sl-perception created pull request seb/saltylab-firmware#717

sl-perception
Sat, 04 Apr 2026 08:52:36 -0400

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

Summary

Delete mamba_protocol.py (MAMBA_CMD_* 0x100–0x102 — retired hardware)

Add balance_protocol.py — canonical CAN codec for Orin ↔ ESP32-S3 BALANCE + VESC

Rewrite can_bridge_node.py — uses balance_protocol, interface can0, removes mamba_can_id

Rewrite test_can_bridge.py and all saltybot_can_e2e_test test files for new protocol

Update saltybot_bridge nodes — stm32f722 → esp32_balance in hardware_id

Update configs/YAMLs — remove Mamba F722S / STM32F722 / slcan0 references

Hardware: Orin Nano Super · ESP32-S3 BALANCE · ESP32-S3 IO · FSESC 6.7 VESC ×2 (IDs 56/68)

Test plan

pytest jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py -v

pytest jetson/ros2_ws/src/saltybot_can_e2e_test/test/ -v

Verify can_bridge_node starts without import errors

Grep for Mamba/BlackPill/STM32F722 in jetson/ros2_ws/src/ — zero matches

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