feat(arch): align CAN/UART bridges with SAUL-TEE-SYSTEM-REFERENCE.md spec
Update CAN and serial bridge code to match authoritative protocol spec
from docs/SAUL-TEE-SYSTEM-REFERENCE.md §5-6 (hal, 2026-04-04).
mamba_protocol.py (CAN, Orin ↔ ESP32 BALANCE):
- 0x300 DRIVE: [speed:i16][steer:i16][mode:u8][flags:u8][_:u16] — combined frame
- 0x301 ARM: [arm:u8]
- 0x302 PID: [kp:f16][ki:f16][kd:f16][_:u16] — half-float gains
- 0x303 ESTOP: [0xE5] — magic byte cut
- 0x400 ATTITUDE: [pitch:f16][speed:f16][yaw_rate:f16][state:u8][flags:u8]
- 0x401 BATTERY: [vbat_mv:u16][fault_code:u8][rssi:i8]
- Add VESC STATUS1/4/5 decode helpers; VESC IDs 56 (left) / 68 (right)
can_bridge_node.py:
- /cmd_vel → encode_drive_cmd (speed/steer int16, MODE_DRIVE)
- /estop → encode_estop_cmd (magic 0xE5); clear → DISARM
- /saltybot/arm → encode_arm_cmd (new subscription)
- Watchdog sends DRIVE(0,0,MODE_IDLE) when /cmd_vel silent
- ATTITUDE (0x400) → /saltybot/attitude + /saltybot/balance_state JSON
- BATTERY (0x401) → /can/battery BatteryState
- VESC STATUS1 frames → /can/vesc/left|right/state
stm32_cmd_node.py — rewritten for inter-board protocol API:
- Imports from updated stm32_protocol (BAUD_RATE=460800, new frame types)
- RX: RcChannels → /saltybot/rc_channels, SensorData → /saltybot/sensors
- TX: encode_led_cmd, encode_output_cmd from /saltybot/leds + /saltybot/outputs
- HEARTBEAT (0x20) timer replaces old SPEED_STEER/ARM logic
stm32_cmd_params.yaml: serial_port=/dev/esp32-io, baud=460800
stm32_cmd.launch.py: updated defaults and description
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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