sl-perception ec4527b8f3 refactor: replace mamba_protocol with balance_protocol, remove all Mamba/STM32 refs ...

- Add balance_protocol.py: canonical CAN codec for Orin <-> ESP32 BALANCE + VESC
  - ORIN_CMD_DRIVE 0x300, ORIN_CMD_MODE 0x301, ORIN_CMD_ESTOP 0x302
  - FC_STATUS 0x400, FC_VESC 0x401; VESC_LEFT_ID=56, VESC_RIGHT_ID=68
- Delete mamba_protocol.py (had MAMBA_CMD_* 0x100-0x102, MAMBA_TELEM_* 0x200-0x201)
- Rewrite can_bridge_node.py: uses balance_protocol, can0 interface, no mamba_can_id param
- Rewrite test_can_bridge.py: tests balance_protocol encode/decode
- Rewrite saltybot_can_e2e_test: protocol_defs.py + all 5 test files use new IDs
- Update saltybot_bridge: stm32f722 → esp32_balance in hardware_id fields
- Update configs/YAMLs: remove Mamba F722S/STM32F722/slcan0 references

Hardware: Orin Nano Super, ESP32-S3 BALANCE, ESP32-S3 IO, FSESC 6.7 VESC ×2

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

2026-04-04 08:51:50 -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

android

feat: Android BLE pairing UI for UWB tag (Issue #700)

2026-03-20 16:21:45 -04:00

cad

chore: merge CAD files and design docs from seb/saltylab seed repo

2026-03-07 10:04:24 -05:00

chassis

feat: VESC dual ESC mount bracket (Issue #699)

2026-03-20 16:26:07 -04:00

docs

chore: remove all Mamba F722S / STM32 / BlackPill refs from docs/AGENTS.md

2026-04-04 08:47:05 -04:00

esp32

feat: Add AT+PEER_RANGE= command for inter-anchor calibration (Issue #602)

2026-03-14 15:06:29 -04:00

include

Merge pull request 'feat: CAN bus watchdog and error recovery (Issue #694)' (#708) from sl-firmware/issue-694-can-watchdog into main

2026-03-20 17:59:02 -04:00

jetson

refactor: replace mamba_protocol with balance_protocol, remove all Mamba/STM32 refs

2026-04-04 08:51:50 -04:00

lib/USB_CDC

feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685)

2026-03-17 22:49:21 -04:00

phone

feat: Add Termux voice command interface (Issue #633)

2026-03-15 14:35:27 -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

Merge pull request 'feat: CAN bus watchdog and error recovery (Issue #694)' (#708) from sl-firmware/issue-694-can-watchdog into main

2026-03-20 17:59:02 -04:00

test

feat: CAN bus watchdog and error recovery (Issue #694)

2026-03-20 17:39:01 -04:00

ui

Merge pull request 'feat: Robot GPS live map panel (Issue #709 companion)' (#711) from sl-webui/robot-gps-map into main

2026-04-03 22:43:56 -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

feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685)

2026-03-17 22:49:21 -04:00

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)

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