docs: add full wiring diagram (Orin ↔ FC ↔ ESC)
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Sebastien Vayrette
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docs/wiring-diagram.md
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docs/wiring-diagram.md
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# SaltyLab Wiring Diagram
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## System Overview
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```
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┌─────────────────────────────────────────────────────────────────────┐
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│ ORIN NANO SUPER │
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│ (Top Plate — 25W) │
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│ │
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│ USB-C ──── STM32 CDC (/dev/stm32-bridge, 921600 baud) │
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│ USB-A1 ─── RealSense D435i (USB 3.1) │
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│ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │
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│ CSI-A ──── ArduCam adapter → 2× IMX219 (front + left) │
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│ CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right) │
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│ M.2 ───── 1TB NVMe SSD │
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│ Pin 8 ──┐ │
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│ Pin 10 ─┤ UART fallback to FC (ttyTHS0, 921600) │
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│ Pin 6 ──┘ GND │
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│ │
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└─────────────────────────────────────────────────────────────────────┘
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│ USB-C (data only) │ UART fallback (3 wires)
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│ 921600 baud │ 921600 baud, 3.3V
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▼ ▼
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┌─────────────────────────────────────────────────────────────────────┐
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│ MAMBA F722S (FC) │
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│ (Middle Plate — foam mounted) │
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│ │
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│ USB-C ──── Orin (CDC serial, primary link) │
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│ │
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│ USART2 (PA2=TX, PA3=RX) ──── Hoverboard ESC (26400 baud) │
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│ UART4 (PA0=TX, PA1=RX) ──── ELRS RX (CRSF, 420000 baud) │
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│ USART6 (PC6=TX, PC7=RX) ──── Orin UART fallback │
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│ UART5 (PC12=TX, PD2=RX) ─── Debug (optional) │
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│ │
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│ SPI1 ─── MPU6000 IMU (on-board, CW270) │
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│ I2C1 ─── BMP280 baro (on-board, disabled) │
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│ ADC ──── Battery voltage (PC1) + Current (PC3) │
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│ PB3 ──── WS2812B LED strip │
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│ PB2 ──── Buzzer │
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│ │
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└─────────────────────────────────────────────────────────────────────┘
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│ USART2 │ UART4
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│ PA2=TX → ESC RX │ PA0=TX → ELRS TX
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│ PA3=RX ← ESC TX │ PA1=RX ← ELRS RX
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│ GND ─── GND │ GND ─── GND
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▼ ▼
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┌────────────────────────┐ ┌──────────────────────────┐
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│ HOVERBOARD ESC │ │ ELRS 2.4GHz RX │
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│ (Bottom Plate) │ │ (beside FC) │
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│ │ │ │
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│ 2× BLDC hub motors │ │ CRSF protocol │
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│ 26400 baud UART │ │ 420000 baud │
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│ Frame: [0xABCD] │ │ BetaFPV 1W TX → RX │
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│ [steer][speed][csum] │ │ CH3=speed CH4=steer │
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│ │ │ CH5=arm CH6=mode │
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└────────────────────────┘ └──────────────────────────┘
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│
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┌────┴────┐
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▼ ▼
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🛞 LEFT RIGHT 🛞
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MOTOR MOTOR
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## Wire-by-Wire Connections
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### 1. Orin ↔ FC (Primary: USB CDC)
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| From | To | Wire Color | Notes |
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|------|----|-----------|-------|
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| Orin USB-C port | FC USB-C port | USB cable | Data only, FC powered from 5V bus |
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- Device: `/dev/ttyACM0` → symlink `/dev/stm32-bridge`
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- Baud: 921600, 8N1
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- Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)
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### 2. Orin ↔ FC (Fallback: Hardware UART)
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| Orin Pin | Signal | FC Pin | FC Signal |
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|----------|--------|--------|-----------|
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| Pin 8 | TXD0 | PC7 | USART6 RX |
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| Pin 10 | RXD0 | PC6 | USART6 TX |
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| Pin 6 | GND | GND | GND |
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- Jetson device: `/dev/ttyTHS0`
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- Baud: 921600, 8N1
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- Voltage: 3.3V both sides (no level shifter needed)
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- **Cross-connect:** Orin TX → FC RX, Orin RX ← FC TX
