sl-firmware 602fbc6ab3 feat: UART command protocol for Jetson-STM32 (Issue #629) ...

Implements binary command protocol on UART5 (PC12/PD2) at 115200 baud
for Jetson→STM32 communication. Frame: STX+LEN+CMD+PAYLOAD+CRC8+ETX.

Commands: SET_VELOCITY (RPM direct to CAN), GET_STATUS, SET_PID, ESTOP,
CLEAR_ESTOP. DMA1_Stream0_Channel4 circular 256-byte RX ring. ACK/NACK
inline; STATUS pushed at 10 Hz. Heartbeat timeout 500 ms (UART_PROT_HB_TIMEOUT_MS).

NOTE: Spec requested USART1 @ 115200; USART1 occupied by JLink @ 921600.
Implemented on UART5 instead; note in code comments.

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

2026-03-15 14:41:00 -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: Jetson Orin Nano mount bracket (Issue #612)

2026-03-15 10:04:37 -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: UART command protocol for Jetson-STM32 (Issue #629)

2026-03-15 14:41:00 -04:00

jetson

Merge pull request 'feat: ROS2 bag recording manager (Issue #615)' (#625) from sl-jetson/issue-615-bag-recorder into main

2026-03-15 11:02:37 -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: GPS waypoint logger and route planner (Issue #617)

2026-03-15 10:05:57 -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: UART command protocol for Jetson-STM32 (Issue #629)

2026-03-15 14:41:00 -04:00

test

feat: Steering PID for differential drive (Issue #616)

2026-03-15 10:11:05 -04:00

ui

feat: WebUI settings and configuration panel (Issue #614)

2026-03-15 10:08:47 -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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