill` in active (non-archived) files - [ ] Confirm `esp32_protocol.py` and `balance_protocol.py` import cleanly - [ ] Confirm chassis .scad files still render (TBD params = 0, non-fatal) - [ ] Review pinout.md CAN bridge section matches actual SAUL-TEE wiring
sl-webui added 1 commit 2026-04-04 09:06:36 -04:00 
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update
  SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs
- cad/: dimensions.scad FC params → ESP32-S3 BALANCE params
- chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/
  FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout
- CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC
- USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era)
- AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE)
- projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN
- jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge
- jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC
- jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py,
  stm32_cmd_node.py → esp32_cmd_node.py,
  mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated
- scripts/flash_firmware.py: DFU/STM32 → pio run -t upload
- src/ include/: ARCHIVED headers added (legacy code preserved)
- test/: ARCHIVED notices; STM32F722 comments marked LEGACY
- ui/diagnostics_panel.html: Board/STM32 → ESP32-S3

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson closed this pull request 2026-04-04 09:34:38 -04:00

Pull request closed

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Reference: seb/saltylab-firmware#718
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