saltylab-firmware/saltybot_bringup at ac2e9d00d6878f4c24e25a088c67f6d329dc414e - saltylab-firmware - Gitea: Git with a cup of tea

seb/saltylab-firmware

History

sl-firmware fa75c442a7 feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only

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>

2026-04-04 09:00:38 -04:00

..

__init__.py

feat(bd-a2j): RealSense D435i + RPLIDAR A1M8 ROS2 driver integration

2026-02-28 17:14:21 -05:00

_audio_scene.py

feat(perception): MFCC nearest-centroid audio scene classifier (Issue #353 )

2026-03-03 14:03:11 -05:00

_blur_detector.py

feat(perception): motion blur detector via Laplacian variance — Issue #286

2026-03-02 20:46:37 -05:00

_camera_power_manager.py

feat: Add Issue #375 — adaptive camera power mode manager

2026-03-03 16:48:17 -05:00

_camera_state.py

feat(jetson): camera health watchdog node (issue #198 )

2026-03-02 11:11:48 -05:00

_color_segmenter.py

feat(perception): HSV color object segmenter — Issue #274

2026-03-02 17:32:41 -05:00

_depth_hole_fill.py

feat(bringup): depth image hole filler via bilateral interpolation (Issue #268 )

2026-03-02 14:19:27 -05:00

_face_emotion.py

feat(perception): geometric face emotion classifier (Issue #359 )

2026-03-03 14:39:49 -05:00

_floor_classifier.py

feat(bringup): floor surface type classifier on D435i RGB (Issue #249 )

2026-03-02 12:51:14 -05:00

_lidar_clustering.py

feat(bringup): LIDAR Euclidean object clustering + RViz visualisation (Issue #239 )

2026-03-02 12:21:35 -05:00

_obstacle_size.py

feat(perception): depth-based obstacle size estimator (Issue #348 )

2026-03-03 13:32:41 -05:00

_obstacle_velocity.py

feat(perception): dynamic obstacle velocity estimator (Issue #326 )

2026-03-03 06:53:04 -05:00

_path_edges.py

feat(perception): lane/path edge detector (Issue #339 )

2026-03-03 11:33:22 -05:00

_person_reid.py

feat(perception): appearance-based person re-identification (Issue #322 )

2026-03-03 06:45:43 -05:00

_person_tracker.py

feat: Add Issue #363 — P0 person tracking for follow-me mode

2026-03-03 15:19:02 -05:00

_scan_height_filter.py

feat(bringup): scan height filter with IMU pitch compensation (Issue #211 )

2026-03-02 11:50:56 -05:00

_sky_detector.py

feat(perception): sky detector for outdoor navigation — Issue #307

2026-03-02 21:39:28 -05:00

_terrain_roughness.py

feat(perception): terrain roughness estimator via Gabor + LBP — Issue #296

2026-03-02 21:12:51 -05:00

_uwb_tracker.py

feat: Add Issue #365 — UWB DW3000 anchor/tag tracking (bearing + distance)

2026-03-03 15:25:23 -05:00

_velocity_ramp.py

feat: Add Issue #350 — smooth velocity ramp controller

2026-03-03 15:45:05 -05:00

_vo_drift.py

feat(bringup): visual odometry drift detector (Issue #260 )

2026-03-02 13:26:07 -05:00

_wheel_odom.py

feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only

2026-04-04 09:00:38 -04:00

audio_scene_node.py

feat(perception): MFCC nearest-centroid audio scene classifier (Issue #353 )

2026-03-03 14:03:11 -05:00

blur_detect_node.py

feat(perception): motion blur detector via Laplacian variance — Issue #286

2026-03-02 20:46:37 -05:00

bt_nodes.py

feat: Behavior tree coordinator for autonomous mode (Issue #482 )

2026-03-05 14:42:57 -05:00

camera_health_node.py

feat(jetson): camera health watchdog node (issue #198 )

2026-03-02 11:11:48 -05:00

camera_power_node.py

feat: Add Issue #375 — adaptive camera power mode manager

2026-03-03 16:48:17 -05:00

color_segment_node.py

feat(perception): HSV color object segmenter — Issue #274

2026-03-02 17:32:41 -05:00

depth_confidence_filter_node.py

feat(jetson): depth confidence filter node (issue #190 )

2026-03-02 11:02:15 -05:00

depth_hole_fill_node.py

feat(bringup): depth image hole filler via bilateral interpolation (Issue #268 )

2026-03-02 14:19:27 -05:00

face_emotion_node.py

feat(perception): geometric face emotion classifier (Issue #359 )

2026-03-03 14:39:49 -05:00

floor_classifier_node.py

feat(bringup): floor surface type classifier on D435i RGB (Issue #249 )

2026-03-02 12:51:14 -05:00

launch_profiles.py

feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only

2026-04-04 09:00:38 -04:00

lidar_clustering_node.py

feat(bringup): LIDAR Euclidean object clustering + RViz visualisation (Issue #239 )

2026-03-02 12:21:35 -05:00

obstacle_size_node.py

feat(perception): depth-based obstacle size estimator (Issue #348 )

2026-03-03 13:32:41 -05:00

obstacle_velocity_node.py

feat(perception): dynamic obstacle velocity estimator (Issue #326 )

2026-03-03 06:53:04 -05:00

path_edges_node.py

feat(perception): lane/path edge detector (Issue #339 )

2026-03-03 11:33:22 -05:00

person_reid_node.py

feat(perception): appearance-based person re-identification (Issue #322 )

2026-03-03 06:45:43 -05:00

person_tracking_node.py

feat: Add Issue #363 — P0 person tracking for follow-me mode

2026-03-03 15:19:02 -05:00

profile_loader.py

feat: Issue #506 — Launch parameter profiles (indoor/outdoor/demo)

2026-03-06 16:42:31 -05:00

scan_height_filter_node.py

feat(bringup): scan height filter with IMU pitch compensation (Issue #211 )

2026-03-02 11:50:56 -05:00

sky_detect_node.py

feat(perception): sky detector for outdoor navigation — Issue #307

2026-03-02 21:39:28 -05:00

stack_state_monitor_node.py

feat: add consolidated params and stack state monitor (Issue #447 )

2026-03-05 09:07:17 -05:00

terrain_classifier_node.py

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

terrain_rough_node.py

feat(perception): terrain roughness estimator via Gabor + LBP — Issue #296

2026-03-02 21:12:51 -05:00

terrain_speed_adapter_node.py

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

uwb_node.py

feat: Add Issue #365 — UWB DW3000 anchor/tag tracking (bearing + distance)

2026-03-03 15:25:23 -05:00

velocity_ramp_node.py

feat: Add Issue #350 — smooth velocity ramp controller

2026-03-03 15:45:05 -05:00

vo_drift_node.py

feat(bringup): visual odometry drift detector (Issue #260 )

2026-03-02 13:26:07 -05:00

wheel_odom_node.py

feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only

2026-04-04 09:00:38 -04:00