From 291dd689f815b5cad242a4505041889c377d2301 Mon Sep 17 00:00:00 2001 From: sl-firmware Date: Sat, 4 Apr 2026 08:41:26 -0400 Subject: [PATCH] =?UTF-8?q?feat:=20remove=20all=20STM32/Mamba/BlackPill=20?= =?UTF-8?q?references=20=E2=80=94=20ESP32-S3=20only?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 --- AUTONOMOUS_ARMING.md | 6 +- CLAUDE.md | 12 +- TEAM.md | 30 +-- cad/assembly.scad | 2 +- cad/dimensions.scad | 2 +- cad/jetson_shelf.scad | 4 +- chassis/ASSEMBLY.md | 6 +- chassis/BOM.md | 8 +- chassis/chassis_frame.scad | 12 +- chassis/ip54_BOM.md | 2 +- chassis/prototype_baseplate.scad | 4 +- chassis/rover_electronics_bay.scad | 2 +- chassis/saltyrover_chassis_r2.scad | 4 +- docs/AGENTS.md | 36 ++-- docs/FACE_LCD_ANIMATION.md | 4 +- docs/PLATFORM.md | 4 +- docs/SALTYLAB-DETAILED.md | 8 +- docs/SALTYLAB.md | 189 +++--------------- docs/board-viz.html | 6 +- docs/wiring-diagram.md | 18 +- jetson/Dockerfile | 2 +- jetson/README.md | 10 +- jetson/config/RECOVERY_BEHAVIORS.md | 2 +- jetson/config/nav2_params.yaml | 2 +- jetson/docker-compose.yml | 24 +-- jetson/docs/pinout.md | 40 ++-- jetson/docs/power-budget.md | 6 +- .../saltybot_bridge/config/bridge_params.yaml | 4 +- .../config/cmd_vel_bridge_params.yaml | 8 +- ..._cmd_params.yaml => esp32_cmd_params.yaml} | 12 +- .../saltybot_bridge/config/estop_params.yaml | 2 +- .../saltybot_bridge/launch/bridge.launch.py | 4 +- .../launch/cmd_vel_bridge.launch.py | 8 +- ...tm32_cmd.launch.py => esp32_cmd.launch.py} | 14 +- .../launch/uart_bridge.launch.py | 4 +- .../ros2_ws/src/saltybot_bridge/package.xml | 4 +- .../saltybot_bridge/battery_node.py | 6 +- .../saltybot_bridge/cmd_vel_bridge_node.py | 20 +- .../{stm32_cmd_node.py => esp32_cmd_node.py} | 26 +-- .../{stm32_protocol.py => esp32_protocol.py} | 18 +- .../saltybot_bridge/remote_estop_node.py | 8 +- .../saltybot_bridge/saltybot_can_node.py | 2 +- .../saltybot_bridge/saltybot_cmd_node.py | 22 +- .../saltybot_bridge/serial_bridge_node.py | 16 +- jetson/ros2_ws/src/saltybot_bridge/setup.py | 10 +- .../src/saltybot_bridge/test/test_cmd.py | 2 +- ...m32_cmd_node.py => test_esp32_cmd_node.py} | 18 +- ...m32_protocol.py => test_esp32_protocol.py} | 6 +- .../src/saltybot_bridge/test/test_parse.py | 2 +- .../saltybot_bridge_msgs/msg/WheelTicks.msg | 2 +- .../src/saltybot_bridge_msgs/package.xml | 2 +- .../saltybot_bringup/config/nav2_params.yaml | 2 +- .../config/saltybot_params.yaml | 4 +- .../launch/full_stack.launch.py | 38 ++-- .../launch/realsense.launch.py | 2 +- .../launch/saltybot_bringup.launch.py | 30 +-- .../saltybot_bringup/_wheel_odom.py | 2 +- .../saltybot_bringup/launch_profiles.py | 10 +- .../saltybot_bringup/wheel_odom_node.py | 2 +- .../test/README_INTEGRATION_TESTS.md | 6 +- .../test/test_launch_orchestrator.py | 8 +- .../saltybot_bringup/urdf/saltybot.urdf.xacro | 4 +- ...{mamba_protocol.py => balance_protocol.py} | 2 +- .../saltybot_can_bridge/can_bridge_node.py | 2 +- .../ros2_ws/src/saltybot_can_bridge/setup.py | 2 +- .../test/test_can_bridge.py | 4 +- .../src/saltybot_can_e2e_test/package.xml | 2 +- .../saltybot_can_e2e_test/protocol_defs.py | 10 +- .../saltybot_can_e2e_test/test/conftest.py | 6 +- .../test/test_drive_command.py | 2 +- .../saltybot_can_e2e_test/test/test_estop.py | 2 +- .../test/test_fc_vesc_broadcast.py | 2 +- .../test/test_heartbeat_timeout.py | 2 +- .../test/test_mode_switching.py | 8 +- .../config/saltybot_properties.yaml | 2 +- .../urdf/saltybot.urdf.xacro | 2 +- .../src/saltybot_diagnostics/README.md | 2 +- .../config/diagnostic_checks.yaml | 2 +- .../saltybot_diagnostics/diagnostics_node.py | 2 +- .../config/person_follower_params.yaml | 4 +- .../saltybot_follower/person_follower_node.py | 2 +- .../saltybot_gimbal/config/gimbal_params.yaml | 2 +- .../saltybot_gimbal/launch/gimbal.launch.py | 2 +- .../ros2_ws/src/saltybot_gimbal/package.xml | 2 +- .../saltybot_gimbal/gimbal_node.py | 2 +- .../saltybot_gimbal/jlink_gimbal.py | 12 +- .../config/mode_switch_params.yaml | 2 +- .../saltybot_mode_switch/cmd_vel_mux_node.py | 2 +- .../saltybot_mode_switch/mode_logic.py | 4 +- .../saltybot_mode_switch/mode_switch_node.py | 2 +- .../config/vesc_odometry_params.yaml | 4 +- .../saltybot_outdoor/config/ekf_outdoor.yaml | 2 +- .../param_server_node.py | 4 +- .../pid_autotune_node.py | 2 +- .../saltybot_routes/config/route_params.yaml | 2 +- .../launch/route_system.launch.py | 2 +- .../rover_driver_node.py | 2 +- .../config/safety_zone_params.yaml | 4 +- .../config/speed_profiles.yaml | 6 +- .../launch/outdoor_speed.launch.py | 2 +- .../saltybot_tank_driver/tank_driver_node.py | 2 +- .../test/test_audio_monitoring.py | 4 +- .../config/vesc_telemetry_params.yaml | 2 +- jetson/scripts/entrypoint.sh | 2 +- jetson/scripts/setup-jetson.sh | 6 +- legacy/stm32/README.md | 4 + USB_CDC_BUG.md => legacy/stm32/USB_CDC_BUG.md | 0 {include => legacy/stm32/include}/audio.h | 0 {include => legacy/stm32/include}/balance.h | 0 {include => legacy/stm32/include}/baro.h | 0 {include => legacy/stm32/include}/battery.h | 0 .../stm32/include}/battery_adc.h | 0 {include => legacy/stm32/include}/bmp280.h | 0 {include => legacy/stm32/include}/bno055.h | 0 {include => legacy/stm32/include}/buzzer.h | 0 .../stm32/include}/can_driver.h | 0 {include => legacy/stm32/include}/config.h | 0 .../stm32/include}/coulomb_counter.h | 0 {include => legacy/stm32/include}/crsf.h | 0 .../stm32/include}/encoder_odom.h | 0 .../stm32/include}/esc_backend.h | 0 .../stm32/include}/face_animation.h | 0 {include => legacy/stm32/include}/face_lcd.h | 0 {include => legacy/stm32/include}/face_uart.h | 0 {include => legacy/stm32/include}/fan.h | 0 .../stm32/include}/fault_handler.h | 0 {include => legacy/stm32/include}/gimbal.h | 0 .../stm32/include}/hoverboard.h | 0 {include => legacy/stm32/include}/hw_button.h | 0 {include => legacy/stm32/include}/i2c1.h | 0 {include => legacy/stm32/include}/icm42688.h | 0 .../stm32/include}/imu_cal_flash.h | 0 {include => legacy/stm32/include}/ina219.h | 0 .../stm32/include}/jetson_cmd.h | 0 .../stm32/include}/jetson_uart.h | 0 {include => legacy/stm32/include}/jlink.h | 0 {include => legacy/stm32/include}/led.h | 0 {include => legacy/stm32/include}/lvc.h | 0 {include => legacy/stm32/include}/mag.h | 0 .../stm32/include}/mode_manager.h | 0 .../stm32/include}/motor_current.h | 0 .../stm32/include}/motor_driver.h | 0 {include => legacy/stm32/include}/mpu6000.h | 0 {include => legacy/stm32/include}/orin_can.h | 0 {include => legacy/stm32/include}/ota.h | 0 {include => legacy/stm32/include}/pid_flash.h | 0 .../stm32/include}/pid_schedule.h | 0 .../stm32/include}/power_mgmt.h | 0 {include => legacy/stm32/include}/rgb_fsm.h | 0 {include => legacy/stm32/include}/safety.h | 0 {include => legacy/stm32/include}/servo.h | 0 {include => legacy/stm32/include}/servo_bus.h | 0 .../stm32/include}/slope_estimator.h | 0 {include => legacy/stm32/include}/status.h | 0 .../stm32/include}/steering_pid.h | 0 .../stm32/include}/uart_protocol.h | 0 .../stm32/include}/ultrasonic.h | 0 {include => legacy/stm32/include}/vesc_can.h | 0 {include => legacy/stm32/include}/watchdog.h | 0 .../stm32/lib}/USB_CDC/include/usbd_cdc.h | 0 .../stm32/lib}/USB_CDC/include/usbd_cdc_if.h | 0 .../stm32/lib}/USB_CDC/include/usbd_conf.h | 0 .../stm32/lib}/USB_CDC/include/usbd_core.h | 0 .../stm32/lib}/USB_CDC/include/usbd_ctlreq.h | 0 .../stm32/lib}/USB_CDC/include/usbd_def.h | 0 .../stm32/lib}/USB_CDC/include/usbd_desc.h | 0 .../stm32/lib}/USB_CDC/include/usbd_ioreq.h | 0 .../stm32/lib}/USB_CDC/src/usbd_cdc.c | 0 .../stm32/lib}/USB_CDC/src/usbd_cdc_if.c | 0 .../stm32/lib}/USB_CDC/src/usbd_conf.c | 0 .../stm32/lib}/USB_CDC/src/usbd_core.c | 0 .../stm32/lib}/USB_CDC/src/usbd_ctlreq.c | 0 .../stm32/lib}/USB_CDC/src/usbd_desc.c | 0 .../stm32/lib}/USB_CDC/src/usbd_ioreq.c | 0 platformio.ini => legacy/stm32/platformio.ini | 0 .../stm32/scripts}/flash_firmware.py | 0 {src => legacy/stm32/src}/audio.c | 0 {src => legacy/stm32/src}/balance.c | 0 {src => legacy/stm32/src}/baro.c | 0 {src => legacy/stm32/src}/battery.c | 0 {src => legacy/stm32/src}/battery_adc.c | 0 {src => legacy/stm32/src}/bmp280.c | 0 {src => legacy/stm32/src}/bno055.c | 0 {src => legacy/stm32/src}/buzzer.c | 0 {src => legacy/stm32/src}/can_driver.c | 0 {src => legacy/stm32/src}/coulomb_counter.c | 0 {src => legacy/stm32/src}/crsf.c | 0 {src => legacy/stm32/src}/encoder_odom.c | 0 {src => legacy/stm32/src}/esc_backend.c | 0 {src => legacy/stm32/src}/esc_hoverboard.c | 0 {src => legacy/stm32/src}/esc_vesc.c | 0 {src => legacy/stm32/src}/face_animation.c | 0 {src => legacy/stm32/src}/face_lcd.c | 0 {src => legacy/stm32/src}/face_uart.c | 0 {src => legacy/stm32/src}/fan.c | 0 {src => legacy/stm32/src}/fault_handler.c | 0 {src => legacy/stm32/src}/gimbal.c | 0 {src => legacy/stm32/src}/hw_button.c | 0 {src => legacy/stm32/src}/i2c1.c | 0 {src => legacy/stm32/src}/icm42688.c | 0 {src => legacy/stm32/src}/imu_cal_flash.c | 0 {src => legacy/stm32/src}/ina219.c | 0 {src => legacy/stm32/src}/jetson_cmd.c | 0 {src => legacy/stm32/src}/jetson_uart.c | 0 {src => legacy/stm32/src}/jlink.c | 0 {src => legacy/stm32/src}/led.c | 0 {src => legacy/stm32/src}/lvc.c | 0 {src => legacy/stm32/src}/mag.c | 0 {src => legacy/stm32/src}/main.c | 0 {src => legacy/stm32/src}/main.c.bak | 0 {src => legacy/stm32/src}/mode_manager.c | 0 {src => legacy/stm32/src}/motor_current.c | 0 {src => legacy/stm32/src}/motor_driver.c | 0 {src => legacy/stm32/src}/mpu6000.c | 0 {src => legacy/stm32/src}/orin_can.c | 0 {src => legacy/stm32/src}/ota.c | 0 {src => legacy/stm32/src}/pid_flash.c | 0 {src => legacy/stm32/src}/pid_schedule.c | 0 {src => legacy/stm32/src}/power_mgmt.c | 0 {src => legacy/stm32/src}/rgb_fsm.c | 0 {src => legacy/stm32/src}/safety.c | 0 {src => legacy/stm32/src}/servo.c | 0 {src => legacy/stm32/src}/servo_bus.c | 0 {src => legacy/stm32/src}/slope_estimator.c | 0 {src => legacy/stm32/src}/status.c | 0 {src => legacy/stm32/src}/steering_pid.c | 0 {src => legacy/stm32/src}/uart_protocol.c | 0 {src => legacy/stm32/src}/ultrasonic.c | 0 {src => legacy/stm32/src}/vesc_can.c | 0 {src => legacy/stm32/src}/watchdog.c | 0 .../stm32/test}/stubs/stm32f7xx_hal.h | 0 .../stm32/test}/test_battery_adc.c | 0 .../stm32/test}/test_can_watchdog.c | 0 {test => legacy/stm32/test}/test_hw_button.c | 0 .../stm32/test}/test_pid_schedule.c | 0 {test => legacy/stm32/test}/test_vesc_can.c | 0 projects/saltybot/SLAM-SETUP-PLAN.md | 4 +- test/test_bno055_data.py | 2 +- test/test_jlink_frames.py | 2 +- test/test_ota.py | 8 +- test/test_power_mgmt.py | 6 +- test/test_watchdog.c | 4 +- ui/diagnostics_panel.html | 2 +- ui/social-bot/src/components/ControlMode.jsx | 4 +- .../src/components/SettingsPanel.jsx | 2 +- ui/social-bot/src/hooks/useFleet.js | 4 +- ui/social-bot/src/hooks/useSettings.js | 4 +- 247 files changed, 416 insertions(+), 539 deletions(-) rename jetson/ros2_ws/src/saltybot_bridge/config/{stm32_cmd_params.yaml => esp32_cmd_params.yaml} (80%) rename jetson/ros2_ws/src/saltybot_bridge/launch/{stm32_cmd.launch.py => esp32_cmd.launch.py} (80%) rename jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/{stm32_cmd_node.py => esp32_cmd_node.py} (96%) rename jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/{stm32_protocol.py => esp32_protocol.py} (95%) rename jetson/ros2_ws/src/saltybot_bridge/test/{test_stm32_cmd_node.py => test_esp32_cmd_node.py} (95%) rename jetson/ros2_ws/src/saltybot_bridge/test/{test_stm32_protocol.py => test_esp32_protocol.py} (99%) rename jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/{mamba_protocol.py => balance_protocol.py} (98%) create mode 100644 legacy/stm32/README.md rename USB_CDC_BUG.md => legacy/stm32/USB_CDC_BUG.md (100%) rename {include => legacy/stm32/include}/audio.h (100%) rename {include => legacy/stm32/include}/balance.h (100%) rename {include => legacy/stm32/include}/baro.h (100%) rename {include => legacy/stm32/include}/battery.h (100%) rename {include => legacy/stm32/include}/battery_adc.h (100%) rename {include => legacy/stm32/include}/bmp280.h (100%) rename {include => legacy/stm32/include}/bno055.h (100%) rename {include => legacy/stm32/include}/buzzer.h (100%) rename {include => legacy/stm32/include}/can_driver.h (100%) rename {include => legacy/stm32/include}/config.h (100%) rename {include => legacy/stm32/include}/coulomb_counter.h (100%) rename {include => legacy/stm32/include}/crsf.h (100%) rename {include => legacy/stm32/include}/encoder_odom.h (100%) rename {include => legacy/stm32/include}/esc_backend.h (100%) rename {include => legacy/stm32/include}/face_animation.h (100%) rename {include => legacy/stm32/include}/face_lcd.h (100%) rename {include => legacy/stm32/include}/face_uart.h (100%) rename {include => legacy/stm32/include}/fan.h (100%) rename {include => legacy/stm32/include}/fault_handler.h (100%) rename {include => legacy/stm32/include}/gimbal.h (100%) rename {include => legacy/stm32/include}/hoverboard.h (100%) rename {include => legacy/stm32/include}/hw_button.h (100%) rename {include => legacy/stm32/include}/i2c1.h (100%) rename {include => legacy/stm32/include}/icm42688.h (100%) rename {include => legacy/stm32/include}/imu_cal_flash.h (100%) rename {include => legacy/stm32/include}/ina219.h (100%) rename {include => legacy/stm32/include}/jetson_cmd.h (100%) rename {include => legacy/stm32/include}/jetson_uart.h (100%) rename {include => legacy/stm32/include}/jlink.h (100%) rename {include => legacy/stm32/include}/led.h (100%) rename {include => legacy/stm32/include}/lvc.h (100%) rename {include => legacy/stm32/include}/mag.h (100%) rename {include => legacy/stm32/include}/mode_manager.h (100%) rename {include => legacy/stm32/include}/motor_current.h (100%) rename {include => legacy/stm32/include}/motor_driver.h (100%) rename {include => legacy/stm32/include}/mpu6000.h (100%) rename {include => legacy/stm32/include}/orin_can.h (100%) rename {include => legacy/stm32/include}/ota.h (100%) rename {include => legacy/stm32/include}/pid_flash.h (100%) rename {include => legacy/stm32/include}/pid_schedule.h (100%) rename {include => legacy/stm32/include}/power_mgmt.h (100%) rename {include => legacy/stm32/include}/rgb_fsm.h (100%) rename {include => legacy/stm32/include}/safety.h (100%) rename {include => legacy/stm32/include}/servo.h (100%) rename {include => legacy/stm32/include}/servo_bus.h (100%) rename {include => legacy/stm32/include}/slope_estimator.h (100%) rename {include => legacy/stm32/include}/status.h (100%) rename {include => legacy/stm32/include}/steering_pid.h (100%) rename {include => legacy/stm32/include}/uart_protocol.h (100%) rename {include => legacy/stm32/include}/ultrasonic.h (100%) rename {include => legacy/stm32/include}/vesc_can.h (100%) rename {include => legacy/stm32/include}/watchdog.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_cdc.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_cdc_if.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_conf.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_core.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_ctlreq.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_def.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_desc.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/include/usbd_ioreq.h (100%) rename {lib => legacy/stm32/lib}/USB_CDC/src/usbd_cdc.c (100%) rename {lib => legacy/stm32/lib}/USB_CDC/src/usbd_cdc_if.c (100%) rename {lib => legacy/stm32/lib}/USB_CDC/src/usbd_conf.c (100%) rename {lib => legacy/stm32/lib}/USB_CDC/src/usbd_core.c (100%) rename {lib => legacy/stm32/lib}/USB_CDC/src/usbd_ctlreq.c (100%) rename {lib => legacy/stm32/lib}/USB_CDC/src/usbd_desc.c (100%) rename {lib => legacy/stm32/lib}/USB_CDC/src/usbd_ioreq.c (100%) rename platformio.ini => legacy/stm32/platformio.ini (100%) rename {scripts => legacy/stm32/scripts}/flash_firmware.py (100%) rename {src => legacy/stm32/src}/audio.c (100%) rename {src => legacy/stm32/src}/balance.c (100%) rename {src => legacy/stm32/src}/baro.c (100%) rename {src => legacy/stm32/src}/battery.c (100%) rename {src => legacy/stm32/src}/battery_adc.c (100%) rename {src => legacy/stm32/src}/bmp280.c (100%) rename {src => legacy/stm32/src}/bno055.c (100%) rename {src => legacy/stm32/src}/buzzer.c (100%) rename {src => legacy/stm32/src}/can_driver.c (100%) rename {src => legacy/stm32/src}/coulomb_counter.c (100%) rename {src => legacy/stm32/src}/crsf.c (100%) rename {src => legacy/stm32/src}/encoder_odom.c (100%) rename {src => legacy/stm32/src}/esc_backend.c (100%) rename {src => legacy/stm32/src}/esc_hoverboard.c (100%) rename {src => legacy/stm32/src}/esc_vesc.c (100%) rename {src => legacy/stm32/src}/face_animation.c (100%) rename {src => legacy/stm32/src}/face_lcd.c (100%) rename {src => legacy/stm32/src}/face_uart.c (100%) rename {src => legacy/stm32/src}/fan.c (100%) rename {src => legacy/stm32/src}/fault_handler.c (100%) rename {src => legacy/stm32/src}/gimbal.c (100%) rename {src => legacy/stm32/src}/hw_button.c (100%) rename {src => legacy/stm32/src}/i2c1.c (100%) rename {src => legacy/stm32/src}/icm42688.c (100%) rename {src => legacy/stm32/src}/imu_cal_flash.c (100%) rename {src => legacy/stm32/src}/ina219.c (100%) rename {src => legacy/stm32/src}/jetson_cmd.c (100%) rename {src => legacy/stm32/src}/jetson_uart.c (100%) rename {src => legacy/stm32/src}/jlink.c (100%) rename {src => legacy/stm32/src}/led.c (100%) rename {src => legacy/stm32/src}/lvc.c (100%) rename {src => legacy/stm32/src}/mag.c (100%) rename {src => legacy/stm32/src}/main.c (100%) rename {src => legacy/stm32/src}/main.c.bak (100%) rename {src => legacy/stm32/src}/mode_manager.c (100%) rename {src => legacy/stm32/src}/motor_current.c (100%) rename {src => legacy/stm32/src}/motor_driver.c (100%) rename {src => legacy/stm32/src}/mpu6000.c (100%) rename {src => legacy/stm32/src}/orin_can.c (100%) rename {src => legacy/stm32/src}/ota.c (100%) rename {src => legacy/stm32/src}/pid_flash.c (100%) rename {src => legacy/stm32/src}/pid_schedule.c (100%) rename {src => legacy/stm32/src}/power_mgmt.c (100%) rename {src => legacy/stm32/src}/rgb_fsm.c (100%) rename {src => legacy/stm32/src}/safety.c (100%) rename {src => legacy/stm32/src}/servo.c (100%) rename {src => legacy/stm32/src}/servo_bus.c (100%) rename {src => legacy/stm32/src}/slope_estimator.c (100%) rename {src => legacy/stm32/src}/status.c (100%) rename {src => legacy/stm32/src}/steering_pid.c (100%) rename {src => legacy/stm32/src}/uart_protocol.c (100%) rename {src => legacy/stm32/src}/ultrasonic.c (100%) rename {src => legacy/stm32/src}/vesc_can.c (100%) rename {src => legacy/stm32/src}/watchdog.c (100%) rename {test => legacy/stm32/test}/stubs/stm32f7xx_hal.h (100%) rename {test => legacy/stm32/test}/test_battery_adc.c (100%) rename {test => legacy/stm32/test}/test_can_watchdog.c (100%) rename {test => legacy/stm32/test}/test_hw_button.c (100%) rename {test => legacy/stm32/test}/test_pid_schedule.c (100%) rename {test => legacy/stm32/test}/test_vesc_can.c (100%) diff --git a/AUTONOMOUS_ARMING.md b/AUTONOMOUS_ARMING.md index d8b1c42..e746423 100644 --- a/AUTONOMOUS_ARMING.md +++ b/AUTONOMOUS_ARMING.md @@ -7,7 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req ### Jetson Autonomous Arming - Command: `A\n` (single byte 'A' followed by newline) -- Sent via USB CDC to the STM32 firmware +- Sent via USB Serial (CH343) to the ESP32-S3 firmware - Robot arms after ARMING_HOLD_MS (~500ms) safety hold period - Works even when RC is not connected or not armed @@ -42,7 +42,7 @@ The robot can now be armed and operated autonomously from the Jetson without req ## Command Protocol -### From Jetson to STM32 (USB CDC) +### From Jetson to ESP32-S3 (USB Serial (CH343)) ``` A — Request arm (triggers safety hold, then motors enable) D — Request disarm (immediate motor stop) @@ -52,7 +52,7 @@ H — Heartbeat (refresh timeout timer, every 500ms) C, — Drive command: speed, steer (also refreshes heartbeat) ``` -### From STM32 to Jetson (USB CDC) +### From ESP32-S3 to Jetson (USB Serial (CH343)) Motor commands are gated by `bal.state == BALANCE_ARMED`: - When ARMED: Motor commands sent every 20ms (50 Hz) - When DISARMED: Zero sent every 20ms (prevents ESC timeout) diff --git a/CLAUDE.md b/CLAUDE.md index e390876..cf39227 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -1,17 +1,17 @@ # SaltyLab Firmware — Agent Playbook ## Project -Self-balancing two-wheeled robot: STM32F722 flight controller, hoverboard hub motors, Jetson Nano for AI/SLAM. +Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM. ## Team | Agent | Role | Focus | |-------|------|-------| -| **sl-firmware** | Embedded Firmware Lead | STM32 HAL, USB CDC debugging, SPI/UART, PlatformIO, DFU bootloader | +| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader | | **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems | -| **sl-perception** | Perception / SLAM Engineer | Jetson Nano, RealSense D435i, RPLIDAR, ROS2, Nav2 | +| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 | ## Status -USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix). +USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix). ## Repo Structure - `projects/saltybot/SALTYLAB.md` — Design doc @@ -29,11 +29,11 @@ USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG order | `saltyrover-dev` | Integration — rover variant | | `saltytank` | Stable — tracked tank variant | | `saltytank-dev` | Integration — tank variant | -| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) | +| `main` | Shared code only (IMU drivers, USB Serial (CH343), balance core, safety) | ### Rules - Agents branch FROM `-dev` and PR back TO `-dev` -- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main` +- Shared/infrastructure code (IMU drivers, USB Serial (CH343), balance core, safety) goes in `main` - Variant-specific code (motor topology, kinematics, config) goes in variant branches - Stable branches get promoted from `-dev` after review and hardware testing - **Current SaltyLab team** works against `saltylab-dev` diff --git a/TEAM.md b/TEAM.md index daafce0..944d79d 100644 --- a/TEAM.md +++ b/TEAM.md @@ -1,12 +1,12 @@ # SaltyLab — Ideal Team ## Project -Self-balancing two-wheeled robot using a drone flight controller (STM32F722), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM. +Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM. ## Current Status - **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand -- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug -- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md` +- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug +- **Blocker:** USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see `legacy/stm32/USB_CDC_BUG.md` for historical context --- @@ -14,18 +14,18 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho ### 1. Embedded Firmware Engineer (Lead) **Must-have:** -- Deep STM32 HAL experience (F7 series specifically) -- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts) -- SPI + UART + USB coexistence on STM32 -- PlatformIO or bare-metal STM32 