sl-firmware d4e7d5b233 feat: VESC UART transport for dual FSESC 6.7 Pro (balance bot) ...

Adds VESC motor control over USART6 for the SaltyBot self-balancing robot.
Motor1 driven directly via COMM_SET_CURRENT; Motor2 bridged via
COMM_FORWARD_CAN (cmd 34) to CAN ID 68. balance_update() now sends current
commands to both VESCs on every PID tick — 0 A on disarm/fault, scaled ±10 A
when armed (configurable via VESC_CURRENT_MAX_A).

- include/vesc_comm.h: common interface (init, send_current, send_duty)
- src/vesc_uart.c: USART6 @ 115200, CRC16-CCITT, VESC FW 6.6 framing
- src/vesc_can.c: phase-2 stub (TODO: bxCAN + SN65HVD230)
- src/balance.c: wire vesc_comm_send_current() into PID output path

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

2026-03-16 23:30:15 -04:00

.claude/plans

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

.pio/build

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

cad

chore: merge CAD files and design docs from seb/saltylab seed repo

2026-03-07 10:04:24 -05:00

chassis

feat: Cable management tray (Issue #628)

2026-03-15 14:33:49 -04:00

docs

chore: merge CAD files and design docs from seb/saltylab seed repo

2026-03-07 10:04:24 -05:00

esp32

feat: Add AT+PEER_RANGE= command for inter-anchor calibration (Issue #602)

2026-03-14 15:06:29 -04:00

include

feat: VESC UART transport for dual FSESC 6.7 Pro (balance bot)

2026-03-16 23:30:15 -04:00

jetson

feat: Jetson Orin system monitor ROS2 node (Issue #631)

2026-03-15 16:36:04 -04:00

lib/USB_CDC

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

phone

feat: Add Termux voice command interface (Issue #633)

2026-03-15 14:35:27 -04:00

projects/saltybot

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

scripts

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

src

feat: VESC UART transport for dual FSESC 6.7 Pro (balance bot)

2026-03-16 23:30:15 -04:00

test

feat: Encoder odometry and wheel speed feedback (Issue #632)

2026-03-15 16:34:38 -04:00

ui

feat: WebUI main dashboard with panel launcher (Issue #630)

2026-03-15 14:35:56 -04:00

.DS_Store

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

AUTONOMOUS_ARMING.md

feat: Remove ELRS arm requirement for autonomous operation (Issue #512)

2026-03-06 11:46:03 -05:00

CLAUDE.md

docs: multi-variant branch strategy (issue #28)

2026-02-28 18:49:41 -05:00

flash.sh

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

platformio.ini

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

TEAM.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

USB_CDC_BUG.md

fix: Investigate USB CDC TX failure (Issue #524)

2026-03-06 23:01:00 -05:00

Description

SaltyLab self-balancing bot firmware (STM32F722)

11 MiB

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