sl-firmware fa75c442a7 feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only

Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md

Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
  stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
  stm32_cmd.launch.py → esp32_cmd.launch.py,
  test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node

Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF

docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md

TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF

No new functionality — cleanup only.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-04 09:00:38 -04:00

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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

Board	Role
ESP32-S3 BALANCE	QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28)
ESP32-S3 IO	TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812
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

291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)

Status

USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).

Repo Structure

projects/saltybot/SALTYLAB.md — Design doc
USB_CDC_BUG.md — USB peripheral conflict details
TEAM.md — Team roles specification

Branch Strategy (issue #28)

Variant branches

Branch	Purpose
`saltylab`	Stable — SaltyLab 2-wheel balance bot (promoted from saltylab-dev)
`saltylab-dev`	Integration — SaltyLab balance bot; agents target this branch
`saltyrover`	Stable — 4-wheel rover variant
`saltyrover-dev`	Integration — rover variant
`saltytank`	Stable — tracked tank variant
`saltytank-dev`	Integration — tank variant
`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 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

Git Workflow

Branch naming: <agent>/<slug> (e.g., sl-firmware/usb-cdc-fix)
For shared code targeting main: <agent>/bd-<id>-<slug>
Before every push: git fetch origin && git rebase origin/<base-branch>
Gitea: gitea.vayrette.com/seb/saltylab-firmware

Communication

Report progress to max via MQTT: AGENT_NAME=<agent> ~/agent-mqtt/agent-send max "<message>"
Check inbox: ~/agent-mqtt/agent-read 2>/dev/null | tail -15
Prioritize messages from max (PM)

Beads (Task System)

cd /Users/seb/AI/saltylab-firmware
br list                    # List open beads
br update <id> --claim     # Claim a bead
br close <id> --reason "Done. PR #N"
br comment <id> "message"

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