Merge pull request 'docs: SAUL-TEE full ESP32-S3 system reference (arch migration)' (#712) from sl-firmware/arch-esp32-migration into main
This commit is contained in:
commit
19be6bbe11
@ -7,7 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
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### Jetson Autonomous Arming
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- Command: `A\n` (single byte 'A' followed by newline)
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- Sent via USB CDC to the STM32 firmware
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- Sent via USB CDC to the ESP32 BALANCE firmware
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- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
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- Works even when RC is not connected or not armed
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@ -42,7 +42,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
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## Command Protocol
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### From Jetson to STM32 (USB CDC)
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### From Jetson to ESP32 BALANCE (USB CDC)
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```
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A — Request arm (triggers safety hold, then motors enable)
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D — Request disarm (immediate motor stop)
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@ -52,7 +52,7 @@ H — Heartbeat (refresh timeout timer, every 500ms)
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C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
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```
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### From STM32 to Jetson (USB CDC)
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### From ESP32 BALANCE to Jetson (USB CDC)
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Motor commands are gated by `bal.state == BALANCE_ARMED`:
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- When ARMED: Motor commands sent every 20ms (50 Hz)
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- When DISARMED: Zero sent every 20ms (prevents ESC timeout)
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17
CLAUDE.md
17
CLAUDE.md
@ -1,14 +1,23 @@
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# SaltyLab Firmware — Agent Playbook
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## Project
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Self-balancing two-wheeled robot: STM32F722 flight controller, hoverboard hub motors, Jetson Nano for AI/SLAM.
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**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
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Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
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| Board | Role |
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|-------|------|
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| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
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| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
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| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
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> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
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## Team
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| Agent | Role | Focus |
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|-------|------|-------|
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| **sl-firmware** | Embedded Firmware Lead | STM32 HAL, USB CDC debugging, SPI/UART, PlatformIO, DFU bootloader |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Nano, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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## Status
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USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
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19
TEAM.md
19
TEAM.md
@ -1,12 +1,13 @@
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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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**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
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Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
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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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- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
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- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
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- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
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---
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@ -14,10 +15,10 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
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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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- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
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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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- SPI + UART + USB coexistence on ESP32
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- PlatformIO or bare-metal ESP32 toolchain
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- DFU bootloader implementation
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**Nice-to-have:**
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@ -25,7 +26,7 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
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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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**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.
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### 2. Control Systems / Robotics Engineer
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**Must-have:**
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@ -61,7 +62,7 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
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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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| FC | ESP32 BALANCE (ESP32RET6, 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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@ -127,7 +127,7 @@ loop — USB would never enumerate cleanly.
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| LED2 | PC15 | GPIO |
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| Buzzer | PB2 | GPIO/TIM4_CH3 |
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MCU: STM32F722RET6 (MAMBA F722S FC, Betaflight target DIAT-MAMBAF722_2022B)
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MCU: ESP32RET6 (ESP32 BALANCE FC, Betaflight target DIAT-MAMBAF722_2022B)
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---
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@ -56,10 +56,15 @@
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3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
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4. Insert battery pack; route Velcro straps through slots and cinch.
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### 7 FC mount (MAMBA F722S)
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### 7 MCU mount (ESP32 BALANCE + ESP32 IO)
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> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE retired. Two ESP32 boards replace it.
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> Board dimensions and hole patterns TBD — await spec from max before machining mount plate.
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1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
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2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque.
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3. Orient USB-C port toward front of robot for cable access.
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2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only.
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3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions.
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4. Orient USB connectors toward front of robot for cable access.
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### 8 Jetson Nano mount plate
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1. Press or thread M3 nylon standoffs (8mm) into plate holes.
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@ -86,7 +91,8 @@
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| Wheelbase (axle C/L to C/L) | 600 mm | ±1 mm |
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| Motor fork slot width | 24 mm | +0.5 / 0 |
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| Motor fork dropout depth | 60 mm | ±0.5 mm |
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| FC hole pattern | 30.5 × 30.5 mm | ±0.2 mm |
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| ESP32 BALANCE hole pattern | TBD — await spec from max | ±0.2 mm |
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| ESP32 IO hole pattern | TBD — await spec from max | ±0.2 mm |
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| Jetson hole pattern | 58 × 58 mm | ±0.2 mm |
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| Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm |
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@ -41,7 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
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| 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` |
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| 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` |
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| 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative |
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| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | MAMBA F722S vibration isolation |
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| 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) |
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| 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
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### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
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@ -88,12 +88,16 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
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## Electronics Mounts
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> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) is retired.
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> Replaced by **ESP32 BALANCE** + **ESP32 IO**. Board dimensions and hole patterns TBD — await spec from max.
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
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| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
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| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
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| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
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| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE |
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| 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O |
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| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation |
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| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads |
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| 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
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| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
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---
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@ -144,8 +148,8 @@ Slide entire carousel up/down the stem with M6 collar bolts loosened. Tighten at
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| 26 | M6×60 SHCS | 4 | ISO 4762, SS | Collar clamping bolts |
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| 27 | M6 hex nut | 4 | ISO 4032, SS | Captured in collar pockets |
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| 28 | M6×12 set screw | 2 | ISO 4026, SS cup-point | Stem height lock (1 per collar half) |
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| 29 | M3×10 SHCS | 12 | ISO 4762, SS | FC mount + miscellaneous |
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| 30 | M3×6 BHCS | 4 | ISO 4762, SS | FC board bolts |
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| 29 | M3×10 SHCS | 12 | ISO 4762, SS | ESP32 mount + miscellaneous |
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| 30 | M3×6 BHCS | 4 | ISO 4762, SS | ESP32 board bolts (qty TBD pending board spec) |
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| 31 | Axle lock nut (match axle tip thread) | 4 | Flanged, confirm thread | 2 per motor |
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| 32 | Flat washer M5 | 32 | SS | |
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| 33 | Flat washer M4 | 32 | SS | |
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@ -104,7 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio
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| Component | Thermal strategy | Max junction | Enclosure budget |
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|-----------|-----------------|-------------|-----------------|
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| Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case |
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| FC (MAMBA F722S) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
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| FC (ESP32 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
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| ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
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| D435i | Passive; housing vent gap on rear cap | 45 °C surface | — |
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@ -2,22 +2,29 @@
|
||||
|
||||
You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read this entire file before touching anything.
|
||||
|
||||
## Project Overview
|
||||
## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)
|
||||
|
||||
A hoverboard-based balancing robot with two compute layers:
|
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1. **FC (Flight Controller)** — MAMBA F722S (STM32F722RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer.
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2. **Jetson Nano** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently.
|
||||
Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
|
||||
|
||||
| Board | Role |
|
||||
|-------|------|
|
||||
| **ESP32-S3 BALANCE** | Waveshare Touch LCD 1.28 (CH343 USB). QMI8658 IMU, PID loop, CAN→VESC L(68)/R(56), GC9A01 LCD |
|
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| **ESP32-S3 IO** | Bare devkit (JTAG USB). TBS Crossfire RC (UART0), ELRS failover (UART2), BTS7960 motors, NFC/baro/ToF, WS2812, buzzer/horn/headlight/fan |
|
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| **Jetson Orin** | CANable2 USB→CAN. Cmds on 0x300–0x303, telemetry on 0x400–0x401 |
|
||||
|
||||
```
|
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Jetson (speed+steer via UART1) ←→ ELRS RC (UART3, kill switch)
|
||||
│
|
||||
▼
|
||||
MAMBA F722S (MPU6000 IMU, PID balance)
|
||||
│
|
||||
▼ UART2
|
||||
Hoverboard ESC (FOC) → 2× 8" hub motors
|
||||
Jetson Orin ──CANable2──► CAN 500kbps ◄───────────────────────┐
|
||||
│ │
|
||||
ESP32-S3 BALANCE ←─UART 460800─► ESP32-S3 IO
|
||||
(QMI8658, PID loop) (BTS7960, RC, sensors)
|
||||
│ CAN 500kbps
|
||||
┌─────────┴──────────┐
|
||||
VESC Left (ID 68) VESC Right (ID 56)
|
||||
```
|
||||
|
||||
Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`
|
||||
Legacy `src/` STM32 HAL code is **archived — do not extend.**
|
||||
|
||||
## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
|
||||
|
||||
This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, and launch the frame. Every firmware change must preserve these invariants:
|
||||
@ -35,7 +42,7 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an
|
||||
## Repository Layout
|
||||
|
||||
```
|
||||
firmware/ # STM32 HAL firmware (PlatformIO)
|
||||
firmware/ # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived)
|
||||
├── src/
|
||||
│ ├── main.c # Entry point, clock config, main loop
|
||||
│ ├── icm42688.c # ICM-42688-P SPI driver (backup IMU — currently broken)
|
||||
@ -82,11 +89,11 @@ PLATFORM.md # Hardware platform reference
|
||||
|
||||
## Hardware Quick Reference
|
||||
|
||||
### MAMBA F722S Flight Controller
|
||||
### ESP32 BALANCE Flight Controller
|
||||
|
||||
| Spec | Value |
|
||||
|------|-------|
|
||||
| MCU | STM32F722RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
|
||||
| MCU | ESP32RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) |
|
||||
| Primary IMU | MPU6000 (WHO_AM_I = 0x68) |
|
||||
| IMU Bus | SPI1: PA5=SCK, PA6=MISO, PA7=MOSI, CS=PA4 |
|
||||
| IMU EXTI | PC4 (data ready interrupt) |
|
||||
@ -160,7 +167,7 @@ PLATFORM.md # Hardware platform reference
|
||||
### Critical Lessons Learned (DON'T REPEAT THESE)
|
||||
|
||||
1. **SysTick_Handler with HAL_IncTick() is MANDATORY** — without it, HAL_Delay() and every HAL timeout hangs forever. This bricked us multiple times.
|
||||
2. **DCache breaks SPI on STM32F7** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
|
||||
2. **DCache breaks SPI on ESP32** — disable DCache or use cache-aligned DMA buffers with clean/invalidate. We disable it.
|
||||
3. **`-(int)0 == 0`** — checking `if (-result)` to detect errors doesn't work when result is 0 (success and failure look the same). Always use explicit error codes.
|
||||
4. **NEVER auto-run untested code on_boot** — we bricked the NSPanel 3x doing this. Test manually first.
|
||||
5. **USB CDC needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception.
|
||||
@ -172,7 +179,7 @@ The firmware supports reboot-to-DFU via USB command:
|
||||
2. Firmware writes `0xDEADBEEF` to RTC backup register 0
|
||||
3. `NVIC_SystemReset()` — clean hardware reset
|
||||
4. On boot, `checkForBootloader()` (called after `HAL_Init()`) reads the magic
|
||||
5. If magic found: clears it, remaps system memory, jumps to STM32 bootloader at `0x1FF00000`
|
||||
5. If magic found: clears it, remaps system memory, jumps to ESP32 BALANCE bootloader at `0x1FF00000`
|
||||
6. Board appears as DFU device, ready for `dfu-util` flash
|
||||
|
||||
### Build & Flash
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# Face LCD Animation System (Issue #507)
|
||||
|
||||
Implements expressive face animations on an STM32 LCD display with 5 core emotions and smooth transitions.
|
||||
Implements expressive face animations on an ESP32 LCD display with 5 core emotions and smooth transitions.
|
||||
|
||||
## Features
|
||||
|
||||
@ -82,7 +82,7 @@ STATUS → Echo current emotion + idle state
|
||||
- Colors: Monochrome (1-bit) or RGB565
|
||||
|
||||
### Microcontroller
|
||||
- STM32F7xx (Mamba F722S)
|
||||
- ESP32xx (ESP32 BALANCE)
|
||||
- Available UART: USART3 (PB10=TX, PB11=RX)
|
||||
- Clock: 216 MHz
|
||||
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# SaltyLab — Self-Balancing Indoor Bot 🔬
|
||||
# SAUL-TEE — Self-Balancing Wagon Robot 🔬
|
||||
|
||||
Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
|
||||
Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
|
||||
|
||||
## ⚠️ SAFETY — TOP PRIORITY
|
||||
|
||||
@ -32,8 +32,10 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
|
||||
|------|--------|
|
||||
| 2x 8" pneumatic hub motors (36 PSI) | ✅ Have |
|
||||
| 1x hoverboard ESC (FOC firmware) | ✅ Have |
|
||||
| 1x Drone FC (STM32F745 + MPU-6000) | ✅ Have — balance brain |
|
||||
| 1x Jetson Nano + Noctua fan | ✅ Have |
|
||||
| ~~1x Drone FC (ESP3245 + MPU-6000)~~ | ❌ RETIRED — replaced by ESP32 BALANCE |
|
||||
| 1x ESP32 BALANCE (PID loop) | ⬜ TBD — spec from max |
|
||||
| 1x ESP32 IO (motors/sensors/comms) | ⬜ TBD — spec from max |
|
||||
| 1x Jetson Orin + Noctua fan | ✅ Have |
|
||||
| 1x RealSense D435i | ✅ Have |
|
||||
| 1x RPLIDAR A1M8 | ✅ Have |
|
||||
| 1x battery pack (36V) | ✅ Have |
|
||||
@ -50,13 +52,13 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
|
||||
| 1x ELRS receiver (matching) | ✅ Have — mounts on FC UART |
|
||||
|
||||
### Drone FC Details — GEPRC GEP-F7 AIO
|
||||
- **MCU:** STM32F722RET6 (216MHz Cortex-M7, 512KB flash, 256KB RAM)
|
||||
- **MCU:** ESP32RET6 (216MHz Cortex-M7, 512KB flash, 256KB RAM)
|
||||
- **IMU:** TDK ICM-42688-P (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one!
|
||||
- **Flash:** 8MB Winbond W25Q64 (blackbox, unused)
|
||||
- **OSD:** AT7456E (unused)
|
||||
- **4-in-1 ESC:** Built into AIO board (unused — we use hoverboard ESC)
|
||||
- **DFU mode:** Hold yellow BOOT button while plugging USB
|
||||
- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL)
|
||||
- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL) — LEGACY, see ESP32 BALANCE
|
||||
- **UART pads (confirmed from silkscreen):**
|
||||
- T1/R1 (bottom) → USART1 (PA9/PA10) → Jetson
|
||||
- T2/R2 (right top) → USART2 (PA2/PA3) → Hoverboard ESC
|
||||
@ -95,7 +97,7 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
|
||||
## Self-Balancing Control — Custom Firmware on Drone FC
|
||||
|
||||
### Why a Drone FC?
|
||||
The F745 board is just a premium STM32 dev board with a high-quality IMU (MPU-6000) already soldered on, proper voltage regulation, and multiple UARTs broken out. We write a lean custom balance firmware (~50 lines of C).
|
||||
The F745 board was a premium STM32 dev board (legacy; now replaced by ESP32 BALANCE) with a high-quality IMU (MPU-6000) already soldered on, proper voltage regulation, and multiple UARTs broken out. We write a lean custom balance firmware (~50 lines of C).