toolchain -- DFU bootloader implementation +- Deep ESP-IDF experience (ESP32-S3 specifically) +- USB Serial (CH343) / UART debugging on ESP32-S3 +- SPI + UART + USB coexistence on ESP32-S3 +- ESP-IDF / Arduino-ESP32 toolchain +- OTA firmware update implementation **Nice-to-have:** -- Betaflight/iNav/ArduPilot codebase familiarity +- ESP32-S3 peripheral coexistence (SPI + UART + USB) - PID control loop tuning for balance robots - FOC motor control (hoverboard ESC protocol) -**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. +**Why:** The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue. ### 2. Control Systems / Robotics Engineer **Must-have:** @@ -43,7 +43,7 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho ### 3. Perception / SLAM Engineer (Phase 2) **Must-have:** -- Jetson Nano / NVIDIA Jetson platform +- Jetson Orin Nano Super / NVIDIA Jetson platform - Intel RealSense D435i depth camera - RPLIDAR integration - SLAM (ORB-SLAM3, RTAB-Map, or similar) @@ -54,19 +54,19 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho - Obstacle avoidance - Nav2 stack -**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following. +**Why:** Phase 2 goal is autonomous navigation. Jetson Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following. --- ## Hardware Reference | Component | Details | |-----------|---------| -| FC | MAMBA F722S (STM32F722RET6, MPU6000) | +| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) | | Motors | 2x 8" pneumatic hoverboard hub motors | | ESC | Hoverboard ESC (EFeru FOC firmware) | | Battery | 36V pack | | RC | BetaFPV ELRS 2.4GHz TX + RX | -| AI Brain | Jetson Nano + Noctua fan | +| AI Brain | Jetson Orin Nano Super + Noctua fan | | Depth | Intel RealSense D435i | | LIDAR | RPLIDAR A1M8 | | Spare IMUs | BNO055, MPU6050 | @@ -74,4 +74,4 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho ## Repo - Gitea: https://gitea.vayrette.com/seb/saltylab-firmware - Design doc: `projects/saltybot/SALTYLAB.md` -- Bug doc: `USB_CDC_BUG.md` +- Bug doc: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era) diff --git a/cad/assembly.scad b/cad/assembly.scad index 2131cc5..b2a3ab5 100644 --- a/cad/assembly.scad +++ b/cad/assembly.scad @@ -60,7 +60,7 @@ color("Purple", 0.9) translate([0, 0, h_fc]) cube([36, 36, 5], center=true); -// Jetson Nano +// Jetson Orin Nano Super color("LimeGreen", 0.7) translate([0, 0, h_jetson]) cube([100, 80, 29], center=true); diff --git a/cad/dimensions.scad b/cad/dimensions.scad index dd04a3d..ff612d7 100644 --- a/cad/dimensions.scad +++ b/cad/dimensions.scad @@ -20,7 +20,7 @@ fc_hole_dia = 3.2; // M3 clearance fc_board_size = 36; // Typical FC PCB fc_standoff_h = 5; // Rubber standoff height -// --- Jetson Nano --- +// --- Jetson Orin Nano Super --- jetson_w = 100; jetson_d = 80; jetson_h = 29; // With heatsink diff --git a/cad/jetson_shelf.scad b/cad/jetson_shelf.scad index 64adbd6..d3ee4a9 100644 --- a/cad/jetson_shelf.scad +++ b/cad/jetson_shelf.scad @@ -1,7 +1,7 @@ // ============================================ -// SaltyLab — Jetson Nano Shelf +// SaltyLab — Jetson Orin Nano Super Shelf // 120×100×15mm PETG -// Mounts Jetson Nano to 2020 extrusion +// Mounts Jetson Orin Nano Super to 2020 extrusion // ============================================ include diff --git a/chassis/ASSEMBLY.md b/chassis/ASSEMBLY.md index e7f10bc..8b367a1 100644 --- a/chassis/ASSEMBLY.md +++ b/chassis/ASSEMBLY.md @@ -56,15 +56,15 @@ 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m. 4. Insert battery pack; route Velcro straps through slots and cinch. -### 7 FC mount (MAMBA F722S) +### 7 FC mount (ESP32-S3 BALANCE) 1. Place silicone anti-vibration grommets onto nylon M3 standoffs. 2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque. 3. Orient USB-C port toward front of robot for cable access. -### 8 Jetson Nano mount plate +### 8 Jetson Orin Nano Super mount plate 1. Press or thread M3 nylon standoffs (8mm) into plate holes. 