I2c to uart conversion and bringing over software_2025 and electrical_2025 code

.github/copilot-instructions.md

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+# Copilot Instructions for EER Software_2026
+
+## Project Overview
+ROV (Remotely Operated Vehicle) control software for Eastern Edge Robotics' **Bluestar** ROV. Two-layer architecture: ROS2 packages (topsides) communicate with RP2040 firmware (onboard) via RS-485 UART.
+
+## Architecture
+
+### Data Flow
+```
+Frontend (ImGui GUI) → ROS2 Topics → Backend (pilot_listener) → UART/RS-485 → Firmware (RP2040)
+```
+
+### Key Components
+| Layer | Location | Purpose |
+|-------|----------|---------|
+| **Frontend** | `ros_workspace/src/bluestar_frontend/` | ImGui-based C++ GUI for pilot control (requires display, run natively) |
+| **Backend** | `ros_workspace/src/bluestar_backend/` | Translates ROS2 messages to UART commands |
+| **Interfaces** | `ros_workspace/src/eer_interfaces/` | Custom ROS2 msg/srv definitions |
+| **Config Manager** | `ros_workspace/src/config_manager/` | JSON config persistence via ROS2 services |
+| **Firmware** | `firmware/LapisLazuli/` | RP2040 code controlling thrusters/servos/LEDs |
+
+> **Note**: This ROV is built for the 2026 International MATE ROV Competition. Core controls are the current focus; autonomy and image recognition features will follow.
+
+### Communication Protocol
+- **minihdlc**: HDLC framing library used on both sides for reliable serial communication
+- Command IDs defined in [pilot_listener.cpp](ros_workspace/src/bluestar_backend/src/pilot_listener.cpp#L29-L38) match [main.c](firmware/LapisLazuli/main.c#L62-L87) frame handler
+- Commands: `0x00-0x05` (thrusters), `0x06-0x07` (LEDs), `0x08-0x0B` (servos), `0x0C-0x13` (DC motors)
+
+## Build & Development
+
+### ROS2 Workspace (Ubuntu 24.04 + ROS2 Jazzy)
+
+Detailed steps for both the development and production environtment are found in the [ros_workspace](../ros_workspace/README.md)
+
+### Firmware (Pico SDK)
+```bash
+cd firmware/LapisLazuli/build
+cmake .. && make          # Generates LapisLazuli.uf2
+# Flash: copy .uf2 to Pico in BOOTSEL mode
+```
+
+More details in [firmware](../firmware/README.md)
+
+## Code Conventions
+
+### ROS2 Patterns
+- **Custom interfaces** in `eer_interfaces/msg/` and `eer_interfaces/srv/` - add new messages there
+- **Service clients** wait for availability: `client->wait_for_service()` before calls
+- **Nodes** use `rclcpp::Node` base class; multiple nodes run via `StaticSingleThreadedExecutor`
+
+### Thruster Control
+- 6 thrusters with configurable mapping via `THRUSTER_CONFIG_MATRIX[6][6]` in pilot_listener
+- Thrust values: 0-255 maps to 1100-1900μs PWM pulse width
+- Configuration stored in `configs/bluestar_config.json`
+
+### Adding New Peripherals
+1. Define command ID in firmware `main.c` frame handler switch case
+2. Add matching command ID constant in `pilot_listener.cpp`
+3. Add fields to `PilotInput.msg` if UI-controlled
+4. Update the frontend to expose controls
+
+### JSON Configuration
+- Configs stored in `configs/` directory as `.json` files
+- Use `get_config` service to retrieve, `save_config` topic to persist
+- `nlohmann/json` library for parsing (already included)
+
+## Key Files Reference
+- [pilot_listener.cpp](../ros_workspace/src/bluestar_backend/src/pilot_listener.cpp) - Backend UART communication
+- [main.c](../firmware/LapisLazuli/main.c) - Firmware command handler and PWM control
+- [PilotInput.msg](../ros_workspace/src/eer_interfaces/msg/PilotInput.msg) - Control message definition
+- [ConfigManager.cpp](../ros_workspace/src/config_manager/src/ConfigManager.cpp) - Config service implementation
+- [frontend_node.cpp](../ros_workspace/src/bluestar_frontend/src/frontend_node.cpp) - GUI program loop

.gitignore

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+build/
+install/
+log/
+config/
+.vscode/
+imgui.ini
+.DS_Store
+configs/
+venv/

.gitmodules

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+[submodule "firmware/LapisLazuli/minihdlc"]
+	path = firmware/LapisLazuli/minihdlc
+	url = https://github.com/mengguang/minihdlc.git
+[submodule "firmware/LapisLazuli/pico-sdk"]
+	path = firmware/LapisLazuli/pico-sdk
+	url = https://github.com/raspberrypi/pico-sdk.git
+[submodule "ros_workspace/src/bluestar_backend/include/json"]
+	path = ros_workspace/src/bluestar_backend/include/json
+	url = https://github.com/nlohmann/json
+[submodule "ros_workspace/src/bluestar_frontend/include/json"]
+	path = ros_workspace/src/bluestar_frontend/include/json
+	url = https://github.com/nlohmann/json
+[submodule "ros_workspace/src/bluestar_frontend/include/imgui"]
+	path = ros_workspace/src/bluestar_frontend/include/imgui
+	url = https://github.com/ocornut/imgui
+[submodule "ros_workspace/src/bluestar_frontend/include/glfw"]
+	path = ros_workspace/src/bluestar_frontend/include/glfw
+	url = https://github.com/glfw/glfw
+[submodule "ros_workspace/src/bluestar_frontend/include/stb"]
+	path = ros_workspace/src/bluestar_frontend/include/stb
+	url = https://github.com/nothings/stb
+[submodule "ros_workspace/src/bluestar_backend/include/minihdlc"]
+	path = ros_workspace/src/bluestar_backend/include/minihdlc
+	url = https://github.com/mengguang/minihdlc.git