|
||||
|
||||
### Architecture
|
||||
```
|
||||
@ -142,7 +144,7 @@ GND ──→ GND
|
||||
5V ←── 5V
|
||||
```
|
||||
|
||||
### Custom Firmware (STM32 C)
|
||||
### Custom Firmware (Legacy STM32 C — archived)
|
||||
|
||||
```c
|
||||
// Core balance loop — runs in timer interrupt @ 1-8kHz
|
||||
@ -280,8 +282,8 @@ GND ──→ Common ground
|
||||
```
|
||||
|
||||
### Dev Tools
|
||||
- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD
|
||||
- **IDE:** PlatformIO + STM32 HAL, or STM32CubeIDE
|
||||
- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD (legacy)
|
||||
- **IDE:** PlatformIO + ESP-IDF (new) or STM32 HAL/STM32CubeIDE (legacy)
|
||||
- **Debug:** SWD via ST-Link (or use FC's USB as virtual COM for printf debug)
|
||||
|
||||
## Physical Design
|
||||
@ -375,7 +377,7 @@ GND ──→ Common ground
|
||||
- [ ] Install hardware kill switch inline with 36V battery (NC — press to kill)
|
||||
- [ ] Set up ceiling tether point above test area (rated for >15kg)
|
||||
- [ ] Clear test area: 3m radius, no loose items, shoes on
|
||||
- [ ] Set up PlatformIO project for STM32F745 (STM32 HAL)
|
||||
- [ ] Set up PlatformIO project for ESP32 BALANCE (ESP-IDF)
|
||||
- [ ] Write MPU-6000 SPI driver (read gyro+accel, complementary filter)
|
||||
- [ ] Write PID balance loop with ALL safety checks:
|
||||
- ±25° tilt cutoff → disarm, require manual re-arm
|
||||
|
||||
222
docs/SAUL-TEE-SYSTEM-REFERENCE.md
Normal file
222
docs/SAUL-TEE-SYSTEM-REFERENCE.md
Normal file
@ -0,0 +1,222 @@
|
||||
# SAUL-TEE System Reference — SaltyLab ESP32 Architecture
|
||||
*Authoritative source of truth for hardware, pins, protocols, and CAN assignments.*
|
||||
*Spec from hal@Orin, 2026-04-04.*
|
||||
|
||||
---
|
||||
|
||||
## Overview
|
||||
|
||||
| Board | Role | MCU | USB chip |
|
||||
|-------|------|-----|----------|
|
||||
| **ESP32-S3 BALANCE** | PID balance loop, CAN→VESCs, LCD display | ESP32-S3 | CH343 USB-serial |
|
||||
| **ESP32-S3 IO** | RC input, motor drivers, sensors, LEDs, peripherals | ESP32-S3 | JTAG USB (native) |
|
||||
|
||||
**Robot form factor:** 4-wheel wagon — 870 × 510 × 550 mm, ~23 kg
|
||||
**Power:** 36 V LiPo, DC-DC → 5 V and 12 V rails
|
||||
**Orin connection:** CANable2 USB → 500 kbps CAN (same bus as VESCs)
|
||||
|
||||
---
|
||||
|
||||
## ESP32-S3 BALANCE
|
||||
|
||||
### Board
|
||||
Waveshare ESP32-S3 Touch LCD 1.28
|
||||
- GC9A01 round 240×240 LCD
|
||||
- CST816S capacitive touch
|
||||
- QMI8658 6-axis IMU (accel + gyro, SPI)
|
||||
- CH343 USB-to-serial chip
|
||||
|
||||
### Pin Assignments
|
||||
|
||||
| Function | GPIO | Notes |
|
||||
|----------|------|-------|
|
||||
| **QMI8658 IMU (SPI)** | | |
|
||||
| SCK | IO39 | |
|
||||
| MOSI | IO38 | |
|
||||
| MISO | IO40 | |
|
||||
| CS | IO41 | |
|
||||
| INT1 | IO42 | data-ready interrupt |
|
||||
| **GC9A01 LCD (shares SPI bus)** | | |
|
||||
| CS | IO12 | |
|
||||
| DC | IO11 | |
|
||||
| RST | IO10 | |
|
||||
| BL | IO9 | PWM backlight |
|
||||
| **CST816S Touch (I2C)** | | |
|
||||
| SDA | IO4 | |
|
||||
| SCL | IO5 | |
|
||||
| INT | IO6 | |
|
||||
| RST | IO7 | |
|
||||
| **CAN — SN65HVD230 transceiver** | | 500 kbps |
|
||||
| TX | IO43 | → SN65HVD230 TXD |
|
||||
| RX | IO44 | ← SN65HVD230 RXD |
|
||||
| **Inter-board UART (to IO board)** | | 460800 baud |
|
||||
| TX | IO17 | |
|
||||
| RX | IO18 | |
|
||||
|
||||
### Responsibilities
|
||||
- Read QMI8658 @ 1 kHz (SPI, INT1-driven)
|
||||
- Complementary filter → pitch angle
|
||||
- PID balance loop (configurable Kp / Ki / Kd)
|
||||
- Send VESC speed commands via CAN (ID 68 = left, ID 56 = right)
|
||||
- Receive Orin velocity+mode commands via CAN (0x300–0x303)
|
||||
- Receive IO board status (arming, RC, faults) via UART protocol
|
||||
- Drive GC9A01 LCD: pitch, speed, battery %, error state
|
||||
- Enforce tilt cutoff at ±25°; IWDG 50 ms timeout
|
||||
- Publish telemetry on CAN 0x400–0x401 at 10 Hz
|
||||
|
||||
---
|
||||
|
||||
## ESP32-S3 IO
|
||||
|
||||
### Board
|
||||
Bare ESP32-S3 devkit (JTAG USB)
|
||||
|
||||
### Pin Assignments
|
||||
|
||||
| Function | GPIO | Notes |
|
||||
|----------|------|-------|
|
||||
| **TBS Crossfire RC — UART0 (primary)** | | |
|
||||
| RX | IO44 | CRSF frames from Crossfire RX |
|
||||
| TX | IO43 | telemetry to Crossfire TX |
|
||||
| **ELRS failover — UART2** | | active if CRSF absent >100 ms |
|
||||
| RX | IO16 | |
|
||||
| TX | IO17 | |
|
||||
| **BTS7960 Motor Driver — Left** | | |
|
||||
| RPWM | IO1 | forward PWM |
|
||||
| LPWM | IO2 | reverse PWM |
|
||||
| R_EN | IO3 | right enable |
|
||||
| L_EN | IO4 | left enable |
|
||||
| **BTS7960 Motor Driver — Right** | | |
|
||||
| RPWM | IO5 | |
|
||||
| LPWM | IO6 | |
|
||||
| R_EN | IO7 | |
|
||||
| L_EN | IO8 | |
|
||||
| **I2C bus** | | |
|
||||
| SDA | IO11 | |
|
||||
| SCL | IO12 | |
|
||||
| NFC (PN532 or similar) | I2C | |
|
||||
| Barometer (BMP280/BMP388) | I2C | |
|
||||
| ToF (VL53L0X/VL53L1X) | I2C | |
|
||||
| **WS2812B LEDs** | | |
|
||||
| Data | IO13 | |
|
||||
| **Outputs** | | |
|
||||
| Horn / buzzer | IO14 | PWM tone |
|
||||
| Headlight | IO15 | PWM or digital |
|
||||
| Fan | IO16 | (if ELRS not fitted on UART2) |
|
||||
| **Inputs** | | |
|
||||
| Arming button | IO9 | active-low, hold 3 s to arm |
|
||||
| Kill switch sense | IO10 | hardware estop detect |
|
||||
| **Inter-board UART (to BALANCE board)** | | 460800 baud |
|
||||
| TX | IO18 | |
|
||||
| RX | IO21 | |
|
||||
|
||||
### Responsibilities
|
||||
- Parse CRSF frames (TBS Crossfire, primary)
|
||||
- Parse ELRS frames (failover, activates if no CRSF for >100 ms)
|
||||
- Drive BTS7960 left/right PWM motor drivers
|
||||
- Read NFC, barometer, ToF via I2C
|
||||
- Drive WS2812B LEDs (armed/fault/idle patterns)
|
||||
- Control horn, headlight, fan, buzzer
|
||||
- Manage arming: hold button 3 s while upright → send ARM to BALANCE
|
||||
- Monitor kill switch input → immediate motor off + FAULT frame
|
||||
- Forward RC + sensor data to BALANCE via binary UART protocol
|
||||
- Report faults and RC-loss upstream
|
||||
|
||||
---
|
||||
|
||||
## Inter-Board Binary Protocol (UART @ 460800 baud)
|
||||
|
||||
```
|
||||
[0xAA][LEN][TYPE][PAYLOAD × LEN bytes][CRC8]
|
||||
```
|
||||
- `0xAA` — start byte
|
||||
- `LEN` — payload length in bytes (uint8)
|
||||
- `TYPE` — message type (uint8)
|
||||
- `CRC8` — CRC-8/MAXIM over TYPE + PAYLOAD bytes
|
||||
|
||||
### IO → BALANCE Messages
|
||||
|
||||
| TYPE | Name | Payload | Description |
|
||||
|------|------|---------|-------------|
|
||||
| 0x01 | RC_CMD | int16 throttle, int16 steer, uint8 flags | flags: bit0=armed, bit1=kill |
|
||||
| 0x02 | SENSOR | uint16 tof_mm, int16 baro_delta_pa, uint8 nfc_present | |
|
||||
| 0x03 | FAULT | uint8 fault_flags | bit0=rc_loss, bit1=motor_fault, bit2=estop |
|
||||
|
||||
### BALANCE → IO Messages
|
||||
|
||||
| TYPE | Name | Payload | Description |
|
||||
|------|------|---------|-------------|
|
||||
| 0x10 | STATE | int16 pitch_x100, int16 pid_out, uint8 error_state | |
|
||||
| 0x11 | LED_CMD | uint8 pattern, uint8 r, uint8 g, uint8 b | |
|
||||
| 0x12 | BUZZER | uint8 tone_id, uint16 duration_ms | |
|
||||
|
||||
---
|
||||
|
||||
## CAN Bus — 500 kbps
|
||||
|
||||
### Node Assignments
|
||||
|
||||
| Node | CAN ID | Role |
|
||||
|------|--------|------|
|
||||
| VESC Left motor | **68** | Receives speed/duty via VESC CAN protocol |
|
||||
| VESC Right motor | **56** | Receives speed/duty via VESC CAN protocol |
|
||||
| ESP32-S3 BALANCE | — | Sends VESC commands; publishes telemetry |
|
||||
| Jetson Orin (CANable2) | — | Sends velocity commands; receives telemetry |
|
||||
|
||||
### Frame Table
|
||||
|
||||
| CAN ID | Direction | Description | Rate |
|
||||
|--------|-----------|-------------|------|
|
||||
| 0x300 | Orin → BALANCE | Velocity cmd: int16 speed_mmps, int16 steer_mrad | 20 Hz |
|
||||
| 0x301 | Orin → BALANCE | PID tuning: float Kp, float Ki, float Kd (3×4B IEEE-754) | on demand |
|
||||
| 0x302 | Orin → BALANCE | Mode: uint8 (0=off, 1=balance, 2=manual, 3=estop) | on demand |
|
||||
| 0x303 | Orin → BALANCE | Config: uint16 tilt_limit_x100, uint16 max_speed_mmps | on demand |
|
||||
| 0x400 | BALANCE → Orin | Telemetry A: int16 pitch_x100, int16 pid_out, int16 speed_mmps, uint8 state | 10 Hz |
|
||||
| 0x401 | BALANCE → Orin | Telemetry B: int16 vesc_l_rpm, int16 vesc_r_rpm, uint16 battery_mv, uint8 faults | 10 Hz |
|
||||
|
||||
---
|
||||
|
||||
## RC Channel Mapping (TBS Crossfire / ELRS CRSF)
|
||||
|
||||
| CH | Function | Range (µs) | Notes |
|
||||
|----|----------|------------|-------|
|
||||
| 1 | Steer (Roll) | 988–2012 | ±100% → ±max steer |
|
||||
| 2 | Throttle (Pitch) | 988–2012 | forward / back speed |
|
||||
| 3 | Spare | 988–2012 | |
|
||||
| 4 | Spare | 988–2012 | |
|
||||
| 5 | ARM switch | <1500=disarm, >1500=arm | SB on TX |
|
||||
| 6 | **ESTOP** | <1500=normal, >1500=kill | SC on TX — checked first every loop |
|
||||
| 7 | Speed limit | 988–2012 | maps to 10–100% speed cap |
|
||||
| 8 | Spare | | |
|
||||
|
||||
**RC loss:** No valid CRSF frame >100 ms → IO sends FAULT(rc_loss) → BALANCE cuts motors.
|
||||
|
||||
---
|
||||
|
||||
## Safety Invariants
|
||||
|
||||
1. **Motors NEVER spin on power-on** — 3 s button hold required while upright
|
||||
2. **Tilt cutoff ±25°** — immediate motor zero, manual re-arm required
|
||||
3. **IWDG 50 ms** — firmware hang → motors cut
|
||||
4. **ESTOP RC channel** checked first in every loop iteration
|
||||
5. **Orin CAN timeout 500 ms** → revert to RC-only mode
|
||||
6. **Speed hard cap** — start at 10%, increase in 10% increments only after stable tethered testing
|
||||
7. **Never untethered** until stable for 5+ continuous minutes tethered
|
||||
|
||||
---
|
||||
|
||||
## USB Debug Commands (both boards, serial console)
|
||||
|
||||
```
|
||||
help list commands
|
||||
status print pitch, PID state, CAN stats, UART stats
|
||||
pid <Kp> <Ki> <Kd> set PID gains
|
||||
arm arm (if upright and safe)
|
||||
disarm disarm immediately
|
||||
estop emergency stop (requires re-arm)
|
||||
tilt_limit <deg> set tilt cutoff angle (default 25)
|
||||
speed_limit <pct> set speed cap percentage (default 10)
|
||||
can_stats CAN bus counters (tx/rx/errors/busoff)
|
||||
uart_stats inter-board UART frame counters
|
||||
reboot soft reboot
|
||||
```
|
||||
@ -2,7 +2,7 @@
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8">
|
||||
<title>GEPRC GEP-F722-45A AIO — Board Layout</title>
|
||||
<title>GEPRC GEP-F722-45A AIO — Board Layout (Legacy / Archived)</title>
|
||||
<style>
|
||||
* { margin: 0; padding: 0; box-sizing: border-box; }
|
||||
body { background: #1a1a2e; color: #eee; font-family: 'Courier New', monospace; display: flex; flex-direction: column; align-items: center; padding: 20px; }
|
||||
@ -112,8 +112,8 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout</h1>
|
||||
<p class="subtitle">STM32F722RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
|
||||
<h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout (Legacy / Archived)</h1>
|
||||
<p class="subtitle">ESP32RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
|
||||
|
||||
<div class="container">
|
||||
<div class="board-wrap">
|
||||
@ -125,7 +125,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
|
||||
<div class="mount br"></div>
|
||||
|
||||
<!-- MCU -->
|
||||
<div class="mcu"><div class="dot"></div>STM32<br>F722RET6<br>216MHz</div>
|
||||
<div class="mcu"><div class="dot"></div>ESP32<br>(legacy:<br>F722RET6)</div>
|
||||
|
||||
<!-- IMU -->
|
||||
<div class="imu">ICM<br>42688</div>
|
||||
|
||||
@ -1,6 +1,13 @@
|
||||
# SaltyLab Wiring Diagram
|
||||
# SaltyLab / SAUL-TEE Wiring Reference
|
||||
|
||||
## System Overview
|
||||
> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S / STM32 retired.
|
||||
> New stack: **ESP32-S3 BALANCE** + **ESP32-S3 IO** + VESCs on 500 kbps CAN.
|
||||
> **Authoritative reference:** [`docs/SAUL-TEE-SYSTEM-REFERENCE.md`](SAUL-TEE-SYSTEM-REFERENCE.md)
|
||||
> Historical STM32/Mamba wiring below is **obsolete** — retained for reference only.
|
||||
|
||||
---
|
||||
|
||||
## ~~System Overview~~ (OBSOLETE — see SAUL-TEE-SYSTEM-REFERENCE.md)
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────────────────────┐
|
||||
@ -139,7 +146,7 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
|
||||
| 1TB NVMe | PCIe Gen3 ×4 | M.2 Key M | `/dev/nvme0n1` |
|
||||
|
||||
|
||||
## FC UART Summary (MAMBA F722S)
|
||||
## FC UART Summary (MAMBA F722S — OBSOLETE)
|
||||
|
||||
| UART | Pins | Baud | Assignment | Notes |
|
||||
|------|------|------|------------|-------|
|
||||
|
||||
@ -14,7 +14,7 @@ Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
|
||||
| Nav | Nav2 |
|
||||
| Depth camera | Intel RealSense D435i |
|
||||
| LiDAR | RPLIDAR A1M8 |
|
||||
| MCU bridge | STM32F722 (USB CDC @ 921600) |
|
||||
| MCU bridge | ESP32 (USB CDC @ 921600) |
|
||||
|
||||
## Quick Start
|
||||
|
||||
@ -42,7 +42,7 @@ bash scripts/build-and-run.sh shell
|
||||
```
|
||||
jetson/
|
||||
├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
|
||||
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, STM32)
|
||||
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32 BALANCE)
|
||||
├── README.md # This file
|
||||
├── docs/
|
||||
│ ├── pinout.md # GPIO/I2C/UART pinout reference
|
||||
|
||||
@ -34,7 +34,7 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path
|
||||
|
||||
The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
|
||||
|
||||
Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the STM32 firmware.
|
||||
Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.
|
||||
|
||||
## Behavior Tree Sequence
|
||||
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
# /scan — RPLIDAR A1M8 (obstacle layer)
|
||||
# /camera/depth/color/points — RealSense D435i (voxel layer)
|
||||
#
|
||||
# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic.
|
||||
# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
|
||||
@ -31,7 +31,7 @@ services:
|
||||
- ./config:/config:ro
|
||||
devices:
|
||||
- /dev/rplidar:/dev/rplidar
|
||||
- /dev/stm32-bridge:/dev/stm32-bridge
|
||||
- /dev/esp32-bridge:/dev/esp32-bridge
|
||||
- /dev/bus/usb:/dev/bus/usb
|
||||
- /dev/i2c-7:/dev/i2c-7
|
||||
- /dev/video0:/dev/video0
|
||||
@ -97,13 +97,13 @@ services:
|
||||
rgb_camera.profile:=640x480x30
|
||||
"
|
||||
|
||||
# ── STM32 bridge node (bidirectional serial<->ROS2) ────────────────────────
|
||||
stm32-bridge:
|
||||
# ── ESP32 bridge node (bidirectional serial<->ROS2) ────────────────────────
|
||||
esp32-bridge:
|
||||
image: saltybot/ros2-humble:jetson-orin
|
||||
build:
|
||||
context: .
