saltylab-firmware

Go to file

sl-firmware 6f0ad8e92e feat(firmware): Jetson binary serial protocol on USART1 (Issue #120 )

New jlink module replaces ASCII-over-USB-CDC jetson_cmd with a dedicated
hardware UART binary protocol at 921600 baud for reliable Jetson comms.

- include/jlink.h: JLinkState struct, jlink_tlm_status_t (20-byte packed),
  command/telemetry IDs (0x01-0x07 cmd, 0x80 status), API declarations
- src/jlink.c: USART1 DMA2_Stream2_Channel4 circular RX (128 bytes),
  IDLE interrupt, CRC16-XModem (poly 0x1021) frame parser state machine,
  command dispatch (HEARTBEAT/DRIVE/ARM/DISARM/PID_SET/ESTOP),
  jlink_send_telemetry() blocking TX (≈0.28 ms per frame)
- include/config.h: JLINK_BAUD=921600, JLINK_HB_TIMEOUT_MS=1000,
  JLINK_TLM_HZ=50, FW_MAJOR/MINOR/PATCH version constants
- src/main.c: jlink_init(), jlink_process() in main loop, arm/disarm/
  estop/PID flag handling, 50 Hz STATUS telemetry TX, jlink takes
  priority over legacy jetson_cmd for speed/steer injection
- test/test_jlink_frames.py: 39 pytest tests (39/39 pass) — CRC16,
  frame building, parser state machine, drive/PID/status encoding

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

2026-03-02 09:22:34 -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: SaltyRover chassis Rev 2 — 4-wheel rover with spring suspension (#109 )

2026-03-02 08:42:44 -05:00

docs

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