sl-firmware
fa75c442a7
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>
SaltyBot Diagnostic Self-Test System
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
Runtime Monitoring
- Temperature (Orin GPU >80C, VESC >60C)
- Network latency
- Sensor FPS drops
- System resources
Launch
ros2 launch saltybot_diagnostics diagnostics.launch.py
Topics
/saltybot/diagnostics(DiagnosticArray)/saltybot/tts_say(String) - Boot announcements/saltybot/face/boot_animation(String)
Logs
Diagnostic logs: /home/seb/saltybot-data/diagnostics/
JSON format with hardware status, temperatures, and resource usage.