|
||||
dockerfile: Dockerfile
|
||||
container_name: saltybot-stm32-bridge
|
||||
container_name: saltybot-esp32-bridge
|
||||
restart: unless-stopped
|
||||
runtime: nvidia
|
||||
network_mode: host
|
||||
@ -111,13 +111,13 @@ services:
|
||||
- ROS_DOMAIN_ID=42
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
devices:
|
||||
- /dev/stm32-bridge:/dev/stm32-bridge
|
||||
- /dev/esp32-bridge:/dev/esp32-bridge
|
||||
command: >
|
||||
bash -c "
|
||||
source /opt/ros/humble/setup.bash &&
|
||||
ros2 launch saltybot_bridge bridge.launch.py
|
||||
mode:=bidirectional
|
||||
serial_port:=/dev/stm32-bridge
|
||||
serial_port:=/dev/esp32-bridge
|
||||
"
|
||||
|
||||
# ── 4x IMX219 CSI cameras ──────────────────────────────────────────────────
|
||||
@ -192,7 +192,7 @@ services:
|
||||
network_mode: host
|
||||
depends_on:
|
||||
- saltybot-ros2
|
||||
- stm32-bridge
|
||||
- esp32-bridge
|
||||
- csi-cameras
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=42
|
||||
@ -208,8 +208,8 @@ services:
|
||||
"
|
||||
|
||||
|
||||
# -- Remote e-stop bridge (MQTT over 4G -> STM32 CDC) ----------------------
|
||||
# Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to STM32.
|
||||
# -- Remote e-stop bridge (MQTT over 4G -> ESP32 CDC) ----------------------
|
||||
# Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE.
|
||||
# Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
|
||||
remote-estop:
|
||||
image: saltybot/ros2-humble:jetson-orin
|
||||
@ -221,12 +221,12 @@ services:
|
||||
runtime: nvidia
|
||||
network_mode: host
|
||||
depends_on:
|
||||
- stm32-bridge
|
||||
- esp32-bridge
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=42
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
devices:
|
||||
- /dev/stm32-bridge:/dev/stm32-bridge
|
||||
- /dev/esp32-bridge:/dev/esp32-bridge
|
||||
volumes:
|
||||
- ./ros2_ws/src:/ros2_ws/src:rw
|
||||
- ./config:/config:ro
|
||||
@ -316,7 +316,7 @@ services:
|
||||
runtime: nvidia
|
||||
network_mode: host
|
||||
depends_on:
|
||||
- stm32-bridge
|
||||
- esp32-bridge
|
||||
environment:
|
||||
- NVIDIA_VISIBLE_DEVICES=all
|
||||
- NVIDIA_DRIVER_CAPABILITIES=all,audio
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
# Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference
|
||||
## Self-Balancing Robot: STM32F722 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
|
||||
## Self-Balancing Robot: ESP32 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219
|
||||
|
||||
Last updated: 2026-02-28
|
||||
JetPack version: 6.x (L4T R36.x / Ubuntu 22.04)
|
||||
@ -43,21 +43,21 @@ i2cdetect -l
|
||||
|
||||
---
|
||||
|
||||
## 1. STM32F722 Bridge (USB CDC — Primary)
|
||||
## 1. ESP32 Bridge (USB CDC — Primary)
|
||||
|
||||
The STM32 acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
|
||||
The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**.
|
||||
|
||||
### USB CDC Connection
|
||||
| Connection | Detail |
|
||||
|-----------|--------|
|
||||
| Interface | USB Micro-B on STM32 dev board → USB-A on Jetson |
|
||||
| Device node | `/dev/ttyACM0` → symlink `/dev/stm32-bridge` (via udev) |
|
||||
| Baud rate | 921600 (configured in STM32 firmware) |
|
||||
| Interface | USB on ESP32 BALANCE board → USB-A on Jetson |
|
||||
| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) |
|
||||
| Baud rate | 921600 (configured in ESP32 BALANCE firmware) |
|
||||
| Protocol | JSON telemetry RX + ASCII command TX (see bridge docs) |
|
||||
| Power | Powered via robot 5V bus (data-only via USB) |
|
||||
|
||||
### Hardware UART (Fallback — 40-pin header)
|
||||
| Jetson Pin | Signal | STM32 Pin | Notes |
|
||||
| Jetson Pin | Signal | ESP32 Pin | Notes |
|
||||
|-----------|--------|-----------|-------|
|
||||
| Pin 8 (TXD0) | TX → | PA10 (UART1 RX) | Cross-connect TX→RX |
|
||||
| Pin 10 (RXD0) | RX ← | PA9 (UART1 TX) | Cross-connect RX→TX |
|
||||
@ -65,7 +65,7 @@ The STM32 acts as a real-time motor + IMU controller. Communication is via **USB
|
||||
|
||||
**Jetson device node:** `/dev/ttyTHS0`
|
||||
**Baud rate:** 921600, 8N1
|
||||
**Voltage level:** 3.3V — both Jetson Orin and STM32F722 are 3.3V GPIO
|
||||
**Voltage level:** 3.3V — both Jetson Orin and ESP32 are 3.3V GPIO
|
||||
|
||||
```bash
|
||||
# Verify UART
|
||||
@ -75,13 +75,13 @@ sudo usermod -aG dialout $USER
|
||||
picocom -b 921600 /dev/ttyTHS0
|
||||
```
|
||||
|
||||
**ROS2 topics (STM32 bridge node):**
|
||||
**ROS2 topics (ESP32 bridge node):**
|
||||
| ROS2 Topic | Direction | Content |
|
||||
|-----------|-----------|---------
|
||||
| `/saltybot/imu` | STM32→Jetson | IMU data (accel, gyro) at 50Hz |
|
||||
| `/saltybot/balance_state` | STM32→Jetson | Motor cmd, pitch, state |
|
||||
| `/cmd_vel` | Jetson→STM32 | Velocity commands → `C<spd>,<str>\n` |
|
||||
| `/saltybot/estop` | Jetson→STM32 | Emergency stop |
|
||||
| `/saltybot/imu` | ESP32 BALANCE→Jetson | IMU data (accel, gyro) at 50Hz |
|
||||
| `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state |
|
||||
| `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C<spd>,<str>\n` |
|
||||
| `/saltybot/estop` | Jetson→ESP32 BALANCE | Emergency stop |
|
||||
|
||||
---
|
||||
|
||||
@ -266,7 +266,7 @@ sudo mkdir -p /mnt/nvme
|
||||
|------|------|----------|
|
||||
| USB-A (top, blue) | USB 3.1 Gen 1 | RealSense D435i |
|
||||
| USB-A (bottom) | USB 2.0 | RPLIDAR (via USB-UART adapter) |
|
||||
| USB-C | USB 3.1 Gen 1 (+ DP) | STM32 CDC or host flash |
|
||||
| USB-C | USB 3.1 Gen 1 (+ DP) | ESP32 CDC or host flash |
|
||||
| Micro-USB | Debug/flash | JetPack flash only |
|
||||
|
||||
---
|
||||
@ -277,10 +277,10 @@ sudo mkdir -p /mnt/nvme
|
||||
|-------------|----------|---------|----------|
|
||||
| 3 | SDA1 | 3.3V | I2C data (i2c-7) |
|
||||
| 5 | SCL1 | 3.3V | I2C clock (i2c-7) |
|
||||
| 8 | TXD0 | 3.3V | UART TX → STM32 (fallback) |
|
||||
| 10 | RXD0 | 3.3V | UART RX ← STM32 (fallback) |
|
||||
| 8 | TXD0 | 3.3V | UART TX → ESP32 BALANCE (fallback) |
|
||||
| 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) |
|
||||
| USB-A ×2 | — | 5V | D435i, RPLIDAR |
|
||||
| USB-C | — | 5V | STM32 CDC |
|
||||
| USB-C | — | 5V | ESP32 CDC |
|
||||
| CSI-A (J5) | MIPI CSI-2 | — | Cameras front + left |
|
||||
| CSI-B (J8) | MIPI CSI-2 | — | Cameras rear + right |
|
||||
| M.2 Key M | PCIe Gen3 ×4 | — | NVMe SSD |
|
||||
@ -298,9 +298,9 @@ Apply stable device names:
|
||||
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \
|
||||
SYMLINK+="rplidar", MODE="0666"
|
||||
|
||||
# STM32 USB CDC (STMicroelectronics)
|
||||
# ESP32 USB CDC (STMicroelectronics)
|
||||
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \
|
||||
SYMLINK+="stm32-bridge", MODE="0666"
|
||||
SYMLINK+="esp32-bridge", MODE="0666"
|
||||
|
||||
# Intel RealSense D435i
|
||||
SUBSYSTEM=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", \
|
||||
|
||||
@ -56,7 +56,7 @@ sudo jtop
|
||||
|-----------|----------|------------|----------|-----------|-------|
|
||||
| RealSense D435i | 0.3 | 1.5 | 3.5 | USB 3.1 | Peak during boot/init |
|
||||
| RPLIDAR A1M8 | 0.4 | 2.6 | 3.0 | USB (UART adapter) | Motor spinning |
|
||||
| STM32F722 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
|
||||
| ESP32 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V |
|
||||
| 4× IMX219 cameras | 0.2 | 2.0 | 2.4 | MIPI CSI-2 | ~0.5W per camera active |
|
||||
| **Peripheral Subtotal** | **0.9** | **6.1** | **8.9** | | |
|
||||
|
||||
@ -151,7 +151,7 @@ LiPo 4S (16.8V max)
|
||||
├─► DC-DC Buck → 5V 6A ──► Jetson Orin barrel jack (30W)
|
||||
│ (e.g., XL4016E1)
|
||||
│
|
||||
├─► DC-DC Buck → 5V 3A ──► STM32 + logic 5V rail
|
||||
├─► DC-DC Buck → 5V 3A ──► ESP32 + logic 5V rail
|
||||
│
|
||||
└─► Hoverboard ESC ──► Hub motors (48V loop)
|
||||
```
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
# Used by both serial_bridge_node (RX-only) and saltybot_cmd_node (bidirectional)
|
||||
|
||||
# ── Serial ─────────────────────────────────────────────────────────────────────
|
||||
# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied.
|
||||
# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied.
|
||||
serial_port: /dev/ttyACM0
|
||||
baud_rate: 921600
|
||||
timeout: 0.05 # serial readline timeout (seconds)
|
||||
@ -11,7 +11,7 @@ reconnect_delay: 2.0 # seconds between reconnect attempts on serial disconne
|
||||
# ── saltybot_cmd_node (bidirectional) only ─────────────────────────────────────
|
||||
|
||||
# Heartbeat: H\n sent every heartbeat_period seconds.
|
||||
# STM32 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
|
||||
# ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat.
|
||||
heartbeat_period: 0.2 # seconds (= 200ms)
|
||||
|
||||
# Twist → ESC command scaling
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
# cmd_vel_bridge_params.yaml
|
||||
# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 autonomous drive.
|
||||
# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE autonomous drive.
|
||||
#
|
||||
# Run with:
|
||||
# ros2 launch saltybot_bridge cmd_vel_bridge.launch.py
|
||||
@ -7,14 +7,14 @@
|
||||
# ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=0.3
|
||||
|
||||
# ── Serial ─────────────────────────────────────────────────────────────────────
|
||||
# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied.
|
||||
# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied.
|
||||
serial_port: /dev/ttyACM0
|
||||
baud_rate: 921600
|
||||
timeout: 0.05 # serial readline timeout (s)
|
||||
reconnect_delay: 2.0 # seconds between reconnect attempts
|
||||
|
||||
# ── Heartbeat ──────────────────────────────────────────────────────────────────
|
||||
# STM32 jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
|
||||
# ESP32 BALANCE jetson_cmd module reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms).
|
||||
# Keep heartbeat well below that threshold.
|
||||
heartbeat_period: 0.2 # seconds (200ms)
|
||||
|
||||
@ -50,5 +50,5 @@ ramp_rate: 500 # ESC units/second
|
||||
# ── Deadman switch ─────────────────────────────────────────────────────────────
|
||||
# If /cmd_vel is not received for this many seconds, target speed/steer are
|
||||
# zeroed immediately. The ramp then drives the robot to a stop.
|
||||
# 500ms matches the STM32 jetson heartbeat timeout for consistency.
|
||||
# 500ms matches the ESP32 BALANCE jetson heartbeat timeout for consistency.
|
||||
cmd_vel_timeout: 0.5 # seconds
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
remote_estop_node:
|
||||
ros__parameters:
|
||||
serial_port: /dev/stm32-bridge
|
||||
serial_port: /dev/esp32-bridge
|
||||
baud_rate: 921600
|
||||
mqtt_host: "mqtt.example.com"
|
||||
mqtt_port: 1883
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (Issue #119)
|
||||
# Binary-framed Jetson↔STM32 bridge at 921600 baud.
|
||||
# Binary-framed Jetson↔ESP32 bridge at 921600 baud.
|
||||
|
||||
# ── Serial port ────────────────────────────────────────────────────────────────
|
||||
# Use /dev/stm32-bridge if the udev rule is applied:
|
||||
# Use /dev/esp32-bridge if the udev rule is applied:
|
||||
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740",
|
||||
# SYMLINK+="stm32-bridge", MODE="0660", GROUP="dialout"
|
||||
serial_port: /dev/ttyACM0
|
||||
@ -12,7 +12,7 @@ reconnect_delay: 2.0 # seconds between USB reconnect attempts
|
||||
# ── Heartbeat ─────────────────────────────────────────────────────────────────
|
||||
# HEARTBEAT frame sent every heartbeat_period seconds.
|
||||
# STM32 fires watchdog and reverts to safe state if no frame received for 500ms.
|
||||
heartbeat_period: 0.2 # 200ms → well within 500ms STM32 watchdog
|
||||
heartbeat_period: 0.2 # 200ms → well within 500ms ESP32 BALANCE watchdog
|
||||
|
||||
# ── Watchdog (Jetson-side) ────────────────────────────────────────────────────
|
||||
# If no /cmd_vel message received for watchdog_timeout seconds,
|
||||
|
||||
@ -6,7 +6,7 @@ Two deployment modes:
|
||||
1. Full bidirectional (recommended for Nav2):
|
||||
ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional
|
||||
Starts saltybot_cmd_node — owns serial port, handles both RX telemetry
|
||||
and TX /cmd_vel → STM32 commands + heartbeat.
|
||||
and TX /cmd_vel → ESP32 BALANCE commands + heartbeat.
|
||||
|
||||
2. RX-only (telemetry monitor, no drive commands):
|
||||
ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only
|
||||
@ -40,7 +40,7 @@ def _launch_nodes(context, *args, **kwargs):
|
||||
return [Node(
|
||||
package="saltybot_bridge",
|
||||
executable="serial_bridge_node",
|
||||
name="stm32_serial_bridge",
|
||||
name="esp32_serial_bridge",
|
||||
output="screen",
|
||||
parameters=[params],
|
||||
)]
|
||||
@ -65,7 +65,7 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument("mode", default_value="bidirectional",
|
||||
description="bidirectional | rx_only"),
|
||||
DeclareLaunchArgument("serial_port", default_value="/dev/ttyACM0",
|
||||
description="STM32 USB CDC device node"),
|
||||
description="ESP32 USB CDC device node"),
|
||||
DeclareLaunchArgument("baud_rate", default_value="921600"),
|
||||
DeclareLaunchArgument("speed_scale", default_value="1000.0",
|
||||
description="m/s → ESC units (linear.x scale)"),
|
||||
|
||||
@ -1,10 +1,10 @@
|
||||
"""
|
||||
cmd_vel_bridge.launch.py — Nav2 cmd_vel → STM32 autonomous drive bridge.
|
||||
cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE autonomous drive bridge.