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### 3. FC ↔ Hoverboard ESC
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| FC Pin | Signal | ESC Pin | Notes |
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|--------|--------|---------|-------|
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| PA2 | USART2 TX | RX | FC sends speed/steer commands |
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| PA3 | USART2 RX | TX | ESC sends feedback (optional) |
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| GND | GND | GND | Common ground |
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- Baud: 26400, 8N1
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- Protocol: Binary frame — `[0xABCD][steer:int16][speed:int16][checksum:uint16]`
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- Speed range: -1000 to +1000
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- **Keep wires short and twisted** (EMI from ESC)
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### 4. FC ↔ ELRS Receiver
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| FC Pin | Signal | ELRS Pin | Notes |
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|--------|--------|----------|-------|
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| PA0 | UART4 TX | RX | Telemetry to TX (optional) |
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| PA1 | UART4 RX | TX | CRSF frames from RX |
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| GND | GND | GND | Common ground |
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| 5V | — | VCC | Power ELRS from 5V bus |
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- Baud: 420000 (CRSF protocol)
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- Failsafe: disarm after 300ms without frame
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### 5. Power Distribution
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```
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BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
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│
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├── 5V BEC/regulator ──┬── Orin (USB-C PD or barrel jack)
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│ ├── FC (via USB or 5V pad)
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│ ├── ELRS RX (5V)
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│ ├── WS2812B LEDs (5V)
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│ └── RPLIDAR (5V via USB)
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│
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└── Battery monitor ──── FC ADC (PC1=voltage, PC3=current)
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```
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### 6. Sensors on Orin (USB/CSI)
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| Device | Interface | Orin Port | Device Node |
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|--------|-----------|-----------|-------------|
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| RealSense D435i | USB 3.1 | USB-A (blue) | `/dev/bus/usb/...` |
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| RPLIDAR A1M8 | USB-UART | USB-A | `/dev/rplidar` |
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| IMX219 front+left | MIPI CSI-2 | CSI-A (J5) | `/dev/video0,2` |
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| IMX219 rear+right | MIPI CSI-2 | CSI-B (J8) | `/dev/video4,6` |
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| 1TB NVMe | PCIe Gen3 ×4 | M.2 Key M | `/dev/nvme0n1` |
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## FC UART Summary (MAMBA F722S)
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| UART | Pins | Baud | Assignment | Notes |
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|------|------|------|------------|-------|
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| USART1 | PB6=TX, PB7=RX | — | SmartAudio/VTX | Unused in SaltyLab |
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| USART2 | PA2=TX, PA3=RX | 26400 | Hoverboard ESC | Binary motor commands |
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| USART3 | PB10=TX, PB11=RX | — | Available | Was SBUS default |
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| UART4 | PA0=TX, PA1=RX | 420000 | ELRS RX (CRSF) | RC control |
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| UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional |
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| USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link |
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| USB CDC | USB-C | 921600 | Jetson primary | `/dev/stm32-bridge` |
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## Data Flow
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```
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┌──────────────┐
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│ ELRS TX │ (in your hand)
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│ (2.4GHz) │
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└──────┬───────┘
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│ radio
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┌──────▼───────┐
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│ ELRS RX │ CRSF 420kbaud
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└──────┬───────┘
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│ UART4
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┌────────────▼────────────┐
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│ MAMBA F722S │
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│ │
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│ MPU6000 → Balance PID │
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│ CRSF → Mode Manager │
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│ Safety Monitor │
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│ │
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└──┬──────────┬───────────┘
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USART2 ─────┘ └───── USB CDC / USART6
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26400 baud 921600 baud
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│ │
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▼ ▼
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┌────────────────┐ ┌───────────────────┐
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│ Hoverboard ESC │ │ Orin Nano Super │
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│ │ │ │
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│ L motor R motor│ │ SLAM / Nav2 / AI │
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│ 🛞 🛞 │ │ Person following │
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└────────────────┘ │ cmd_vel → FC │
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└───────────────────┘
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```
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