Feat/link layer and imu bench

.githooks/pre-commit

@@ -0,0 +1,9 @@
+#!/bin/sh
+# Bloque les commits contenant des secrets. Installer : sh scripts/install-hooks.sh
+set -eu
+cd "$(git rev-parse --show-toplevel)"
+python3 scripts/secret_scan.py
+if command -v gitleaks >/dev/null 2>&1; then
+  if [ -f .gitleaks.toml ]; then gitleaks git --staged --redact --no-banner --config .gitleaks.toml
+  else gitleaks git --staged --redact --no-banner; fi
+fi

.github/workflows/ci.yml

@@ -0,0 +1,74 @@
+# Intégration continue.
+#
+# Ce que la CI protège, concrètement : qu'un firmware et un calculateur qui ne
+# parlent pas le même protocole ne puissent pas arriver jusqu'à l'établi. C'est
+# le mode de défaillance le plus coûteux d'un système embarqué distribué, parce
+# qu'il ne produit pas d'erreur — il produit des valeurs plausibles et fausses.
+
+name: ci
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+jobs:
+  protocole:
+    name: Protocole et tests hôte
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - run: pip install pyyaml
+
+      - name: Les fichiers générés correspondent au YAML
+        run: python3 firmware/protocol/generate.py --check
+
+      - name: Tests hôte du firmware
+        run: make -C firmware/test
+
+      - name: Accord entre les trois implémentations du protocole
+        run: python3 tools/check_protocol_sync.py
+
+  firmware:
+    name: Firmware ESP32
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Compilation ESP-IDF
+        uses: espressif/esp-idf-ci-action@v1
+        with:
+          esp_idf_version: v5.5
+          target: esp32
+          path: firmware/esp32_safety
+
+  ros:
+    name: Workspace ROS 2 Jazzy
+    runs-on: ubuntu-latest
+    container: ros:jazzy-ros-base
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Dépendances
+        shell: bash
+        run: |
+          apt-get update
+          rosdep update
+          rosdep install --from-paths ros2_ws/src --ignore-src -y || true
+
+      - name: Construction et tests
+        shell: bash
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          cd ros2_ws
+          colcon build --symlink-install
+          colcon test --event-handlers console_direct+
+          colcon test-result --verbose

.github/workflows/secret-scan.yml

@@ -0,0 +1,23 @@
+name: secret-scan
+
+on:
+  push:
+  pull_request:
+
+permissions:
+  contents: read
+
+jobs:
+  gitleaks:
+    name: Recherche de secrets (tout l'historique)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Gitleaks
+        run: |
+          docker run --rm -v "$PWD:/repo:ro" zricethezav/gitleaks:v8.24.2 \
+            git /repo --redact=100 --exit-code=1
+      - name: Scan sans dépendance
+        run: python3 scripts/secret_scan.py --all

.gitignore

@@ -22,11 +22,16 @@ venv/
 *.elf
 *.bin.tmp
 
-# PlatformIO / ESP-IDF
-.pio/
-.pioenvs/
-.piolibdeps/
+# ESP-IDF
+# sdkconfig est regenere a partir de sdkconfig.defaults, qui lui est versionne.
+sdkconfig
 sdkconfig.old
+managed_components/
+dependencies.lock
+firmware/*/build/
+
+# Tests hote
+firmware/test/build/
 
 # EasyEDA and PCB output
 *-backups/
@@ -50,3 +55,4 @@ bags/
 .idea/
 .DS_Store
 Thumbs.db
+stale-*

.gitleaks.toml

@@ -0,0 +1,3 @@
+title = "Retriever secret scanning"
+[extend]
+useDefault = true

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "firmware/components/retriever_imu/vendor/sh2"]
+	path = firmware/components/retriever_imu/vendor/sh2
+	url = https://github.com/ceva-dsp/sh2.git

CREDITS.md

@@ -42,10 +42,19 @@ exactly that reason.
 | [robot_localization](https://github.com/cra-ros-pkg/robot_localization) | BSD 3 Clause | State estimation |
 | [ros2_socketcan](https://github.com/autowarefoundation/ros2_socketcan) | Apache 2.0 | CAN interface |
 | [husky/husky](https://github.com/husky/husky) | BSD 3 Clause | Package naming conventions |
+| [ceva-dsp/sh2](https://github.com/ceva-dsp/sh2) | Apache 2.0 | BNO085 sensor hub stack, vendored as a submodule at v1.4.0 and unmodified. The ESP32 SPI port is this project's own. |
+| [foxglove_bridge](https://github.com/foxglove/ros-foxglove-bridge) | MIT | WebSocket bridge for visualisation |
+| [diagnostic_updater](https://github.com/ros/diagnostics) | BSD 3 Clause | Diagnostics |
 
 ## Prior work by the author
 
 Retriever follows a full rebuild of the [Niryo
 One](https://github.com/NiryoRobotics/niryo_one), an open source six axis
 robotic arm. That project is where most of the practical knowledge behind this
 one came from.
+
+## Algorithms
+
+The serial framing uses Consistent Overhead Byte Stuffing, described in
+Cheshire & Baker, *Consistent Overhead Byte Stuffing*, IEEE/ACM Transactions on
+Networking, 1999. The implementation is this project's own; the idea is theirs.

README.md

@@ -42,6 +42,7 @@ measurable exit criterion at every stage.
 |:-----:|----------------|-------|
 | 1 | Architecture and CAD design complete | done |
 | 2 | Chassis fabricated and assembled | **current** |
+| 2b | First sensor published to ROS 2 over a transport-agnostic link | **current** |
 | 3 | Power chain energised, no motor connected | next |
 | 4 | Motors driven, wheels raised, all stop tests pass | planned |
 | 5 | Autonomous outdoor navigation to a waypoint | planned |
@@ -138,6 +139,15 @@ ros2_ws/src/
 
 ## Documentation
 
+**Where the work stands:** [HANDOFF — IMU](docs/HANDOFF-banc-imu.md) and
+[HANDOFF — lidar](docs/HANDOFF-banc-lidar.md) — what runs today with measured
+numbers, the silent defects found and how each one worked, and what is left to
+do once the sensors are mounted. In French.
+
+**Start here:** [Démarrage](docs/DEMARRAGE.md) — what to install, how to flash
+the ESP32, how to build the ROS 2 workspace, and how to verify the IMU chain at
+every stage, with the traps that have already cost a day each. In French.
+
 The architecture dossier was written before construction began. It is in
 French; an English summary is planned.
 
@@ -151,6 +161,7 @@ French; an English summary is planned.
 | [05 Software](docs/architecture/05-reseau-code-tests-physique.md) | Network, code layout, test strategy |
 | [06 BOM](docs/architecture/06-bom-fmea-schema-plan.md) | Bill of materials, FMEA, build plan |
 | [07 Operator](docs/architecture/07-interface-operateur.md) | Operator console |
+| [13 Software](docs/architecture/13-architecture-logicielle-liaison.md) | Link layer, firmware, ROS 2 chain, IMU bench |
 
 Every claim in these documents carries a marker: verified against a datasheet,
 community consensus, to be measured, or an explicit assumption. Nothing gets