|
||||
|
||||
Starts cmd_vel_bridge_node, which owns the serial port exclusively and provides:
|
||||
- /cmd_vel subscription with velocity limits + smooth ramp
|
||||
- Deadman switch (zero speed if /cmd_vel silent > cmd_vel_timeout)
|
||||
- Mode gate (drives only when STM32 is in AUTONOMOUS mode, md=2)
|
||||
- Mode gate (drives only when ESP32 BALANCE is in AUTONOMOUS mode, md=2)
|
||||
- Telemetry RX → /saltybot/imu, /saltybot/balance_state, /diagnostics
|
||||
- /saltybot/cmd publisher (observability)
|
||||
|
||||
@ -72,12 +72,12 @@ def generate_launch_description():
|
||||
description="Full path to cmd_vel_bridge_params.yaml (overrides inline args)"),
|
||||
DeclareLaunchArgument(
|
||||
"serial_port", default_value="/dev/ttyACM0",
|
||||
description="STM32 USB CDC device node"),
|
||||
description="ESP32 USB CDC device node"),
|
||||
DeclareLaunchArgument(
|
||||
"baud_rate", default_value="921600"),
|
||||
DeclareLaunchArgument(
|
||||
"heartbeat_period",default_value="0.2",
|
||||
description="Heartbeat interval (s); must be < STM32 HB timeout (0.5s)"),
|
||||
description="Heartbeat interval (s); must be < ESP32 BALANCE HB timeout (0.5s)"),
|
||||
DeclareLaunchArgument(
|
||||
"max_linear_vel", default_value="0.5",
|
||||
description="Hard speed cap before scaling (m/s)"),
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
"""stm32_cmd.launch.py — Launch the binary-framed STM32 command node (Issue #119).
|
||||
"""stm32_cmd.launch.py — Launch the binary-framed ESP32 BALANCE command node (Issue #119).
|
||||
|
||||
Usage:
|
||||
# Default (binary protocol, bidirectional):
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362)
|
||||
|
||||
Launches serial_bridge_node configured for Jetson Orin UART port.
|
||||
Bridges Flight Controller (STM32F722) telemetry from /dev/ttyTHS1 into ROS2.
|
||||
Bridges Flight Controller (ESP32) telemetry from /dev/ttyTHS1 into ROS2.
|
||||
|
||||
Published topics (same as USB CDC bridge):
|
||||
/saltybot/imu sensor_msgs/Imu — pitch/roll/yaw as angular velocity
|
||||
@ -20,7 +20,7 @@ Usage:
|
||||
|
||||
Prerequisites:
|
||||
- Flight Controller connected to /dev/ttyTHS1 @ 921600 baud
|
||||
- STM32 firmware transmitting JSON telemetry frames (50 Hz)
|
||||
- ESP32 BALANCE firmware transmitting JSON telemetry frames (50 Hz)
|
||||
- ROS2 environment sourced (source install/setup.bash)
|
||||
|
||||
Note:
|
||||
|
||||
@ -14,7 +14,7 @@ Alert levels (SoC thresholds):
|
||||
5% EMERGENCY — publish zero /cmd_vel, disarm, log + alert
|
||||
|
||||
SoC source priority:
|
||||
1. soc_pct field from STM32 BATTERY telemetry (fuel gauge or lookup on STM32)
|
||||
1. soc_pct field from ESP32 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE)
|
||||
2. Voltage-based lookup table (3S LiPo curve) if soc_pct == 0 and voltage known
|
||||
|
||||
Parameters (config/battery_params.yaml):
|
||||
@ -320,7 +320,7 @@ class BatteryNode(Node):
|
||||
self._speed_limit_pub.publish(msg)
|
||||
|
||||
def _execute_safe_stop(self) -> None:
|
||||
"""Send zero /cmd_vel and disarm the STM32."""
|
||||
"""Send zero /cmd_vel and disarm the ESP32 BALANCE."""
|
||||
self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming")
|
||||
# Publish zero velocity
|
||||
zero_twist = Twist()
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
"""
|
||||
cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 drive command bridge.
|
||||
cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE drive command bridge.
|
||||
|
||||
Extends the basic saltybot_cmd_node with four additions required for safe
|
||||
autonomous operation on a self-balancing robot:
|
||||
@ -12,7 +12,7 @@ autonomous operation on a self-balancing robot:
|
||||
3. Deadman switch — if /cmd_vel is silent for cmd_vel_timeout seconds,
|
||||
zero targets immediately (Nav2 node crash / planner
|
||||
stall → robot coasts to stop rather than running away).
|
||||
4. Mode gate — only issue non-zero drive commands when STM32 reports
|
||||
4. Mode gate — only issue non-zero drive commands when ESP32 BALANCE reports
|
||||
md=2 (AUTONOMOUS). In any other mode (RC_MANUAL,
|
||||
RC_ASSISTED) Jetson cannot override the RC pilot.
|
||||
On mode re-entry current ramp state resets to 0 so
|
||||
@ -20,9 +20,9 @@ autonomous operation on a self-balancing robot:
|
||||
|
||||
Serial protocol (C<speed>,<steer>\\n / H\\n — same as saltybot_cmd_node):
|
||||
C<spd>,<str>\\n — drive command. speed/steer: -1000..+1000 integers.
|
||||
H\\n — heartbeat. STM32 reverts steer to 0 after 500ms silence.
|
||||
H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence.
|
||||
|
||||
Telemetry (50 Hz from STM32):
|
||||
Telemetry (50 Hz from ESP32 BALANCE):
|
||||
Same RX/publish pipeline as saltybot_cmd_node.
|
||||
The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate.
|
||||
|
||||
@ -134,7 +134,7 @@ class CmdVelBridgeNode(Node):
|
||||
self._current_speed = 0 # ramped output actually sent
|
||||
self._current_steer = 0
|
||||
self._last_cmd_vel = 0.0 # wall clock (seconds) of last /cmd_vel msg
|
||||
self._stm32_mode = 0 # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO
|
||||
self._esp32_mode = 0 # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO
|
||||
self._last_state = -1
|
||||
self._frame_count = 0
|
||||
self._error_count = 0
|
||||
@ -150,7 +150,7 @@ class CmdVelBridgeNode(Node):
|
||||
self._open_serial()
|
||||
|
||||
# ── Timers ────────────────────────────────────────────────────────────
|
||||
# Telemetry read at 100 Hz (STM32 sends at 50 Hz)
|
||||
# Telemetry read at 100 Hz (ESP32 BALANCE sends at 50 Hz)
|
||||
self._read_timer = self.create_timer(0.01, self._read_cb)
|
||||
# Control loop at 50 Hz: ramp + deadman + mode gate + send
|
||||
self._control_timer = self.create_timer(1.0 / _CONTROL_HZ, self._control_cb)
|
||||
@ -225,7 +225,7 @@ class CmdVelBridgeNode(Node):
|
||||
|
||||
# Mode gate: in non-AUTONOMOUS mode, zero and reset ramp state so
|
||||
# re-entry always accelerates smoothly from 0.
|
||||
if self._stm32_mode != MODE_AUTONOMOUS:
|
||||
if self._esp32_mode != MODE_AUTONOMOUS:
|
||||
self._current_speed = 0
|
||||
self._current_steer = 0
|
||||
speed, steer = 0, 0
|
||||
@ -238,7 +238,7 @@ class CmdVelBridgeNode(Node):
|
||||
speed = self._current_speed
|
||||
steer = self._current_steer
|
||||
|
||||
# Send to STM32
|
||||
# Send to ESP32 BALANCE
|
||||
frame = f"C{speed},{steer}\n".encode("ascii")
|
||||
if not self._write(frame):
|
||||
self.get_logger().warn(
|
||||
@ -256,7 +256,7 @@ class CmdVelBridgeNode(Node):
|
||||
# ── Heartbeat TX ──────────────────────────────────────────────────────────
|
||||
|
||||
def _heartbeat_cb(self):
|
||||
"""H\\n keeps STM32 jetson_cmd heartbeat alive regardless of mode."""
|
||||
"""H\\n keeps ESP32 BALANCE jetson_cmd heartbeat alive regardless of mode."""
|
||||
self._write(b"H\n")
|
||||
|
||||
# ── Telemetry RX ──────────────────────────────────────────────────────────
|
||||
@ -319,7 +319,7 @@ class CmdVelBridgeNode(Node):
|
||||
state = int(data["s"])
|
||||
mode = int(data.get("md", 0)) # 0=MANUAL if not present
|
||||
|
||||
self._stm32_mode = mode
|
||||
self._esp32_mode = mode
|
||||
self._frame_count += 1
|
||||
|
||||
self._publish_imu(pitch_deg, roll_deg, yaw_deg, now)
|
||||
@ -378,7 +378,7 @@ class CmdVelBridgeNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
status = DiagnosticStatus()
|
||||
status.name = "saltybot/balance_controller"
|
||||
status.hardware_id = "stm32f722"
|
||||
status.hardware_id = "esp32"
|
||||
status.message = f"{state_label} [{mode_label}]"
|
||||
status.level = (
|
||||
DiagnosticStatus.OK if state == 1 else
|
||||
@ -406,11 +406,11 @@ class CmdVelBridgeNode(Node):
|
||||
status = DiagnosticStatus()
|
||||
status.level = DiagnosticStatus.ERROR
|
||||
status.name = "saltybot/balance_controller"
|
||||
status.hardware_id = "stm32f722"
|
||||
status.hardware_id = "esp32"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"STM32 IMU fault: errno={errno}")
|
||||
self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
|
||||
|
||||
# ── Lifecycle ─────────────────────────────────────────────────────────────
|
||||
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
"""
|
||||
remote_estop_node.py -- Remote e-stop bridge: MQTT -> STM32 USB CDC
|
||||
remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 USB CDC
|
||||
|
||||
{"kill": true} -> writes 'E\n' to STM32 (ESTOP_REMOTE, immediate motor cutoff)
|
||||
{"kill": false} -> writes 'Z\n' to STM32 (clear latch, robot can re-arm)
|
||||
{"kill": true} -> writes 'E\n' to ESP32 BALANCE (ESTOP_REMOTE, immediate motor cutoff)
|
||||
{"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm)
|
||||
|
||||
Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in
|
||||
AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT).
|
||||
@ -26,7 +26,7 @@ class RemoteEstopNode(Node):
|
||||
def __init__(self):
|
||||
super().__init__('remote_estop_node')
|
||||
|
||||
self.declare_parameter('serial_port', '/dev/stm32-bridge')
|
||||
self.declare_parameter('serial_port', '/dev/esp32-bridge')
|
||||
self.declare_parameter('baud_rate', 921600)
|
||||
self.declare_parameter('mqtt_host', 'mqtt.example.com')
|
||||
self.declare_parameter('mqtt_port', 1883)
|
||||
|
||||
@ -322,7 +322,7 @@ class SaltybotCanNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
st = DiagnosticStatus()
|
||||
st.name = "saltybot/balance_controller"
|
||||
st.hardware_id = "stm32f722"
|
||||
st.hardware_id = "esp32"
|
||||
st.message = state_label
|
||||
st.level = (DiagnosticStatus.OK if state == 1 else
|
||||
DiagnosticStatus.WARN if state == 0 else
|
||||
|
||||
@ -1,20 +1,20 @@
|
||||
"""
|
||||
saltybot_cmd_node — full bidirectional STM32↔Jetson bridge
|
||||
saltybot_cmd_node — full bidirectional ESP32 BALANCE↔Jetson bridge
|
||||
Combines telemetry RX (from serial_bridge_node) with drive command TX.
|
||||
|
||||
Owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node.
|
||||
|
||||
RX path (50Hz from STM32):
|
||||
RX path (50Hz from ESP32 BALANCE):
|
||||
JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics
|
||||
|
||||
TX path:
|
||||
/cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n → STM32
|
||||
Heartbeat timer (200ms) → H\\n → STM32
|
||||
/cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\n → ESP32 BALANCE
|
||||
Heartbeat timer (200ms) → H\\n → ESP32 BALANCE
|
||||
|
||||
Protocol:
|
||||
H\\n — heartbeat. STM32 reverts steer to 0 if gap > 500ms.
|
||||
H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms.
|
||||
C<spd>,<str>\\n — drive command. speed/steer: -1000..+1000 integers.
|
||||
C command also refreshes STM32 heartbeat timer.
|
||||
C command also refreshes ESP32 BALANCE heartbeat timer.
|
||||
|
||||
Twist mapping (configurable via ROS2 params):
|
||||
speed = clamp(linear.x * speed_scale, -1000, 1000)
|
||||
@ -100,7 +100,7 @@ class SaltybotCmdNode(Node):
|
||||
self._open_serial()
|
||||
|
||||
# ── Timers ────────────────────────────────────────────────────────────
|
||||
# Telemetry read at 100Hz (STM32 sends at 50Hz)
|
||||
# Telemetry read at 100Hz (ESP32 BALANCE sends at 50Hz)
|
||||
self._read_timer = self.create_timer(0.01, self._read_cb)
|
||||
# Heartbeat TX at configured period (default 200ms)
|
||||
self._hb_timer = self.create_timer(self._hb_period, self._heartbeat_cb)
|
||||
@ -266,7 +266,7 @@ class SaltybotCmdNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
status = DiagnosticStatus()
|
||||
status.name = "saltybot/balance_controller"
|
||||
status.hardware_id = "stm32f722"
|
||||
status.hardware_id = "esp32"
|
||||
status.message = state_label
|
||||
if state == 1:
|
||||
status.level = DiagnosticStatus.OK
|
||||
@ -294,11 +294,11 @@ class SaltybotCmdNode(Node):
|
||||
status = DiagnosticStatus()
|
||||
status.level = DiagnosticStatus.ERROR
|
||||
status.name = "saltybot/balance_controller"
|
||||
status.hardware_id = "stm32f722"
|
||||
status.hardware_id = "esp32"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"STM32 IMU fault: errno={errno}")
|
||||
self.get_logger().error(f"ESP32 BALANCE IMU fault: errno={errno}")
|
||||
|
||||
# ── TX — command send ─────────────────────────────────────────────────────
|
||||
|
||||
@ -316,7 +316,7 @@ class SaltybotCmdNode(Node):
|
||||
)
|
||||
|
||||
def _heartbeat_cb(self):
|
||||
"""Send H\\n heartbeat. STM32 reverts steer to 0 if gap > 500ms."""
|
||||
"""Send H\\n heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms."""
|
||||
self._write(b"H\n")
|
||||
|
||||
# ── Lifecycle ─────────────────────────────────────────────────────────────
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
"""
|
||||
saltybot_bridge — serial_bridge_node
|
||||
STM32F722 USB CDC → ROS2 topic publisher
|
||||
ESP32 USB CDC → ROS2 topic publisher
|
||||
|
||||
Telemetry frame (50 Hz, newline-delimited JSON):
|
||||
{"p":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
|
||||
@ -29,7 +29,7 @@ from sensor_msgs.msg import Imu
|
||||
from std_msgs.msg import String
|
||||
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
|
||||
|
||||
# Balance state labels matching STM32 balance_state_t enum
|
||||
# Balance state labels matching ESP32 BALANCE balance_state_t enum
|
||||
_STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"}
|
||||
|
||||
# Sensor frame_id published in Imu header
|
||||
@ -38,7 +38,7 @@ IMU_FRAME_ID = "imu_link"
|
||||
|
||||
class SerialBridgeNode(Node):
|
||||
def __init__(self):
|
||||
super().__init__("stm32_serial_bridge")
|
||||
super().__init__("esp32_serial_bridge")
|
||||
|
||||
# ── Parameters ────────────────────────────────────────────────────────
|
||||
self.declare_parameter("serial_port", "/dev/ttyACM0")
|
||||
@ -83,7 +83,7 @@ class SerialBridgeNode(Node):
|
||||
|
||||
# ── Open serial and start read timer ──────────────────────────────────
|
||||
self._open_serial()
|
||||
# Poll at 100 Hz — STM32 sends at 50 Hz, so we never miss a frame
|
||||
# Poll at 100 Hz — ESP32 BALANCE sends at 50 Hz, so we never miss a frame
|
||||
self._timer = self.create_timer(0.01, self._read_cb)
|
||||
|
||||
self.get_logger().info(
|
||||
@ -117,7 +117,7 @@ class SerialBridgeNode(Node):
|
||||
|
||||
def write_serial(self, data: bytes) -> bool:
|
||||
"""
|
||||
Send raw bytes to STM32 over the open serial port.
|
||||
Send raw bytes to ESP32 BALANCE over the open serial port.
|
||||
Returns False if port is not open (caller should handle gracefully).
|
||||
Note: for bidirectional use prefer saltybot_cmd_node which owns TX natively.
|
||||
"""
|
||||
@ -206,7 +206,7 @@ class SerialBridgeNode(Node):
|
||||
"""
|
||||
Publish sensor_msgs/Imu.
|
||||
|
||||
The STM32 IMU gives Euler angles (pitch/roll from accelerometer+gyro
|
||||
The ESP32 BALANCE IMU gives Euler angles (pitch/roll from accelerometer+gyro
|
||||
fusion, yaw from gyro integration). We publish them as angular_velocity
|
||||
for immediate use by slam_toolbox / robot_localization.
