sl-uwb bb35ddd56d chore: resolve git conflict markers and complete legacy STM32/Mamba → ESP32-S3 rename

- Resolve 73 committed conflict markers (bulk resolution taking theirs/ESP32 side)
- Rename all MAMBA_CMD_* → BALANCE_CMD_*, MAMBA_TELEM_* → BALANCE_TELEM_*
- Rename FC_STATUS/VESC/IMU/BARO → BALANCE_STATUS/VESC/IMU/BARO in protocol_defs.py
- Update can_bridge_node.py: fix imports, replace legacy encode/decode calls with
  balance_protocol equivalents (encode_velocity_cmd, encode_mode_cmd, decode_imu_telem,
  decode_battery_telem, decode_vesc_state); fix watchdog and destroy_node
- Rename stm32_protocol.py/stm32_cmd_node.py → esp32_protocol.py/esp32_cmd_node.py
- Delete mamba_protocol.py; stm32_cmd.launch.py/stm32_cmd_params.yaml archived
- Update can_bridge_params.yaml: mamba_can_id → balance_can_id
- Update docs/AGENTS.md, SALTYLAB.md, wiring-diagram.md for ESP32-S3 architecture
- Update test/test_ota.py sys.path to legacy/stm32/scripts/flash_firmware.py
- No legacy STM32/Mamba refs remain outside legacy/ and SAUL-TEE-SYSTEM-REFERENCE.md

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

2026-04-04 09:11:24 -04:00

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SaltyLab Firmware — Agent Playbook

Project

Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.

Team

Agent	Role	Focus
sl-firmware	Embedded Firmware Lead	ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader
sl-controls	Control Systems Engineer	PID tuning, IMU sensor fusion, real-time control loops, safety systems
sl-perception	Perception / SLAM Engineer	Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2

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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