Add USB CDC bug doc and team requirements
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Sebastien Vayrette
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TEAM.md
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TEAM.md
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# SaltyLab — Ideal Team
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## Project
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Self-balancing two-wheeled robot using a drone flight controller (STM32F722), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM.
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## Current Status
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- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
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- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug
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- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md`
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---
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## Roles Needed
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### 1. Embedded Firmware Engineer (Lead)
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**Must-have:**
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- Deep STM32 HAL experience (F7 series specifically)
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- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
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- SPI + UART + USB coexistence on STM32
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- PlatformIO or bare-metal STM32 toolchain
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- DFU bootloader implementation
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**Nice-to-have:**
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- Betaflight/iNav/ArduPilot codebase familiarity
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- PID control loop tuning for balance robots
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- FOC motor control (hoverboard ESC protocol)
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**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
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### 2. Control Systems / Robotics Engineer
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**Must-have:**
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- PID tuning for inverted pendulum / self-balancing systems
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- Complementary filter / Kalman filter for IMU sensor fusion
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- Real-time control loop design (1kHz+)
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- Safety system design (tilt cutoff, watchdog, arming sequences)
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**Nice-to-have:**
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- Hoverboard hub motor experience
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- ELRS/CRSF RC protocol
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- ROS2 integration
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**Why:** Once USB is fixed, the balance loop needs real-world tuning. PID gains, filter coefficients, motor response curves, safety margins — all need someone with hands-on balance bot experience.
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### 3. Perception / SLAM Engineer (Phase 2)
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**Must-have:**
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- Jetson Nano / NVIDIA Jetson platform
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- Intel RealSense D435i depth camera
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- RPLIDAR integration
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- SLAM (ORB-SLAM3, RTAB-Map, or similar)
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- ROS2
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**Nice-to-have:**
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- Person tracking / following
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- Obstacle avoidance
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- Nav2 stack
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**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
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---
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## Hardware Reference
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| Component | Details |
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|-----------|---------|
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| FC | MAMBA F722S (STM32F722RET6, MPU6000) |
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| Motors | 2x 8" pneumatic hoverboard hub motors |
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| ESC | Hoverboard ESC (EFeru FOC firmware) |
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| Battery | 36V pack |
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| RC | BetaFPV ELRS 2.4GHz TX + RX |
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| AI Brain | Jetson Nano + Noctua fan |
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| Depth | Intel RealSense D435i |
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| LIDAR | RPLIDAR A1M8 |
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| Spare IMUs | BNO055, MPU6050 |
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## Repo
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- Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
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- Design doc: `projects/saltybot/SALTYLAB.md`
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- Bug doc: `USB_CDC_BUG.md`
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USB_CDC_BUG.md
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USB_CDC_BUG.md
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# USB CDC TX Bug — 2026-02-28
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## Problem
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Balance firmware produces no USB CDC output. Minimal "hello" test firmware works fine.
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## What Works
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- **Test firmware** (just sends `{"hello":N}` at 10Hz after 3s delay): **DATA FLOWS**
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- USB enumeration works in both cases (port appears as `/dev/cu.usbmodemSALTY0011`)
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- DFU reboot via RTC backup register works (Betaflight-proven pattern)
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## What Doesn't Work
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- **Balance firmware**: port opens, no data ever arrives
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- Tried: removing init transmit, 3s boot delay, TxState recovery, DTR detection, streaming flags
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- None of it helps
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## Key Difference Between Working & Broken
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- **Working test**: main.c only includes USB CDC headers, HAL, string, stdio
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- **Balance firmware**: includes icm42688.h, bmp280.h, balance.h, hoverboard.h, config.h, status.h
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- Balance firmware inits SPI1 (IMU), USART2 (hoverboard), GPIO (LEDs, buzzer)
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- Likely culprit: **peripheral init (SPI/UART/GPIO) is interfering with USB OTG FS**
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## Suspected Root Cause
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One of the additional peripheral inits (SPI1 for IMU, USART2 for hoverboard ESC, or GPIO for status LEDs) is likely conflicting with the USB OTG FS peripheral — either a clock conflict, GPIO pin conflict, or interrupt priority issue.
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## Hardware
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- MAMBA F722S FC (STM32F722RET6)
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- Betaflight target: DIAT-MAMBAF722_2022B
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- IMU: MPU6000 on SPI1 (PA4/PA5/PA6/PA7)
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- USB: OTG FS (PA11/PA12)
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- Hoverboard ESC: USART2 (PA2/PA3)
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- LEDs: PC14, PC15
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- Buzzer: PB2
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## Files
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- PlatformIO project: `~/Projects/saltylab-firmware/` on mbpm4 (192.168.87.40)
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- Working test: was in src/main.c (replaced with balance code)
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- Balance main.c backup: src/main.c.bak
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- CDC implementation: lib/USB_CDC/src/usbd_cdc_if.c
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## To Debug
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1. Add peripherals one at a time to the test firmware to find which one breaks CDC TX
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2. Check for GPIO pin conflicts with USB OTG FS (PA11/PA12)
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3. Check interrupt priorities — USB OTG FS IRQ might be getting starved
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4. Check if DCache (disabled via SCB_DisableDCache) is needed for USB DMA
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