|
||||
|
||||
@ -264,7 +264,7 @@ class SerialBridgeNode(Node):
|
||||
diag.header.stamp = stamp
|
||||
status = DiagnosticStatus()
|
||||
status.name = "saltybot/balance_controller"
|
||||
status.hardware_id = "stm32f722"
|
||||
status.hardware_id = "esp32"
|
||||
status.message = state_label
|
||||
|
||||
if state == 1: # ARMED
|
||||
@ -293,11 +293,11 @@ class SerialBridgeNode(Node):
|
||||
status = DiagnosticStatus()
|
||||
status.level = DiagnosticStatus.ERROR
|
||||
status.name = "saltybot/balance_controller"
|
||||
status.hardware_id = "stm32f722"
|
||||
status.hardware_id = "esp32"
|
||||
status.message = f"IMU fault errno={errno}"
|
||||
diag.status.append(status)
|
||||
self._diag_pub.publish(diag)
|
||||
self.get_logger().error(f"STM32 reported IMU fault: errno={errno}")
|
||||
self.get_logger().error(f"ESP32 BALANCE reported IMU fault: errno={errno}")
|
||||
|
||||
def destroy_node(self):
|
||||
self._close_serial()
|
||||
|
||||
@ -5,7 +5,7 @@ framing protocol (STX/TYPE/LEN/PAYLOAD/CRC16/ETX) at 921600 baud.
|
||||
|
||||
TX commands (Jetson → STM32):
|
||||
SPEED_STEER — 50 Hz from /cmd_vel subscription
|
||||
HEARTBEAT — 200 ms timer (STM32 watchdog fires at 500 ms)
|
||||
HEARTBEAT — 200 ms timer (ESP32 BALANCE watchdog fires at 500 ms)
|
||||
ARM — via /saltybot/arm service
|
||||
SET_MODE — via /saltybot/set_mode service
|
||||
PID_UPDATE — via /saltybot/pid_update topic
|
||||
@ -75,7 +75,7 @@ def _clamp(v: float, lo: float, hi: float) -> float:
|
||||
# ── Node ──────────────────────────────────────────────────────────────────────
|
||||
|
||||
class Stm32CmdNode(Node):
|
||||
"""Binary-framed Jetson↔STM32 bridge node."""
|
||||
"""Binary-framed Jetson↔ESP32 bridge node."""
|
||||
|
||||
def __init__(self) -> None:
|
||||
super().__init__("stm32_cmd_node")
|
||||
@ -283,7 +283,7 @@ class Stm32CmdNode(Node):
|
||||
msg.angular_velocity.x = math.radians(frame.pitch_deg)
|
||||
msg.angular_velocity.y = math.radians(frame.roll_deg)
|
||||
msg.angular_velocity.z = math.radians(frame.yaw_deg)
|
||||
cov = math.radians(0.3) ** 2 # ±0.3° noise estimate from STM32 BMI088
|
||||
cov = math.radians(0.3) ** 2 # ±0.3° noise estimate from ESP32 BMI088
|
||||
msg.angular_velocity_covariance[0] = cov
|
||||
msg.angular_velocity_covariance[4] = cov
|
||||
msg.angular_velocity_covariance[8] = cov
|
||||
@ -340,7 +340,7 @@ class Stm32CmdNode(Node):
|
||||
|
||||
def _publish_error(self, frame: ErrorFrame, stamp) -> None:
|
||||
self.get_logger().error(
|
||||
f"STM32 error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
|
||||
f"ESP32 BALANCE error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}"
|
||||
)
|
||||
payload = {
|
||||
"error_code": frame.error_code,
|
||||
@ -432,7 +432,7 @@ class Stm32CmdNode(Node):
|
||||
|
||||
status = DiagnosticStatus()
|
||||
status.name = "saltybot/stm32_cmd_node"
|
||||
status.hardware_id = "stm32f722"
|
||||
status.hardware_id = "esp32"
|
||||
|
||||
port_ok = self._ser is not None and self._ser.is_open
|
||||
if port_ok:
|
||||
|
||||
@ -1,7 +1,11 @@
|
||||
"""stm32_protocol.py — Binary frame codec for Jetson↔STM32 communication.
|
||||
"""stm32_protocol.py — Binary frame codec for Jetson↔ESP32 BALANCE communication.
|
||||
|
||||
# TODO(esp32-migration): This protocol was designed for STM32F722 USB CDC.
|
||||
# When ESP32 BALANCE protocol is defined, update frame layout and baud rate.
|
||||
|
||||
Issue #119: defines the binary serial protocol between the Jetson Nano and the
|
||||
STM32F722 flight controller over USB CDC @ 921600 baud.
|
||||
ESP32 BALANCE over USB CDC @ 921600 baud.
|
||||
# TODO(esp32-migration): update when ESP32 BALANCE protocol is defined.
|
||||
|
||||
Frame layout (all multi-byte fields are big-endian):
|
||||
┌──────┬──────┬──────┬──────────────────┬───────────┬──────┐
|
||||
@ -12,14 +16,14 @@ Frame layout (all multi-byte fields are big-endian):
|
||||
CRC16 covers: TYPE + LEN + PAYLOAD (not STX, ETX, or CRC bytes themselves).
|
||||
CRC algorithm: CCITT-16, polynomial=0x1021, init=0xFFFF, no final XOR.
|
||||
|
||||
Command types (Jetson → STM32):
|
||||
Command types (Jetson → ESP32 BALANCE):
|
||||
0x01 HEARTBEAT — no payload (len=0)
|
||||
0x02 SPEED_STEER — int16 speed + int16 steer (len=4) range: -1000..+1000
|
||||
0x03 ARM — uint8 (0=disarm, 1=arm) (len=1)
|
||||
0x04 SET_MODE — uint8 mode (len=1)
|
||||
0x05 PID_UPDATE — float32 kp + ki + kd (len=12)
|
||||
|
||||
Telemetry types (STM32 → Jetson):
|
||||
Telemetry types (ESP32 BALANCE → Jetson):
|
||||
0x10 IMU — int16×6: pitch,roll,yaw (×100 deg), ax,ay,az (×100 m/s²) (len=12)
|
||||
0x11 BATTERY — uint16 voltage_mv + int16 current_ma + uint8 soc_pct (len=5)
|
||||
0x12 MOTOR_RPM — int16 left_rpm + int16 right_rpm (len=4)
|
||||
@ -31,7 +35,7 @@ Usage:
|
||||
frame = encode_speed_steer(300, -150)
|
||||
ser.write(frame)
|
||||
|
||||
# Decoding (STM32 → Jetson), one byte at a time
|
||||
# Decoding (ESP32 BALANCE → Jetson), one byte at a time
|
||||
parser = FrameParser()
|
||||
for byte in incoming_bytes:
|
||||
result = parser.feed(byte)
|
||||
@ -183,7 +187,7 @@ class ParseError(Exception):
|
||||
|
||||
|
||||
class FrameParser:
|
||||
"""Byte-by-byte streaming parser for STM32 telemetry frames.
|
||||
"""Byte-by-byte streaming parser for ESP32 BALANCE telemetry frames.
|
||||
|
||||
Feed individual bytes via feed(); returns a decoded TelemetryFrame (or raw
|
||||
bytes tuple) when a complete valid frame is received.
|
||||
|
||||
@ -29,7 +29,7 @@ setup(
|
||||
zip_safe=True,
|
||||
maintainer="sl-jetson",
|
||||
maintainer_email="sl-jetson@saltylab.local",
|
||||
description="STM32 USB CDC → ROS2 serial bridge for saltybot",
|
||||
description="ESP32 USB CDC → ROS2 serial bridge for saltybot",
|
||||
license="MIT",
|
||||
tests_require=["pytest"],
|
||||
entry_points={
|
||||
@ -41,7 +41,7 @@ setup(
|
||||
# Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
|
||||
"cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
|
||||
"remote_estop_node = saltybot_bridge.remote_estop_node:main",
|
||||
# Binary-framed STM32 command node (Issue #119)
|
||||
# Binary-framed ESP32 BALANCE command node (Issue #119)
|
||||
"stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main",
|
||||
# Battery management node (Issue #125)
|
||||
"battery_node = saltybot_bridge.battery_node:main",
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
"""
|
||||
Unit tests for Jetson→STM32 command serialization logic.
|
||||
Unit tests for Jetson→ESP32 BALANCE command serialization logic.
|
||||
Tests Twist→speed/steer conversion and frame formatting.
|
||||
Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py
|
||||
"""
|
||||
|
||||
@ -139,10 +139,10 @@ class TestModeGate:
|
||||
MODE_ASSISTED = 1
|
||||
MODE_AUTONOMOUS = 2
|
||||
|
||||
def _apply_mode_gate(self, stm32_mode, current_speed, current_steer,
|
||||
def _apply_mode_gate(self, esp32_mode, current_speed, current_steer,
|
||||
target_speed, target_steer, step=10):
|
||||
"""Mirror of _control_cb mode gate logic."""
|
||||
if stm32_mode != self.MODE_AUTONOMOUS:
|
||||
if esp32_mode != self.MODE_AUTONOMOUS:
|
||||
# Reset ramp state, send zero
|
||||
return 0, 0, 0, 0 # (current_speed, current_steer, sent_speed, sent_steer)
|
||||
new_s = _ramp_toward(current_speed, target_speed, step)
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
"""
|
||||
Unit tests for STM32 telemetry parsing logic.
|
||||
Unit tests for ESP32 BALANCE telemetry parsing logic.
|
||||
Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py
|
||||
"""
|
||||
|
||||
|
||||
@ -19,7 +19,7 @@
|
||||
# inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding)
|
||||
# DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer)
|
||||
#
|
||||
# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic.
|
||||
# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic.
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
|
||||
@ -2,12 +2,12 @@
|
||||
# Master configuration for full stack bringup
|
||||
|
||||
# ────────────────────────────────────────────────────────────────────────────
|
||||
# HARDWARE — STM32 Bridge & Motor Control
|
||||
# HARDWARE — ESP32 BALANCE Bridge & Motor Control
|
||||
# ────────────────────────────────────────────────────────────────────────────
|
||||
|
||||
saltybot_bridge_node:
|
||||
ros__parameters:
|
||||
serial_port: "/dev/stm32-bridge"
|
||||
serial_port: "/dev/esp32-bridge"
|
||||
baud_rate: 921600
|
||||
timeout: 0.05
|
||||
reconnect_delay: 2.0
|
||||
|
||||
@ -39,7 +39,7 @@ Modes
|
||||
─ UWB driver (2-anchor DW3000, publishes /uwb/target)
|
||||
─ YOLOv8n person detection (TensorRT)
|
||||
─ Person follower with UWB+camera fusion
|
||||
─ cmd_vel bridge → STM32 (deadman + ramp + AUTONOMOUS gate)
|
||||
─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate)
|
||||
─ rosbridge WebSocket (port 9090)
|
||||
|
||||
outdoor
|
||||
@ -57,8 +57,8 @@ Modes
|
||||
Launch sequence (wall-clock delays — conservative for cold start)
|
||||
─────────────────────────────────────────────────────────────────
|
||||
t= 0s robot_description (URDF + TF tree)
|
||||
t= 0s STM32 bridge (serial port owner — must be first)
|
||||
t= 2s cmd_vel bridge (consumes /cmd_vel, needs STM32 bridge up)
|
||||
t= 0s ESP32 bridge (serial port owner — must be first)
|
||||
t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32 bridge up)
|
||||
t= 2s sensors (RPLIDAR + RealSense)
|
||||
t= 4s UWB driver (independent serial device)
|
||||
t= 4s CSI cameras (optional, independent)
|
||||
@ -71,10 +71,10 @@ Launch sequence (wall-clock delays — conservative for cold start)
|
||||
|
||||
Safety wiring
|
||||
─────────────
|
||||
• STM32 bridge must be up before cmd_vel bridge sends any command.
|
||||
• ESP32 bridge must be up before cmd_vel bridge sends any command.
|
||||
• cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
|
||||
• STM32 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
|
||||
until STM32 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
|
||||
• ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
|
||||
until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel.
|
||||
• follow_enabled:=false disables person follower without stopping the node.
|
||||
• To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
|
||||
|
||||
@ -91,7 +91,7 @@ Topics published by this stack
|
||||
/person/target PoseStamped (camera position, base_link)
|
||||
/person/detections Detection2DArray
|
||||
/cmd_vel Twist (from follower or Nav2)
|
||||
/saltybot/cmd String (to STM32)
|
||||
/saltybot/cmd String (to ESP32 BALANCE)
|
||||
/saltybot/imu Imu
|
||||
/saltybot/balance_state String
|
||||
"""
|
||||
@ -209,7 +209,7 @@ def generate_launch_description():
|
||||
enable_bridge_arg = DeclareLaunchArgument(
|
||||
"enable_bridge",
|
||||
default_value="true",
|
||||
description="Launch STM32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
|
||||
description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
|
||||
)
|
||||
|
||||
enable_rosbridge_arg = DeclareLaunchArgument(
|
||||
@ -267,10 +267,10 @@ enable_mission_logging_arg = DeclareLaunchArgument(
|
||||
description="UWB anchor-1 serial port (starboard/right side)",
|
||||
)
|
||||
|
||||
stm32_port_arg = DeclareLaunchArgument(
|
||||
"stm32_port",
|
||||
default_value="/dev/stm32-bridge",
|
||||
description="STM32 USB CDC serial port",
|
||||
esp32_port_arg = DeclareLaunchArgument(
|
||||
"esp32_port",
|
||||
default_value="/dev/esp32-bridge",
|
||||
description="ESP32 USB CDC serial port",
|
||||
)
|
||||
|
||||
# ── Shared substitution handles ───────────────────────────────────────────
|
||||
@ -282,7 +282,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
|
||||
max_linear_vel = LaunchConfiguration("max_linear_vel")
|
||||
uwb_port_a = LaunchConfiguration("uwb_port_a")
|
||||
uwb_port_b = LaunchConfiguration("uwb_port_b")
|
||||
stm32_port = LaunchConfiguration("stm32_port")
|
||||
esp32_port = LaunchConfiguration("esp32_port")
|
||||
|
||||
# ── t=0s Robot description (URDF + TF tree) ──────────────────────────────
|
||||
robot_description = IncludeLaunchDescription(
|
||||
@ -290,15 +290,15 @@ enable_mission_logging_arg = DeclareLaunchArgument(
|
||||
launch_arguments={"use_sim_time": use_sim_time}.items(),
|
||||
)
|
||||
|
||||
# ── t=0s STM32 bidirectional serial bridge ────────────────────────────────
|
||||
stm32_bridge = GroupAction(
|
||||
# ── t=0s ESP32 bidirectional serial bridge ────────────────────────────────
|
||||
esp32_bridge = GroupAction(
|
||||
condition=IfCondition(LaunchConfiguration("enable_bridge")),
|
||||
actions=[
|
||||
IncludeLaunchDescription(
|
||||
_launch("saltybot_bridge", "launch", "bridge.launch.py"),
|
||||
launch_arguments={
|
||||
"mode": "bidirectional",
|
||||
"serial_port": stm32_port,
|
||||
"serial_port": esp32_port,
|
||||
}.items(),
|
||||
),
|
||||
],
|
||||
@ -320,7 +320,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
|
||||
],
|
||||
)
|
||||
|
||||
# ── t=2s cmd_vel safety bridge (depends on STM32 bridge) ────────────────
|
||||
# ── t=2s cmd_vel safety bridge (depends on ESP32 bridge) ────────────────
|
||||
cmd_vel_bridge = TimerAction(
|
||||
period=2.0,
|
||||
actions=[
|
||||
@ -577,14 +577,14 @@ enable_mission_logging_arg,
|
||||
max_linear_vel_arg,
|
||||
uwb_port_a_arg,
|
||||
uwb_port_b_arg,
|
||||
stm32_port_arg,
|
||||
esp32_port_arg,
|
||||
|
||||
# Startup banner
|
||||
banner,
|
||||
|
||||
# t=0s
|
||||
robot_description,
|
||||
stm32_bridge,
|
||||
esp32_bridge,
|
||||
|
||||
# t=0.5s
|
||||
mission_logging,
|
||||
|
||||
@ -15,11 +15,11 @@ Usage
|
||||
ros2 launch saltybot_bringup saltybot_bringup.launch.py
|
||||
ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=minimal
|
||||
ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=debug
|
||||
ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full stm32_port:=/dev/ttyUSB0
|
||||
ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full esp32_port:=/dev/ttyUSB0
|
||||
|
||||
Startup sequence
|
||||
────────────────
|
||||
GROUP A — Drivers t= 0 s STM32 bridge, RealSense+RPLIDAR, motor daemon, IMU
|
||||
GROUP A — Drivers t= 0 s ESP32 bridge, RealSense+RPLIDAR, motor daemon, IMU
|
||||
health gate ───────────────────────────────────────────────── t= 8 s (full/debug)
|
||||
GROUP B — Perception t= 8 s UWB, person detection, object detection, depth costmap, gimbal
|
||||
health gate ───────────────────────────────────────────────── t=16 s (full/debug)
|
||||
@ -35,7 +35,7 @@ Shutdown
|
||||
|
||||
Hardware conditionals
|
||||
─────────────────────
|
||||
Missing devices (stm32_port, uwb_port_a/b, gimbal_port) skip that driver.
