bb35ddd56d
- 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>
58 lines
2.5 KiB
Markdown
58 lines
2.5 KiB
Markdown
# SaltyLab Firmware — Agent Playbook
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## Project
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Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.
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## Team
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| Agent | Role | Focus |
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|-------|------|-------|
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| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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## Status
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USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
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## Repo Structure
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- `projects/saltybot/SALTYLAB.md` — Design doc
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- `USB_CDC_BUG.md` — USB peripheral conflict details
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- `TEAM.md` — Team roles specification
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## Branch Strategy (issue #28)
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### Variant branches
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| Branch | Purpose |
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|--------|---------|
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| `saltylab` | Stable — SaltyLab 2-wheel balance bot (promoted from saltylab-dev) |
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| `saltylab-dev` | Integration — SaltyLab balance bot; agents target this branch |
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| `saltyrover` | Stable — 4-wheel rover variant |
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| `saltyrover-dev` | Integration — rover variant |
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| `saltytank` | Stable — tracked tank variant |
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| `saltytank-dev` | Integration — tank variant |
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| `main` | Shared code only (IMU drivers, USB Serial (CH343), balance core, safety) |
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### Rules
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- Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
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- Shared/infrastructure code (IMU drivers, USB Serial (CH343), balance core, safety) goes in `main`
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- Variant-specific code (motor topology, kinematics, config) goes in variant branches
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- Stable branches get promoted from `-dev` after review and hardware testing
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- **Current SaltyLab team** works against `saltylab-dev`
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### Git Workflow
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- Branch naming: `<agent>/<slug>` (e.g., `sl-firmware/usb-cdc-fix`)
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- For shared code targeting `main`: `<agent>/bd-<id>-<slug>`
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- Before every push: `git fetch origin && git rebase origin/<base-branch>`
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- Gitea: `gitea.vayrette.com/seb/saltylab-firmware`
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## Communication
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- Report progress to max via MQTT: `AGENT_NAME=<agent> ~/agent-mqtt/agent-send max "<message>"`
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- Check inbox: `~/agent-mqtt/agent-read 2>/dev/null | tail -15`
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- Prioritize messages from max (PM)
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## Beads (Task System)
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```bash
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cd /Users/seb/AI/saltylab-firmware
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br list # List open beads
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br update <id> --claim # Claim a bead
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br close <id> --reason "Done. PR #N"
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br comment <id> "message"
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```
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