saltylab-firmware

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sl-firmware 4beef8da03 feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124 )

- Add ota.h / ota.c: ota_enter_dfu() (armed guard, writes BKP15R, resets),
  ota_fw_crc32() using STM32F7 hardware CRC peripheral (CRC-32/MPEG-2, 512 KB)
- Add JLINK_CMD_DFU_ENTER (0x06) and dfu_req flag to jlink.h / jlink.c
- Handle dfu_req in main loop: calls ota_enter_dfu(is_armed) — no-op if armed
- Update usbd_cdc_if.c: move DFU magic from BKP0R to BKP15R (OTA_DFU_BKP_IDX)
  resolving BKP register conflict with BNO055 calibration (BKP0R–6R, PR #150)
- Add scripts/flash_firmware.py: CRC-32/MPEG-2 + ISO-HDLC verification,
  dfu-util flash, host-side backup/rollback, --trigger-dfu JLink serial path
- Add test/test_ota.py: 42 tests passing (CRC-32/MPEG-2, CRC-16/XMODEM,
  DFU_ENTER frame structure, BKP register safety, flash constants)

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

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

.gitea/workflows

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

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

.pio/build

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

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

chassis

feat: SaltyTank tracked chassis — drive sprockets, tensioners, skid plate (#121 )

2026-03-02 09:20:41 -05:00

docs

docs: add Leap Motion, fix ESC step inset 12mm