|
||||
Missing devices (esp32_port, uwb_port_a/b, gimbal_port) skip that driver.
|
||||
All conditionals are evaluated at launch time via PathJoinSubstitution + IfCondition.
|
||||
"""
|
||||
|
||||
@ -120,10 +120,10 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
description="Use /clock from rosbag/simulator",
|
||||
)
|
||||
|
||||
stm32_port_arg = DeclareLaunchArgument(
|
||||
"stm32_port",
|
||||
default_value="/dev/stm32-bridge",
|
||||
description="STM32 USART bridge serial device",
|
||||
esp32_port_arg = DeclareLaunchArgument(
|
||||
"esp32_port",
|
||||
default_value="/dev/esp32-bridge",
|
||||
description="ESP32 UART bridge serial device",
|
||||
)
|
||||
|
||||
uwb_port_a_arg = DeclareLaunchArgument(
|
||||
@ -160,7 +160,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
|
||||
profile = LaunchConfiguration("profile")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
stm32_port = LaunchConfiguration("stm32_port")
|
||||
esp32_port = LaunchConfiguration("esp32_port")
|
||||
uwb_port_a = LaunchConfiguration("uwb_port_a")
|
||||
uwb_port_b = LaunchConfiguration("uwb_port_b")
|
||||
gimbal_port = LaunchConfiguration("gimbal_port")
|
||||
@ -198,7 +198,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
|
||||
# ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
|
||||
# GROUP A — DRIVERS (t = 0 s, all profiles)
|
||||
# Dependency order: STM32 bridge first, then sensors, then motor daemon.
|
||||
# Dependency order: ESP32 bridge first, then sensors, then motor daemon.
|
||||
# Health gate: subsequent groups delayed until t_perception (8 s full/debug).
|
||||
# ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
|
||||
|
||||
@ -212,12 +212,12 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
launch_arguments={"use_sim_time": use_sim_time}.items(),
|
||||
)
|
||||
|
||||
# STM32 bidirectional bridge (JLINK USART1)
|
||||
stm32_bridge = IncludeLaunchDescription(
|
||||
# ESP32 BALANCE bridge
|
||||
esp32_bridge = IncludeLaunchDescription(
|
||||
_launch("saltybot_bridge", "launch", "bridge.launch.py"),
|
||||
launch_arguments={
|
||||
"mode": "bidirectional",
|
||||
"serial_port": stm32_port,
|
||||
"serial_port": esp32_port,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
@ -232,7 +232,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
],
|
||||
)
|
||||
|
||||
# Motor daemon: /cmd_vel → STM32 DRIVE frames (depends on bridge at t=0)
|
||||
# Motor daemon: /cmd_vel → ESP32 BALANCE DRIVE frames (depends on bridge at t=0)
|
||||
motor_daemon = TimerAction(
|
||||
period=2.5,
|
||||
actions=[
|
||||
@ -541,7 +541,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
# ── Arguments ──────────────────────────────────────────────────────────
|
||||
profile_arg,
|
||||
use_sim_time_arg,
|
||||
stm32_port_arg,
|
||||
esp32_port_arg,
|
||||
uwb_port_a_arg,
|
||||
uwb_port_b_arg,
|
||||
gimbal_port_arg,
|
||||
@ -559,7 +559,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901
|
||||
|
||||
# ── GROUP A: Drivers (all profiles, t=0–4s) ───────────────────────────
|
||||
robot_description,
|
||||
stm32_bridge,
|
||||
esp32_bridge,
|
||||
sensors,
|
||||
motor_daemon,
|
||||
sensor_health,
|
||||
|
||||
@ -20,7 +20,7 @@ theta is kept in (−π, π] after every step.
|
||||
|
||||
Int32 rollover
|
||||
--------------
|
||||
STM32 encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles
|
||||
ESP32 BALANCE encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles
|
||||
this by detecting jumps larger than half the int32 range and adjusting by the
|
||||
full range:
|
||||
|
||||
|
||||
@ -29,7 +29,7 @@ class Profile:
|
||||
name: str
|
||||
|
||||
# ── Group A: Drivers (always on in all profiles) ──────────────────────
|
||||
enable_stm32_bridge: bool = True
|
||||
enable_esp32_bridge: bool = True
|
||||
enable_sensors: bool = True # RealSense + RPLIDAR
|
||||
enable_motor_daemon: bool = True
|
||||
enable_imu: bool = True
|
||||
@ -69,14 +69,14 @@ class Profile:
|
||||
t_ui: float = 22.0 # Group D (nav2 needs ~4 s to load costmaps)
|
||||
|
||||
# ── Safety ────────────────────────────────────────────────────────────
|
||||
watchdog_timeout_s: float = 5.0 # max silence from STM32 bridge (s)
|
||||
watchdog_timeout_s: float = 5.0 # max silence from ESP32 bridge (s)
|
||||
cmd_vel_deadman_s: float = 0.5 # cmd_vel watchdog in bridge
|
||||
max_linear_vel: float = 0.5 # m/s cap passed to bridge + follower
|
||||
follow_distance_m: float = 1.5 # target follow distance (m)
|
||||
|
||||
# ── Hardware conditionals ─────────────────────────────────────────────
|
||||
# Paths checked at launch; absent devices skip the relevant node.
|
||||
stm32_port: str = "/dev/stm32-bridge"
|
||||
esp32_port: str = "/dev/esp32-bridge"
|
||||
uwb_port_a: str = "/dev/uwb-anchor0"
|
||||
uwb_port_b: str = "/dev/uwb-anchor1"
|
||||
gimbal_port: str = "/dev/ttyTHS1"
|
||||
@ -90,7 +90,7 @@ class Profile:
|
||||
# ── Profile factory ────────────────────────────────────────────────────────────
|
||||
|
||||
def _minimal() -> Profile:
|
||||
"""Minimal: STM32 bridge + sensors + motor daemon.
|
||||
"""Minimal: ESP32 bridge + sensors + motor daemon.
|
||||
|
||||
Safe drive control only. No AI, no nav, no social.
|
||||
Boot time ~4 s. RAM ~400 MB.
|
||||
@ -115,7 +115,7 @@ def _full() -> Profile:
|
||||
return Profile(
|
||||
name="full",
|
||||
# Drivers
|
||||
enable_stm32_bridge=True,
|
||||
enable_esp32_bridge=True,
|
||||
enable_sensors=True,
|
||||
enable_motor_daemon=True,
|
||||
enable_imu=True,
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
"""
|
||||
wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184).
|
||||
|
||||
Subscribes to raw encoder tick counts from the STM32 bridge, integrates
|
||||
Subscribes to raw encoder tick counts from the ESP32 bridge, integrates
|
||||
differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz.
|
||||
Optionally broadcasts the odom → base_link TF transform.
|
||||
|
||||
|
||||
@ -61,7 +61,7 @@ kill %1
|
||||
|
||||
### Core System Components
|
||||
- Robot Description (URDF/TF tree)
|
||||
- STM32 Serial Bridge
|
||||
- ESP32 Serial Bridge
|
||||
- cmd_vel Bridge
|
||||
- Rosbridge WebSocket
|
||||
|
||||
@ -125,11 +125,11 @@ free -h
|
||||
|
||||
### cmd_vel bridge not responding
|
||||
```bash
|
||||
# Verify STM32 bridge is running first
|
||||
# Verify ESP32 bridge is running first
|
||||
ros2 node list | grep bridge
|
||||
|
||||
# Check serial port
|
||||
ls -l /dev/stm32-bridge
|
||||
ls -l /dev/esp32-bridge
|
||||
```
|
||||
|
||||
## Performance Baseline
|
||||
|
||||
@ -74,7 +74,7 @@ class TestMinimalProfile:
|
||||
assert self.p.name == "minimal"
|
||||
|
||||
def test_drivers_enabled(self):
|
||||
assert self.p.enable_stm32_bridge is True
|
||||
assert self.p.enable_esp32_bridge is True
|
||||
assert self.p.enable_sensors is True
|
||||
assert self.p.enable_motor_daemon is True
|
||||
assert self.p.enable_imu is True
|
||||
@ -124,7 +124,7 @@ class TestFullProfile:
|
||||
assert self.p.name == "full"
|
||||
|
||||
def test_drivers_enabled(self):
|
||||
assert self.p.enable_stm32_bridge is True
|
||||
assert self.p.enable_esp32_bridge is True
|
||||
assert self.p.enable_sensors is True
|
||||
assert self.p.enable_motor_daemon is True
|
||||
assert self.p.enable_imu is True
|
||||
@ -312,9 +312,9 @@ class TestSafetyDefaults:
|
||||
# ─── Hardware port defaults ────────────────────────────────────────────────────
|
||||
|
||||
class TestHardwarePortDefaults:
|
||||
def test_stm32_port_set(self):
|
||||
def test_esp32_port_set(self):
|
||||
p = _minimal()
|
||||
assert p.stm32_port.startswith("/dev/")
|
||||
assert p.esp32_port.startswith("/dev/")
|
||||
|
||||
def test_uwb_ports_set(self):
|
||||
p = _full()
|
||||
|
||||
@ -1 +1 @@
|
||||
"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""
|
||||
"""SaltyBot CAN bridge package — ESP32 IO motor controller and VESC telemetry via python-can."""
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the Mamba motor
|
||||
can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32 IO motor
|
||||
controller and VESC motor controllers over CAN bus.
|
||||
|
||||
The node opens the SocketCAN interface (slcan0 by default), spawns a background
|
||||
@ -9,12 +9,12 @@ reader thread to process incoming telemetry, and exposes the following interface
|
||||
Subscriptions
|
||||
-------------
|
||||
/cmd_vel geometry_msgs/Twist → VESC speed commands (CAN)
|
||||
/estop std_msgs/Bool → Mamba e-stop (CAN)
|
||||
/estop std_msgs/Bool → ESP32 IO e-stop (CAN)
|
||||
|
||||
Publications
|
||||
------------
|
||||
/can/imu sensor_msgs/Imu Mamba IMU telemetry
|
||||
/can/battery sensor_msgs/BatteryState Mamba battery telemetry
|
||||
/can/imu sensor_msgs/Imu ESP32 IO IMU telemetry
|
||||
/can/battery sensor_msgs/BatteryState ESP32 IO battery telemetry
|
||||
/can/vesc/left/state std_msgs/Float32MultiArray Left VESC state
|
||||
/can/vesc/right/state std_msgs/Float32MultiArray Right VESC state
|
||||
/can/connection_status std_msgs/String "connected" | "disconnected"
|
||||
@ -64,7 +64,7 @@ _WATCHDOG_HZ: float = 10.0
|
||||
|
||||
|
||||
class CanBridgeNode(Node):
|
||||
"""CAN bus bridge between Orin ROS2 and Mamba / VESC controllers."""
|
||||
"""CAN bus bridge between Orin ROS2 and ESP32 IO / VESC controllers."""
|
||||
|
||||
def __init__(self) -> None:
|
||||
super().__init__("can_bridge_node")
|
||||
@ -214,18 +214,18 @@ class CanBridgeNode(Node):
|
||||
|
||||
# Forward left = forward right for pure translation; for rotation
|
||||
# left slows and right speeds up (positive angular = CCW = left turn).
|
||||
# The Mamba velocity command carries both wheels independently.
|
||||
# The ESP32 IO velocity command carries both wheels independently.
|
||||
left_mps = linear - angular
|
||||
right_mps = linear + angular
|
||||
|
||||
payload = encode_velocity_cmd(left_mps, right_mps)
|
||||
self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel")
|
||||
|
||||
# Keep Mamba in DRIVE mode while receiving commands
|
||||
# Keep ESP32 IO in DRIVE mode while receiving commands
|
||||
self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode")
|
||||
|
||||
def _estop_cb(self, msg: Bool) -> None:
|
||||
"""Forward /estop to Mamba over CAN."""
|
||||
"""Forward /estop to ESP32 IO over CAN."""
|
||||
if not self._connected:
|
||||
return
|
||||
payload = encode_estop_cmd(msg.data)
|
||||
@ -234,7 +234,7 @@ class CanBridgeNode(Node):
|
||||
self._send_can(
|
||||
MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode"
|
||||
)
|
||||
self.get_logger().warning("E-stop asserted — sent ESTOP to Mamba")
|
||||
self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32 IO")
|
||||
|
||||
# ── Watchdog ──────────────────────────────────────────────────────────
|
||||
|
||||
|
||||
@ -1,16 +1,19 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
mamba_protocol.py — CAN message encoding/decoding for the Mamba motor controller
|
||||
mamba_protocol.py — CAN message encoding/decoding for the ESP32 IO motor controller
|
||||
and VESC telemetry.
|
||||
|
||||
# TODO(esp32-migration): CAN IDs and struct layouts below are for the legacy Mamba
|
||||
# controller. When ESP32 IO CAN protocol is defined, update CAN IDs and frame formats.
|
||||
|
||||
CAN message layout
|
||||
------------------
|
||||
Command frames (Orin → Mamba / VESC):
|
||||
Command frames (Orin → ESP32 IO / VESC):
|
||||
MAMBA_CMD_VELOCITY 0x100 8 bytes left_speed (f32, m/s) | right_speed (f32, m/s)
|
||||
MAMBA_CMD_MODE 0x101 1 byte mode (0=idle, 1=drive, 2=estop)
|
||||
MAMBA_CMD_ESTOP 0x102 1 byte 0x01 = stop
|
||||
|
||||
Telemetry frames (Mamba → Orin):
|
||||
Telemetry frames (ESP32 IO → Orin):
|
||||
MAMBA_TELEM_IMU 0x200 24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each)
|
||||
MAMBA_TELEM_BATTERY 0x201 8 bytes voltage (f32, V) | current (f32, A)
|
||||
|
||||
@ -56,7 +59,7 @@ MODE_ESTOP: int = 2
|
||||
|
||||
@dataclass
|
||||
class ImuTelemetry:
|
||||
"""Decoded IMU telemetry from Mamba (MAMBA_TELEM_IMU)."""
|
||||
"""Decoded IMU telemetry from ESP32 IO (MAMBA_TELEM_IMU)."""
|
||||
|
||||
accel_x: float = 0.0 # m/s²
|
||||
accel_y: float = 0.0
|
||||
@ -68,7 +71,7 @@ class ImuTelemetry:
|
||||
|
||||
@dataclass
|
||||
class BatteryTelemetry:
|
||||
"""Decoded battery telemetry from Mamba (MAMBA_TELEM_BATTERY)."""
|
||||
"""Decoded battery telemetry from ESP32 IO (MAMBA_TELEM_BATTERY)."""
|
||||
|
||||
voltage: float = 0.0 # V
|
||||
current: float = 0.0 # A
|
||||
|
||||
@ -15,7 +15,7 @@ setup(
|
||||
zip_safe=True,
|
||||
maintainer="sl-controls",
|
||||
maintainer_email="sl-controls@saltylab.local",
|
||||
description="CAN bus bridge for Mamba controller and VESC telemetry",
|
||||
description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry",
|
||||
license="MIT",
|
||||
tests_require=["pytest"],
|
||||
entry_points={
|
||||
|
||||
@ -1,28 +1,28 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
protocol_defs.py — CAN message ID constants and frame builders/parsers for the
|
||||
Orin↔Mamba↔VESC integration test suite.
|
||||
Orin↔ESP32 IO↔VESC integration test suite.
