sl-perception created pull request seb/saltylab-firmware#727

sl-perception
Fri, 17 Apr 2026 19:39:44 -0400

727#feat: Orin UART/USB serial comms with ESP32 Balance (bd-wim1)#

Replaces saltybot_can_bridge (CANable2/python-can) with saltybot_esp32_serial using USB-CDC serial to ESP32-S3 BALANCE. Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8]. CANable2 freed for bd-p47c (Here4 GPS). 33 tests pass.

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