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Implement HAL 0.0.00 search kill, expand CLAUDE.md with firmware reference

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HAL 0.0.00 kills the search task via the OS task manager (os -> kill Search)
rather than the ngsearch submenu used by HAL 2.05. Boot signal is NoGPS only.
Source: saveitforparts/Travler_Rotor upstream repo.

CLAUDE.md now includes firmware variant comparison table, full command
reference, NVS indices, RS-485 pinout, and cable wiring notes.
This commit is contained in:
Ryan Malloy 2026-02-11 06:05:06 -07:00
parent 2c28b0edc2
commit 780de4fe2b
2 changed files with 86 additions and 18 deletions
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29
src/travler_rotor/protocol.py
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@ -178,19 +178,20 @@ class HAL205Protocol(FirmwareProtocol):
class HAL000Protocol(FirmwareProtocol):
"""HAL 0.0.00 firmware.
"""HAL 0.0.00 firmware (older Trav'ler units).
Uses shorter command names and a different init sequence.
Boot signal: "NoGPS"
Motor submenu: "mot"
Search kill: os -> kill Search -> q (OS task manager approach)
Source: github.com/saveitforparts/Travler_Rotor (v2.0, HAL 0.0.00 branch)
"""
BOOT_SIGNALS = ("NoGPS",)
MOTOR_COMMAND = "mot"
def initialize(self, callback: Callable[[str], None] | None = None) -> None:
# HAL 0.0.00 has a different boot sequence — the exact signals
# are not documented in the upstream repo. This is a best-effort
# implementation that should be validated against real hardware.
logger.info("Waiting for HAL 0.0.00 boot...")
logger.info("Waiting for HAL 0.0.00 boot (ensure IDU is powered on)...")
while True:
line = self._readline()
@ -201,20 +202,22 @@ class HAL000Protocol(FirmwareProtocol):
callback(line)
logger.debug("Boot: %s", line)
# HAL 0.0.00 boot detection — adjust if hardware reveals
# different signals
if "NoGPS" in line or "ready" in line.lower():
logger.info("Boot complete")
if any(signal in line for signal in self.BOOT_SIGNALS):
logger.info("Boot complete — homing finished")
break
self.kill_search()
self.reset_to_root()
def kill_search(self) -> None:
# HAL 0.0.00 may have a different search-kill sequence.
# Falling back to root-menu reset as a safe default.
self.reset_to_root()
logger.info("Search task cancelled (HAL 0.0.00)")
self._write("os")
time.sleep(0.2)
self._write("kill Search")
time.sleep(0.2)
self._write("q")
self._write("")
logger.info("Search task cancelled via OS task manager")
def enter_motor_menu(self) -> None:
self.reset_to_root()