|
||||
|
||||
All IDs and payload formats are derived from:
|
||||
include/orin_can.h — Orin↔FC (Mamba) protocol
|
||||
include/orin_can.h — Orin↔FC (ESP32 IO) protocol
|
||||
include/vesc_can.h — VESC CAN protocol
|
||||
saltybot_can_bridge/mamba_protocol.py — existing bridge constants
|
||||
|
||||
CAN IDs used in tests
|
||||
---------------------
|
||||
Orin → FC (Mamba) commands (standard 11-bit, matching orin_can.h):
|
||||
Orin → FC (ESP32 IO) commands (standard 11-bit, matching orin_can.h):
|
||||
ORIN_CMD_HEARTBEAT 0x300
|
||||
ORIN_CMD_DRIVE 0x301 int16 speed (−1000..+1000), int16 steer (−1000..+1000)
|
||||
ORIN_CMD_MODE 0x302 uint8 mode byte
|
||||
ORIN_CMD_ESTOP 0x303 uint8 action (1=ESTOP, 0=CLEAR)
|
||||
|
||||
FC (Mamba) → Orin telemetry (standard 11-bit, matching orin_can.h):
|
||||
FC (ESP32 IO) → Orin telemetry (standard 11-bit, matching orin_can.h):
|
||||
FC_STATUS 0x400 8 bytes (see orin_can_fc_status_t)
|
||||
FC_VESC 0x401 8 bytes (see orin_can_fc_vesc_t)
|
||||
FC_IMU 0x402 8 bytes
|
||||
FC_BARO 0x403 8 bytes
|
||||
|
||||
Mamba ↔ VESC internal commands (matching mamba_protocol.py):
|
||||
ESP32 IO ↔ VESC internal commands (matching mamba_protocol.py):
|
||||
MAMBA_CMD_VELOCITY 0x100 8 bytes left_mps (f32) | right_mps (f32) big-endian
|
||||
MAMBA_CMD_MODE 0x101 1 byte mode (0=idle,1=drive,2=estop)
|
||||
MAMBA_CMD_ESTOP 0x102 1 byte 0x01=stop
|
||||
@ -36,7 +36,7 @@ import struct
|
||||
from typing import Tuple
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Orin → FC (Mamba) command IDs (from orin_can.h)
|
||||
# Orin → FC (ESP32 IO) command IDs (from orin_can.h)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
ORIN_CMD_HEARTBEAT: int = 0x300
|
||||
@ -45,7 +45,7 @@ ORIN_CMD_MODE: int = 0x302
|
||||
ORIN_CMD_ESTOP: int = 0x303
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# FC (Mamba) → Orin telemetry IDs (from orin_can.h)
|
||||
# FC (ESP32 IO) → Orin telemetry IDs (from orin_can.h)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
FC_STATUS: int = 0x400
|
||||
@ -54,7 +54,7 @@ FC_IMU: int = 0x402
|
||||
FC_BARO: int = 0x403
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Mamba → VESC internal command IDs (from mamba_protocol.py)
|
||||
# ESP32 IO → VESC internal command IDs (from mamba_protocol.py)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
MAMBA_CMD_VELOCITY: int = 0x100
|
||||
@ -136,7 +136,7 @@ def build_estop_cmd(action: int = 1) -> bytes:
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Frame builders — Mamba velocity commands (mamba_protocol.py encoding)
|
||||
# Frame builders — ESP32 IO velocity commands (mamba_protocol.py encoding)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes:
|
||||
|
||||
@ -14,7 +14,7 @@ setup(
|
||||
zip_safe=True,
|
||||
maintainer="sl-jetson",
|
||||
maintainer_email="sl-jetson@saltylab.local",
|
||||
description="End-to-end CAN integration tests for Orin↔Mamba↔VESC full loop",
|
||||
description="End-to-end CAN integration tests for Orin↔ESP32 IO↔VESC full loop",
|
||||
license="MIT",
|
||||
tests_require=["pytest"],
|
||||
entry_points={
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
test_drive_command.py — Integration tests for the drive command path.
|
||||
|
||||
Tests verify:
|
||||
DRIVE cmd → Mamba receives velocity command frame → mock VESC status response
|
||||
DRIVE cmd → ESP32 IO receives velocity command frame → mock VESC status response
|
||||
→ FC_VESC broadcast contains correct RPMs.
|
||||
|
||||
All tests run without real hardware or a running ROS2 system.
|
||||
@ -61,7 +61,7 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None:
|
||||
class TestDriveForward:
|
||||
def test_drive_forward_velocity_frame_sent(self, mock_can_bus):
|
||||
"""
|
||||
Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify Mamba receives
|
||||
Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32 IO receives
|
||||
a MAMBA_CMD_VELOCITY frame with correct payload.
|
||||
"""
|
||||
_send_drive(mock_can_bus, 1.0, 1.0)
|
||||
@ -84,7 +84,7 @@ class TestDriveForward:
|
||||
def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus):
|
||||
"""
|
||||
Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct.
|
||||
(In the real loop Mamba computes RPM from m/s and broadcasts FC_VESC.)
|
||||
(In the real loop ESP32 IO computes RPM from m/s and broadcasts FC_VESC.)
|
||||
This test checks the FC_VESC frame format and parser.
|
||||
"""
|
||||
# Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics)
|
||||
|
||||
@ -47,7 +47,7 @@ class VescStatusAggregator:
|
||||
2. Builds an FC_VESC broadcast payload
|
||||
3. Injects the FC_VESC frame onto the mock bus
|
||||
|
||||
This represents the Mamba → Orin telemetry path.
|
||||
This represents the ESP32 IO → Orin telemetry path.
|
||||
"""
|
||||
|
||||
def __init__(self, bus: MockCANBus):
|
||||
|
||||
@ -90,7 +90,7 @@ class HeartbeatSimulator:
|
||||
def _simulate_estop_on_timeout(bus: MockCANBus) -> None:
|
||||
"""
|
||||
Simulate the firmware-side logic: when heartbeat timeout expires,
|
||||
the FC sends an e-stop command by setting estop mode on the Mamba bus.
|
||||
the FC sends an e-stop command by setting estop mode on the ESP32 IO bus.
|
||||
We model this as the bridge sending zero velocity + ESTOP mode.
|
||||
"""
|
||||
|
||||
|
||||
@ -27,7 +27,7 @@ robot:
|
||||
stem_od: 0.0381 # m STEM_OD = 38.1mm
|
||||
stem_height: 1.050 # m nominal cut length
|
||||
|
||||
# ── FC / IMU (MAMBA F722S) ──────────────────────────────────────────────────
|
||||
# ── FC / IMU (ESP32 BALANCE) ──────────────────────────────────────────────────
|
||||
# fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105)
|
||||
# z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm
|
||||
imu_x: 0.050 # m forward of base_link center
|
||||
|
||||
@ -5,7 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot.
|
||||
## Features
|
||||
|
||||
### Startup Checks
|
||||
- RPLIDAR, RealSense, VESC, Jabra mic, STM32, servos
|
||||
- RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos
|
||||
- WiFi, GPS, disk space, RAM
|
||||
- Boot result TTS + face animation
|
||||
- JSON logging
|
||||
|
||||
@ -6,7 +6,7 @@ startup_checks:
|
||||
- realsense
|
||||
- vesc
|
||||
- jabra_microphone
|
||||
- stm32_bridge
|
||||
- esp32_bridge
|
||||
- servos
|
||||
- wifi
|
||||
- gps
|
||||
|
||||
@ -138,7 +138,7 @@ class DiagnosticsNode(Node):
|
||||
self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})
|
||||
|
||||
def _check_stm32(self):
|
||||
self.hardware_checks["stm32"] = ("OK", "STM32 bridge online", {})
|
||||
self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {})
|
||||
|
||||
def _check_servos(self):
|
||||
try:
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
# ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2
|
||||
#
|
||||
# IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46)
|
||||
# applies the ESC ramp, deadman switch, and STM32 AUTONOMOUS mode gate.
|
||||
# applies the ESC ramp, deadman switch, and ESP32 BALANCE AUTONOMOUS mode gate.
|
||||
# Do not run this node without the cmd_vel bridge running on the same robot.
|
||||
|
||||
# ── Follow geometry ────────────────────────────────────────────────────────────
|
||||
@ -70,5 +70,5 @@ control_rate: 20.0 # Hz — lower than cmd_vel bridge (50Hz) by desig
|
||||
# ── Mode integration ──────────────────────────────────────────────────────────
|
||||
# Master enable for the follow controller. When false, node publishes zero cmd_vel.
|
||||
# Toggle at runtime: ros2 param set /person_follower follow_enabled false
|
||||
# The cmd_vel bridge independently gates on STM32 AUTONOMOUS mode (md=2).
|
||||
# The cmd_vel bridge independently gates on ESP32 BALANCE AUTONOMOUS mode (md=2).
|
||||
follow_enabled: true
|
||||
|
||||
@ -28,7 +28,7 @@ State machine
|
||||
|
||||
Safety wiring
|
||||
-------------
|
||||
* cmd_vel bridge (PR #46) applies ramp + deadman + STM32 AUTONOMOUS mode gate --
|
||||
* cmd_vel bridge (PR #46) applies ramp + deadman + ESP32 BALANCE AUTONOMOUS mode gate --
|
||||
this node publishes raw /cmd_vel, the bridge handles hardware safety.
|
||||
* follow_enabled param (default True) lets the operator disable the controller
|
||||
at runtime: ros2 param set /person_follower follow_enabled false
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
gimbal_node:
|
||||
ros__parameters:
|
||||
# Serial port connecting to STM32 over JLINK protocol
|
||||
# Serial port connecting to ESP32 BALANCE over JLINK protocol
|
||||
serial_port: "/dev/ttyTHS1"
|
||||
baud_rate: 921600
|
||||
|
||||
|
||||
@ -14,7 +14,7 @@ def generate_launch_description() -> LaunchDescription:
|
||||
serial_port_arg = DeclareLaunchArgument(
|
||||
"serial_port",
|
||||
default_value="/dev/ttyTHS1",
|
||||
description="JLINK serial port to STM32",
|
||||
description="JLINK serial port to ESP32 BALANCE",
|
||||
)
|
||||
pan_limit_arg = DeclareLaunchArgument(
|
||||
"pan_limit_deg",
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
"""gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548).
|
||||
|
||||
Controls pan/tilt gimbal via JLINK binary protocol over serial to STM32.
|
||||
Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32 BALANCE.
|
||||
Implements smooth trapezoidal motion profiles with configurable axis limits.
|
||||
|
||||
Subscribed topics:
|
||||
|
||||
@ -1,14 +1,14 @@
|
||||
"""jlink_gimbal.py — JLINK binary frame codec for gimbal commands (Issue #548).
|
||||
|
||||
Matches the JLINK protocol defined in include/jlink.h (Issue #547 STM32 side).
|
||||
Matches the JLINK protocol defined in include/jlink.h (Issue #547 ESP32 side).
|
||||
|
||||
Command type (Jetson → STM32):
|
||||
Command type (Jetson → ESP32 BALANCE):
|
||||
0x0B GIMBAL_POS — int16 pan_x10 + int16 tilt_x10 + uint16 speed (6 bytes)
|
||||
pan_x10 = pan_deg * 10 (±1500 for ±150°)
|
||||
tilt_x10 = tilt_deg * 10 (±450 for ±45°)
|
||||
speed = servo speed register 0–4095 (0 = max)
|
||||
|
||||
Telemetry type (STM32 → Jetson):
|
||||
Telemetry type (ESP32 BALANCE → Jetson):
|
||||
0x84 GIMBAL_STATE — int16 pan_x10 + int16 tilt_x10 +
|
||||
uint16 pan_speed_raw + uint16 tilt_speed_raw +
|
||||
uint8 torque_en + uint8 rx_err_pct (10 bytes)
|
||||
@ -31,8 +31,8 @@ ETX = 0x03
|
||||
|
||||
# ── Command / telemetry type codes ─────────────────────────────────────────────
|
||||
|
||||
CMD_GIMBAL_POS = 0x0B # Jetson → STM32: set pan/tilt target
|
||||
TLM_GIMBAL_STATE = 0x84 # STM32 → Jetson: measured state
|
||||
CMD_GIMBAL_POS = 0x0B # Jetson → ESP32 BALANCE: set pan/tilt target
|
||||
TLM_GIMBAL_STATE = 0x84 # ESP32 BALANCE → Jetson: measured state
|
||||
|
||||
# Speed register: 0 = maximum servo speed; 4095 = slowest non-zero speed.
|
||||
# Map deg/s to this register: speed_reg = max(0, 4095 - int(deg_s * 4095 / 360))
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
#
|
||||
# Topic wiring:
|
||||
# /rc/joy → mode_switch_node (CRSF channels)
|
||||
# /saltybot/balance_state → mode_switch_node (STM32 state)
|
||||
# /saltybot/balance_state → mode_switch_node (ESP32 BALANCE state)
|
||||
# /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix)
|
||||
# /saltybot/control_mode ← mode_switch_node (JSON mode + alpha)
|
||||
# /saltybot/led_pattern ← mode_switch_node (LED name)
|
||||
|
||||
@ -13,7 +13,7 @@ Topic graph
|
||||
|
||||
In RC mode (blend_alpha ≈ 0) the node publishes Twist(0,0) so the bridge
|
||||
receives zeros — this is harmless because the bridge's mode gate already
|
||||
prevents autonomous commands when the STM32 is in RC_MANUAL.
|
||||
prevents autonomous commands when the ESP32 BALANCE is in RC_MANUAL.
|
||||
|
||||
The bridge's existing ESC ramp handles hardware-level smoothing;
|
||||
the blend_alpha here provides the higher-level cmd_vel policy ramp.
|
||||
|
||||
@ -6,9 +6,9 @@ state machine can be exercised in unit tests without a ROS2 runtime.
|
||||
|
||||
Mode vocabulary
|
||||
---------------
|
||||
"RC" — STM32 executing RC pilot commands; Jetson cmd_vel blocked.
|
||||
"RC" — ESP32 BALANCE executing RC pilot commands; Jetson cmd_vel blocked.
|
||||
"RAMP_TO_AUTO" — Transitioning RC→AUTO; blend_alpha 0.0→1.0 over ramp_s.
|
||||
"AUTO" — STM32 executing Jetson cmd_vel; RC sticks idle.
|
||||
"AUTO" — ESP32 BALANCE executing Jetson cmd_vel; RC sticks idle.
|
||||
"RAMP_TO_RC" — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s.
|
||||
|
||||
Blend alpha
|
||||
|
||||
@ -9,7 +9,7 @@ Inputs
|
||||
axes[stick_axes...] Roll/Pitch/Throttle/Yaw — override detection
|
||||
|
||||
/saltybot/balance_state (std_msgs/String JSON)
|
||||
Parsed for RC link health (field "rc_link") and STM32 mode.
|
||||
Parsed for RC link health (field "rc_link") and ESP32 BALANCE mode.
|
||||
|
||||
<slam_fix_topic> (geometry_msgs/PoseWithCovarianceStamped)
|
||||
Any message received within slam_fix_timeout_s → SLAM fix valid.
|
||||
@ -106,7 +106,7 @@ class ModeSwitchNode(Node):
|
||||
self._last_joy_t: float = 0.0 # monotonic; 0 = never
|
||||
self._last_slam_t: float = 0.0
|
||||
self._joy_axes: list = []
|
||||
self._stm32_mode: int = 0 # from balance_state JSON
|
||||
self._esp32_mode: int = 0 # from balance_state JSON
|
||||
|
||||
# ── QoS ───────────────────────────────────────────────────────────────
|
||||
best_effort = QoSProfile(
|
||||
@ -187,7 +187,7 @@ class ModeSwitchNode(Node):
|
||||
data = json.loads(msg.data)
|
||||
# "mode" is a label string; map back to int for reference
|
||||
mode_label = data.get("mode", "RC_MANUAL")
|
||||
self._stm32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1,
|
||||
self._esp32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1,
|
||||
"AUTONOMOUS": 2}.get(mode_label, 0)
|
||||
except (json.JSONDecodeError, TypeError):
|
||||
pass
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
vesc_can_odometry:
|
||||
ros__parameters:
|
||||
# ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
|
||||
left_can_id: 56 # left motor VESC CAN ID (Mamba F722S)
|
||||
right_can_id: 68 # right motor VESC CAN ID (Mamba F722S)
|
||||
left_can_id: 56 # left motor VESC CAN ID (ESP32 BALANCE)
|
||||
right_can_id: 68 # right motor VESC CAN ID (ESP32 BALANCE)
|
||||
|
||||
# ── State topic names (must match VESC telemetry publisher) ──────────────
|
||||
left_state_topic: /vesc/left/state
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
# Hardware:
|
||||
# IMU: RealSense D435i BMI055 → /imu/data
|
||||
# GPS: SIM7600X cellular → /gps/fix (±2.5 m CEP)
|
||||
# Odom: STM32 wheel encoders → /odom
|
||||
# Odom: ESP32 BALANCE wheel encoders → /odom
|
||||
# RTK: ZED-F9P (optional) → /gps/fix (±2 cm CEP when use_rtk: true)
|
||||
|
||||
# ── Local EKF: fuses wheel odometry + IMU in odom frame ──────────────────────
|
||||
|
||||
@ -70,8 +70,8 @@ class ParameterServer(Node):
|
||||
"""Load parameter definitions from config file"""
|
||||
defs = {
|
||||
'hardware': {
|
||||
'serial_port': ParamInfo('serial_port', '/dev/stm32-bridge', 'string',
|
||||
'hardware', description='STM32 bridge serial port'),
|
||||
'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string',
|
||||
'hardware', description='ESP32 bridge serial port'),
|
||||
'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware',
|
||||
min_val=9600, max_val=3000000,
|
||||
description='Serial baud rate'),
|
||||
|
||||
@ -370,7 +370,7 @@ class PIDAutotuneNode(Node):
|
||||
ser.write(frame_set)
|
||||
time.sleep(0.05) # allow FC to process PID_SET
|
||||
ser.write(frame_save)
|
||||
# Flash erase takes ~1s on STM32F7; wait for it
|
||||
# Flash erase takes ~1s on ESP32; wait for it
|
||||
time.sleep(1.5)
|
||||
|
||||
self.get_logger().info(
|
||||
|
||||
@ -9,7 +9,7 @@
|
||||
#
|
||||
# GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65
|
||||
# Heading: D435i IMU → /imu/data, converted yaw → route waypoint heading_deg
|
||||
# Odometry: STM32 wheel encoders → /odom
|
||||
# Odometry: ESP32 BALANCE wheel encoders → /odom
|
||||
# UWB: /uwb/target (follow-me reference, logged for context)
|
||||
|
||||
route_recorder:
|
||||
|
||||
@ -10,7 +10,7 @@ Depends on:
|
||||
saltybot-nav2 container (Nav2 action server /navigate_through_poses)
|
||||
saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65)
|
||||
saltybot_uwb (/uwb/target — PR #66, used for context during recording)
|
||||
STM32 bridge (/odom from wheel encoders)
|
||||
ESP32 bridge (/odom from wheel encoders)
|
||||
D435i (/imu/data for heading)
|
||||
|
||||
Usage — record a route:
|
||||
|
||||
@ -5,7 +5,7 @@ Hardware
|
||||
────────
|
||||
SaltyRover: 4-wheel ground robot with individual brushless ESCs.