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2025 Memorial University Eastern Edge Robotics
+Copyright (c) 2026 Memorial University Eastern Edge Robotics
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -1 +1,39 @@
-# Software_2026
+# Software_2026
+
+[Eastern Edge Robotics](https://www.easternedgerobotics.com/) (EER) is a student-led engineering design team based at the Memorial University of Newfoundland and the Fisheries and Marine Institute. The team competes in the annual MATE ROV Competition. Every year at EER, we build a small remotely-operated vehicle (ROV). This repository is EER's 2026 software package.
+
+This code repository contains code for EER's current ROV, Bluestar.
+
+## Table of Contents
+
+- [Repository Structure](#repository-structure) 
+    - [ros_workspace](#ros_workspace) 
+    - [firmware](#firmware) 
+- [How To Contribute](#how_to_contribute) 
+
+## Repository Structure
+
+### ros_workspace
+This project uses ROS2 Jazzy.
+
+#### ROS2 Packages
+| Package Name         | Description                                                                 |
+|----------------------|-----------------------------------------------------------------------------|
+| **bluestar_backend**  | Backend code for interfacing with Bluestar (both physical ROV and simulation)              |
+| **config_manager**    | Stores user and ROV configuration/preferences in JSON format                                      |
+| **eer_interfaces**    | Custom ROS2 interfaces used by EER.                                |
+| **waterwitch_frotnend**     | A C++ GUI for Bluestar made with ImGui                       |
+
+More details [here](./ros_workspace/)
+
+### firmware
+This folder contains the firmware that runs onboard Bluestar on an RP2040 microcontroller, which communicates with topsides via RS-485.
+
+More details [here](./firmware/).
+
+PCB schematics can be found in the [Electrical_2026 Repository](https://github.com/EasternEdgeRobotics/Electrical_2026).
+
+### Agentic AI Tools
+
+Agentic AI tools, such as the Github Copilot Extension, should automatically use the [copilot-instructions.md](./.github/copilot-instructions.md) file for context. This file contains useful technical information for onboarding in natural language.
+

compose.dev.yaml

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+services:
+  bluestar_backend:
+    build:
+      context: ./ros_workspace
+      dockerfile: Dockerfile
+    tty: true
+    container_name: bluestar_backend
+    restart: always
+    ipc: host # Required for ros2 communication with host network
+    privileged: true # Required for access to the USB-to-Serial adapter for UART
+    volumes:
+      - /dev:/dev # Required for access to the USB-to-Serial adapter for UART (ttyUSB0)
+      - ./configs:/app/configs 
+      - ~/.ssh/:/root/.ssh
+    entrypoint: ["/bin/bash", "/app/docker_backend_entry_script.sh"]
+  bluestar_frontend:
+    build:
+      context: ./ros_workspace
+      dockerfile: Dockerfile
+    tty: true
+    container_name: bluestar_frontend
+    ipc: host
+    environment:
+      - DISPLAY=:99
+      - VNC_PORT=5900
+      - VNC_RESOLUTION=1280x720x24
+      - XDG_RUNTIME_DIR=/tmp/xdg
+    ports:
+      - "5900:5900"
+    volumes:
+      - ./configs:/app/configs
+    entrypoint: ["/bin/bash", "/app/docker_frontend_entry_script.sh"]
+
+

firmware/LapisLazuli/.gitignore

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+build

firmware/LapisLazuli/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.13)
+
+include("${CMAKE_CURRENT_LIST_DIR}/pico-sdk/pico_sdk_init.cmake")
+
+project(LapisLazuli C CXX ASM)
+
+pico_sdk_init()
+
+# LED Pins have different positions on the Pico v.s. LapisLazuli (tooling board) 
+if(NOT DEFINED ENV{LapisLazuli})
+    set(ENV{LapisLazuli} "1") # Set the default value only if not set externally
+endif()
+add_compile_definitions(LAPIS_LAZULI=$ENV{LapisLazuli})
+
+add_executable(LapisLazuli 
+            minihdlc/minihdlc.c
+            main.c )
+
+pico_set_program_name(LapisLazuli "LapisLazuli")
+pico_set_program_version(LapisLazuli "0.1")
+
+pico_enable_stdio_usb(LapisLazuli 1)
+pico_enable_stdio_uart(LapisLazuli 0)
+
+target_link_libraries(LapisLazuli
+        pico_stdlib
+        hardware_i2c
+        pico_i2c_slave
+        hardware_pwm
+        pico_multicore
+        )
+
+target_include_directories(LapisLazuli PRIVATE
+  ${CMAKE_CURRENT_LIST_DIR}
+  ${CMAKE_CURRENT_LIST_DIR}/..
+  ${CMAKE_CURRENT_LIST_DIR}/minihdlc
+)
+
+target_link_libraries(LapisLazuli 
+        hardware_i2c
+        )
+
+pico_add_extra_outputs(LapisLazuli)