|
||||
ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
|
||||
Communication: USB CDC serial to STM32 or Raspberry Pi Pico GPIO PWM bridge.
|
||||
Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
|
||||
|
||||
ESC channel assignments (configurable):
|
||||
CH1 = left-front
|
||||
|
||||
@ -39,6 +39,6 @@ safety_zone:
|
||||
# ── cmd_vel topics ───────────────────────────────────────────────────────
|
||||
# Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop.
|
||||
# Typical chain:
|
||||
# cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → STM32
|
||||
# cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32 BALANCE
|
||||
cmd_vel_input_topic: /cmd_vel_input # upstream velocity (remap as needed)
|
||||
cmd_vel_output_topic: /cmd_vel # downstream (to STM32 bridge)
|
||||
cmd_vel_output_topic: /cmd_vel # downstream (to ESP32 bridge)
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
# ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
|
||||
#
|
||||
# Data flow:
|
||||
# person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → STM32
|
||||
# person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
|
||||
|
||||
# ── Controller ─────────────────────────────────────────────────────────────────
|
||||
control_rate: 50.0 # Hz — 50ms tick, same as cmd_vel_bridge
|
||||
@ -83,11 +83,11 @@ ride:
|
||||
target_vel_max: 15.0 # m/s — cap; EUC max ~30 km/h = 8.3 m/s typical
|
||||
|
||||
# ── Notes ─────────────────────────────────────────────────────────────────────
|
||||
# 1. To enable ride profile, the Jetson → STM32 cmd_vel_bridge must also be
|
||||
# 1. To enable ride profile, the Jetson → ESP32 BALANCE cmd_vel_bridge must also be
|
||||
# reconfigured: max_linear_vel=8.0, ramp_rate=500 → consider ramp_rate=150
|
||||
# at ride speed (slower ramp = smoother balance).
|
||||
#
|
||||
# 2. The STM32 balance PID gains likely need retuning for ride speed. Expect
|
||||
# 2. The ESP32 BALANCE balance PID gains likely need retuning for ride speed. Expect
|
||||
# increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s.
|
||||
#
|
||||
# 3. Test sequence recommendation:
|
||||
|
||||
@ -10,7 +10,7 @@ cmd_vel_bridge with matching limits:
|
||||
ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0
|
||||
|
||||
Prerequisite node pipeline:
|
||||
person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → STM32
|
||||
person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE
|
||||
|
||||
Usage:
|
||||
# Defaults (walk profile initially, adapts via UWB + GPS):
|
||||
|
||||
@ -5,7 +5,7 @@ Hardware
|
||||
────────
|
||||
SaltyTank: tracked robot with left/right independent brushless ESCs.
|
||||
ESCs controlled via PWM (servo-style 1000–2000 µs pulses).
|
||||
Communication: USB CDC serial to STM32 or Raspberry Pi Pico GPIO PWM bridge.
|
||||
Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge.
|
||||
|
||||
ESC channel assignments (configurable):
|
||||
CH1 = left-front (or left-track in 2WD/tracked mode)
|
||||
|
||||
@ -298,7 +298,7 @@ class TestBatteryMonitoring(unittest.TestCase):
|
||||
rclpy.spin_once(self.node, timeout_sec=0.1)
|
||||
|
||||
def test_01_battery_topic_advertised(self):
|
||||
"""Battery topic must be advertised (from STM32 bridge)."""
|
||||
"""Battery topic must be advertised (from ESP32 bridge)."""
|
||||
self._spin(5.0)
|
||||
all_topics = {name for name, _ in self.node.get_topic_names_and_types()}
|
||||
|
||||
@ -327,7 +327,7 @@ class TestBatteryMonitoring(unittest.TestCase):
|
||||
self.node.destroy_subscription(sub)
|
||||
|
||||
if not received:
|
||||
pytest.skip("Battery data not publishing (STM32 bridge may be disabled in test mode)")
|
||||
pytest.skip("Battery data not publishing (ESP32 bridge may be disabled in test mode)")
|
||||
|
||||
|
||||
class TestDockingServices(unittest.TestCase):
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
# VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6)
|
||||
# SocketCAN interface: can0 (SN65HVD230 transceiver on MAMBA F722S CAN2)
|
||||
# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32 BALANCE CAN2)
|
||||
|
||||
vesc_telemetry:
|
||||
ros__parameters:
|
||||
|
||||
@ -8,7 +8,7 @@ monitor_speed = 115200
|
||||
board_build.mcu = stm32f722ret6
|
||||
board_build.f_cpu = 216000000L
|
||||
build_flags =
|
||||
-DSTM32F722xx
|
||||
-DESP32xx
|
||||
-DUSE_HAL_DRIVER
|
||||
-DHSE_VALUE=8000000U
|
||||
-DUSE_USB_FS
|
||||
|
||||
@ -16,7 +16,7 @@
|
||||
| Depth Cam | Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU |
|
||||
| LIDAR | RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz |
|
||||
| Wide Cams | 4× IMX219 160° CSI — front/right/rear/left 90° intervals *(arriving)* |
|
||||
| FC | STM32F722 — UART bridge `/dev/ttyACM0` @ 921600 |
|
||||
| FC | ESP32 — UART bridge `/dev/ttyACM0` @ 921600 |
|
||||
|
||||
---
|
||||
|
||||
@ -76,7 +76,7 @@ Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x)
|
||||
▼
|
||||
Nav2 stack (Phase 2b)
|
||||
20Hz costmap
|
||||
/cmd_vel → STM32
|
||||
/cmd_vel → ESP32 BALANCE
|
||||
|
||||
4× IMX219 CSI (Phase 2c — pending hardware)
|
||||
front/right/rear/left 160°
|
||||
|
||||
@ -22,7 +22,7 @@ Requirements:
|
||||
dfu-util >= 0.9 installed and in PATH
|
||||
|
||||
Dual-bank note:
|
||||
STM32F722 has single-bank 512 KB flash; hardware A/B rollback is not
|
||||
ESP32 has single-bank 512 KB flash; hardware A/B rollback is not
|
||||
supported. Rollback is implemented here by saving a backup of the
|
||||
previous binary (.firmware_backup.bin) before each flash.
|
||||
"""
|
||||
@ -36,11 +36,11 @@ import subprocess
|
||||
import sys
|
||||
import time
|
||||
|
||||
# ---- STM32F722 flash constants ----
|
||||
# ---- ESP32 flash constants ----
|
||||
FLASH_BASE = 0x08000000
|
||||
FLASH_SIZE = 0x80000 # 512 KB
|
||||
|
||||
# ---- DFU device defaults (STM32 system bootloader) ----
|
||||
# ---- DFU device defaults (ESP32/STM32 system bootloader) ----
|
||||
DFU_VID = 0x0483 # STMicroelectronics
|
||||
DFU_PID = 0xDF11 # DFU mode
|
||||
|
||||
@ -62,16 +62,16 @@ def crc32_file(path: str) -> int:
|
||||
|
||||
def stm32_crc32(data: bytes) -> int:
|
||||
"""
|
||||
Compute CRC-32/MPEG-2 matching STM32F7 hardware CRC unit.
|
||||
Compute CRC-32/MPEG-2 matching ESP32 hardware CRC unit.
|
||||
|
||||
STM32 algorithm:
|
||||
ESP32/STM32 algorithm:
|
||||
Polynomial : 0x04C11DB7
|
||||
Initial : 0xFFFFFFFF
|
||||
Width : 32 bits
|
||||
Reflection : none (MSB-first)
|
||||
Feed size : 32-bit words from flash (little-endian CPU read)
|
||||
|
||||
When the STM32 reads a flash word it gets a little-endian uint32;
|
||||
When the ESP32 BALANCE reads a flash word it gets a little-endian uint32;
|
||||
the hardware CRC unit processes bits[31:24] first, then [23:16],
|
||||
[15:8], [7:0]. This Python implementation replicates that behaviour.
|
||||
|
||||
@ -214,11 +214,11 @@ def main() -> int:
|
||||
f'({FLASH_SIZE} bytes)', file=sys.stderr)
|
||||
return 1
|
||||
|
||||
# STM32 hardware CRC (for cross-checking with firmware telemetry)
|
||||
# ESP32/STM32 hardware CRC (for cross-checking with firmware telemetry)
|
||||
with open(target, 'rb') as fh:
|
||||
bin_data = fh.read()
|
||||
crc_hw = stm32_crc32(bin_data.ljust(FLASH_SIZE, b'\xff'))
|
||||
print(f'CRC-32 : 0x{crc_hw:08X} (MPEG-2 / STM32 HW, padded to {FLASH_SIZE // 1024} KB)')
|
||||
print(f'CRC-32 : 0x{crc_hw:08X} (MPEG-2 / ESP32/STM32 HW, padded to {FLASH_SIZE // 1024} KB)')
|
||||
|
||||
# Save backup before flashing (skip when rolling back)
|
||||
if not args.rollback:
|
||||
|
||||
@ -4,7 +4,7 @@ test_bno055_data.py — Issue #135: BNO055 driver unit tests.
|
||||
Tests data scaling, byte parsing, calibration status extraction,
|
||||
calibration offset packing/unpacking, and temperature handling.
|
||||
|
||||
No HAL or STM32 hardware required — pure Python logic.
|
||||
No HAL or STM32/ESP32 hardware required — pure Python logic.
|
||||
"""
|
||||
|
||||
import struct
|
||||
|
||||
@ -4,7 +4,7 @@ test_jlink_frames.py — Issue #120: JLink binary protocol unit tests.
|
||||
Tests CRC16-XModem, frame building, frame parsing (state machine),
|
||||
command payload encoding, and telemetry frame layout.
|
||||
|
||||
No HAL or STM32 hardware required — pure Python logic.
|
||||
No HAL or STM32/ESP32 hardware required — pure Python logic.
|
||||
"""
|
||||
|
||||
import struct
|
||||
|
||||
@ -3,7 +3,7 @@ test_ota.py — OTA firmware update utilities (Issue #124)
|
||||
|
||||
Tests:
|
||||
- CRC-32/ISO-HDLC (crc32_file / binascii.crc32)
|
||||
- CRC-32/MPEG-2 (stm32_crc32 — matches STM32F7 hardware CRC unit)
|
||||
- CRC-32/MPEG-2 (stm32_crc32 — matches ESP32 hardware CRC unit)
|
||||
- CRC-16/XMODEM (_crc16_xmodem — JLink frame integrity)
|
||||
- DFU_ENTER frame (JLINK_CMD_DFU_ENTER = 0x06, no payload)
|
||||
- Safety constants (BKP index, flash region, magic value)
|
||||
@ -233,8 +233,8 @@ class TestOtaConstants:
|
||||
BNO055_BKP_RANGE = range(0, 7)
|
||||
assert OTA_DFU_BKP_IDX not in BNO055_BKP_RANGE
|
||||
|
||||
def test_bkp_idx_valid_stm32f7(self):
|
||||
"""STM32F7 has 32 backup registers (BKP0R–BKP31R)."""
|
||||
def test_bkp_idx_valid_esp32(self):
|
||||
"""ESP32 has 32 backup registers (BKP0R–BKP31R)."""
|
||||
OTA_DFU_BKP_IDX = 15
|
||||
assert 0 <= OTA_DFU_BKP_IDX <= 31
|
||||
|
||||
@ -252,7 +252,7 @@ class TestOtaConstants:
|
||||
assert DFU_VID == 0x0483
|
||||
|
||||
def test_dfu_pid_dfu_mode(self):
|
||||
"""Default PID = 0xDF11 (STM32 DFU mode)."""
|
||||
"""Default PID = 0xDF11 (ESP32 DFU mode)."""
|
||||
assert DFU_PID == 0xDF11
|
||||
|
||||
def test_bkp_idx_not_zero(self):
|
||||
|
||||
@ -471,7 +471,7 @@ class TestJlinkProtocol:
|
||||
# Tests: Wake latency and IWDG budget
|
||||
# ---------------------------------------------------------------------------
|
||||
class TestWakeLatencyBudget:
|
||||
# STM32F722 STOP-mode wakeup: HSI ready ~2 ms + PLL lock ~2 ms ≈ 4 ms
|
||||
# ESP32 STOP-mode wakeup: HSI ready ~2 ms + PLL lock ~2 ms ≈ 4 ms
|
||||
ESTIMATED_WAKE_MS = 10 # conservative upper bound
|
||||
|
||||
def test_wake_latency_within_50ms(self):
|
||||
@ -493,7 +493,7 @@ class TestWakeLatencyBudget:
|
||||
assert PM_FADE_MS < PM_IDLE_TIMEOUT_MS
|
||||
|
||||
def test_stop_mode_wake_much_less_than_50ms(self):
|
||||
# PLL startup on STM32F7: HSI on (0 ms, already running) +
|
||||
# PLL startup on ESP32: HSI on (0 ms, already running) +
|
||||
# PLL lock ~2 ms + SysTick re-init ~0.1 ms ≈ 3 ms
|
||||
pll_lock_ms = 3
|
||||
overhead_ms = 1
|
||||
@ -539,7 +539,7 @@ class TestHardwareConstants:
|
||||
assert 216 / 2 == 108
|
||||
|
||||
def test_flash_latency_7_required_at_216mhz(self):
|
||||
"""STM32F7 at 2.7-3.3 V: 7 wait states for 210-216 MHz."""
|
||||
"""ESP32 at 2.7-3.3 V: 7 wait states for 210-216 MHz."""
|
||||
FLASH_LATENCY = 7
|
||||
assert FLASH_LATENCY == 7
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
|
||||
<title>Saltybot — CAN Monitor</title>
|
||||
<link rel="stylesheet" href="can_monitor_panel.css">
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
|
||||
<title>Saltybot — System Diagnostics</title>
|
||||
<link rel="stylesheet" href="diagnostics_panel.css">
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
@ -112,7 +112,7 @@
|
||||
<div class="temp-bar-track"><div class="temp-bar-fill" id="gpu-temp-bar" style="width:0%"></div></div>
|
||||
</div>
|
||||
<div class="temp-box" id="board-temp-box">
|
||||
<div class="temp-label">Board / STM32</div>
|
||||
<div class="temp-label">Board / ESP32</div>
|
||||
<div class="temp-value" id="board-temp-val">—</div>
|
||||
<div class="temp-bar-track"><div class="temp-bar-fill" id="board-temp-bar" style="width:0%"></div></div>
|
||||
</div>
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
|
||||
<title>Saltybot — Event Log</title>
|
||||
<link rel="stylesheet" href="event_log_panel.css">
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
|
||||
<title>Saltybot — Gamepad Teleop</title>
|
||||
<link rel="stylesheet" href="gamepad_panel.css">
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
<title>Saltybot — Gimbal Control</title>
|
||||
<link rel="stylesheet" href="gimbal_panel.css">
|
||||
<!-- roslib from CDN -->
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
<style>
|
||||
/* Cam button active state (can't use CSS-only with JS-toggled class without Tailwind) */
|
||||
.cam-btn { padding: 3px 10px; border-radius: 4px; border: 1px solid #1e3a5f;
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
<link rel="stylesheet" href="gps_map_panel.css">
|
||||
<link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
|
||||
<script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
|
||||
<title>Saltybot — Dashboard</title>
|
||||
<link rel="stylesheet" href="dashboard.css">
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
|
||||
<title>Saltybot — Map View</title>
|
||||
<link rel="stylesheet" href="map_panel.css">
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
|
||||
<title>Saltybot — Settings</title>
|
||||
<link rel="stylesheet" href="settings_panel.css">
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.3.0/build/roslib.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user