2. Bolt plate to deck: 4× M3×10 SHCS at deck corners. -3. Set Jetson Nano B01 carrier onto plate standoffs; fasten M3×6 BHCS. +3. Set Jetson Orin Nano Super B01 carrier onto plate standoffs; fasten M3×6 BHCS. ### 9 Bumper brackets 1. Slide 22mm EMT conduit through saddle clamp openings. diff --git a/chassis/BOM.md b/chassis/BOM.md index 0a92d8f..c525942 100644 --- a/chassis/BOM.md +++ b/chassis/BOM.md @@ -41,7 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th | 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` | | 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` | | 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 | -| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | MAMBA F722S vibration isolation | +| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation | | 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment | ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B @@ -70,7 +70,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th | 10 | Motor fork bracket (R) | 1 | 8mm 6061 aluminium | Mirror of item 9 | | 11 | Battery tray | 1 | 3mm PETG FDM or 3mm aluminium fold | `chassis_frame.scad` — `battery_tray()` module | | 12 | FC mount plate / standoffs | 1 set | PETG or nylon FDM | Includes 4× M3 nylon standoffs, 6mm height | -| 13 | Jetson Nano mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern | +| 13 | Jetson Orin Nano Super mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern | | 14 | Front bumper bracket | 1 | 5mm PETG FDM | Saddle clamps for 22mm EMT conduit | | 15 | Rear bumper bracket | 1 | 5mm PETG FDM | Mirror of item 14 | @@ -90,10 +90,10 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th | # | Part | Qty | Spec | Notes | |---|------|-----|------|-------| -| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front | +| 13 | ESP32-S3 ESP32-S3 BALANCE FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front | | 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation | | 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads | -| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | +| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | | 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs | --- diff --git a/chassis/chassis_frame.scad b/chassis/chassis_frame.scad index 8c96c82..a925394 100644 --- a/chassis/chassis_frame.scad +++ b/chassis/chassis_frame.scad @@ -8,9 +8,9 @@ // Requirements: // - 600mm wheelbase // - 2x hoverboard hub motors (170mm OD) -// - STM32 MAMBA F722S FC mount (30.5x30.5mm pattern) +// - ESP32-S3 ESP32-S3 BALANCE FC mount (30.5x30.5mm pattern) // - Battery tray (24V 4Ah — ~180x70x50mm pack) -// - Jetson Nano B01 mount plate (100x80mm, M3 holes) +// - Jetson Orin Nano Super B01 mount plate (100x80mm, M3 holes) // - Front/rear bumper brackets // ============================================================================= @@ -37,7 +37,7 @@ MOTOR_FORK_H = 80; // mm, total height of motor fork bracket MOTOR_FORK_T = 8; // mm, fork plate thickness AXLE_HEIGHT = 310; // mm, axle CL above ground (motor radius + clearance) -// ── FC mount (MAMBA F722S — 30.5 × 30.5 mm M3 pattern) ────────────────────── +// ── FC mount (ESP32-S3 BALANCE — 30.5 × 30.5 mm M3 pattern) ────────────────────── FC_MOUNT_SPACING = 30.5; // mm, hole pattern pitch FC_MOUNT_HOLE_D = 3.2; // mm, M3 clearance FC_STANDOFF_H = 6; // mm, standoff height @@ -52,7 +52,7 @@ BATT_FLOOR = 4; // mm, tray floor thickness BATT_STRAP_W = 20; // mm, Velcro strap slot width BATT_STRAP_T = 2; // mm, strap slot depth -// ── Jetson Nano B01 mount plate ────────────────────────────────────────────── +// ── Jetson Orin Nano Super B01 mount plate ────────────────────────────────────────────── // B01 carrier board hole pattern: 58 x 58 mm M3 (inner) + corner pass-throughs JETSON_HOLE_PITCH = 58; // mm, M3 mounting hole pattern JETSON_HOLE_D = 3.2; // mm @@ -210,7 +210,7 @@ module battery_tray() { // ─── FC mount holes helper ──────────────────────────────────────────────────── module fc_mount_holes(z_offset=0, depth=10) { - // MAMBA F722S: 30.5×30.5 mm M3 pattern, centred at origin + // ESP32-S3 BALANCE: 30.5×30.5 mm M3 pattern, centred at origin for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2]) for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2]) translate([x, y, z_offset]) @@ -247,7 +247,7 @@ module fc_mount_plate() { } } -// ─── Jetson Nano B01 mount plate ───────────────────────────────────────────── +// ─── Jetson Orin Nano Super B01 mount plate ───────────────────────────────────────────── // Positioned rear of deck, elevated on standoffs module jetson_mount_plate() { jet_x = 60; // offset toward rear diff --git a/chassis/ip54_BOM.md b/chassis/ip54_BOM.md index 96b7103..c24f4a8 100644 --- a/chassis/ip54_BOM.md +++ b/chassis/ip54_BOM.md @@ -104,7 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio | Component | Thermal strategy | Max junction | Enclosure budget | |-----------|-----------------|-------------|-----------------| | Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case | -| FC (MAMBA F722S) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK | +| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK | | ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C | | D435i | Passive; housing vent gap on rear cap | 45 °C surface | — | diff --git a/chassis/prototype_baseplate.scad b/chassis/prototype_baseplate.scad index 5ab165f..1d6d079 100644 --- a/chassis/prototype_baseplate.scad +++ b/chassis/prototype_baseplate.scad @@ -65,7 +65,7 @@ CLAMP_ALIGN_D = 4.1; // Ø4 pin // D-cut bore clearance DCUT_CL = 0.3; -// FC mount — MAMBA F722S 30.5 × 30.5 mm M3 +// FC mount — ESP32-S3 BALANCE 30.5 × 30.5 mm M3 FC_PITCH = 30.5; FC_HOLE_D = 3.2; // FC is offset toward front of plate (away from stem) @@ -202,7 +202,7 @@ module base_plate() { translate([STEM_FLANGE_BC/2, 0, -1]) cylinder(d=M5, h=PLATE_THICK + 2); - // ── FC mount (MAMBA F722S 30.5 × 30.5 M3) ──────────────────────── + // ── FC mount (ESP32-S3 BALANCE 30.5 × 30.5 M3) ──────────────────────── for (x = [FC_X_OFFSET - FC_PITCH/2, FC_X_OFFSET + FC_PITCH/2]) for (y = [-FC_PITCH/2, FC_PITCH/2]) translate([x, y, -1]) diff --git a/chassis/rover_electronics_bay.scad b/chassis/rover_electronics_bay.scad index ee47118..1fbefdb 100644 --- a/chassis/rover_electronics_bay.scad +++ b/chassis/rover_electronics_bay.scad @@ -11,7 +11,7 @@ // • Ventilation slots — all 4 walls + lid // // Shared mounting patterns (swappable with SaltyLab): -// FC : 30.5 × 30.5 mm M3 (MAMBA F722S / Pixhawk) +// FC : 30.5 × 30.5 mm M3 (ESP32-S3 BALANCE / Pixhawk) // Jetson: 58 × 49 mm M3 (Orin NX / Nano Devkit carrier) // // Coordinate: bay centred at origin; Z=0 = deck top face. diff --git a/chassis/saltyrover_chassis_r2.scad b/chassis/saltyrover_chassis_r2.scad index a857115..2c49720 100644 --- a/chassis/saltyrover_chassis_r2.scad +++ b/chassis/saltyrover_chassis_r2.scad @@ -17,7 +17,7 @@ // • Weight target: <2 kg frame (excl. motors/electronics) // // Shared SaltyLab patterns (swappable electronics): -// FC : 30.5 × 30.5 mm M3 (MAMBA F722S / Pixhawk) +// FC : 30.5 × 30.5 mm M3 (ESP32-S3 BALANCE / Pixhawk) // Jetson: 58 × 49 mm M3 (Orin NX / Nano carrier board) // Stem : Ø25 mm bore (sensor head unchanged) // @@ -87,7 +87,7 @@ STEM_COLLAR_OD = 50.0; STEM_COLLAR_H = 20.0; // raised boss height above deck top STEM_FLANGE_BC = 40.0; // 4× M4 bolt circle for stem adapter -// ── FC mount — MAMBA F722S / Pixhawk (30.5 × 30.5 mm M3) ──────────────────── +// ── FC mount — ESP32-S3 BALANCE / Pixhawk (30.5 × 30.5 mm M3) ──────────────────── // Shared with SaltyLab — swappable electronics FC_PITCH = 30.5; FC_HOLE_D = 3.2; diff --git a/docs/AGENTS.md b/docs/AGENTS.md index f3ac992..979dc88 100644 --- a/docs/AGENTS.md +++ b/docs/AGENTS.md @@ -5,14 +5,14 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read ## Project Overview A hoverboard-based balancing robot with two compute layers: -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. -2. **Jetson Nano** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently. +1. **ESP32-S3 BALANCE** — ESP32-S3 BALANCE (ESP32-S3RET6 + MPU6000 IMU). Runs a lean C balance loop at up to 8kHz. Talks UART to the hoverboard ESC. This is the safety-critical layer. +2. **Jetson Orin Nano Super** — AI brain. ROS2, SLAM, person tracking. Sends velocity commands to FC via UART. Not safety-critical — FC operates independently. ``` Jetson (speed+steer via UART1) ←→ ELRS RC (UART3, kill switch) │ ▼ - MAMBA F722S (MPU6000 IMU, PID balance) + ESP32-S3 BALANCE (MPU6000 IMU, PID balance) │ ▼ UART2 Hoverboard ESC (FOC) → 2× 8" hub motors @@ -35,10 +35,10 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an ## Repository Layout ``` -firmware/ # STM32 HAL firmware (PlatformIO) +firmware/ # ESP-IDF firmware (PlatformIO) ├── src/ │ ├── main.c # Entry point, clock config, main loop -│ ├── icm42688.c # ICM-42688-P SPI driver (backup IMU — currently broken) +│ ├── icm42688.c # QMI8658-P SPI driver (backup IMU — currently broken) │ ├── bmp280.c # Barometer driver (disabled) │ └── status.c # LED + buzzer status patterns ├── include/ @@ -49,7 +49,7 @@ firmware/ # STM32 HAL firmware (PlatformIO) │ ├── crsf.h # ELRS CRSF protocol │ ├── bmp280.h │ └── status.h -├── lib/USB_CDC/ # USB CDC stack (serial over USB) +├── lib/USB_CDC/ # USB Serial (CH343) stack (serial over USB) │ ├── src/ # CDC implementation, USB descriptors, PCD config │ └── include/ └── platformio.ini # Build config @@ -82,16 +82,16 @@ PLATFORM.md # Hardware platform reference ## Hardware Quick Reference -### MAMBA F722S Flight Controller +### ESP32-S3 BALANCE Flight Controller | Spec | Value | |------|-------| -| MCU | STM32F722RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) | +| MCU | ESP32-S3RET6 (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) | | IMU Orientation | CW270 (Betaflight convention) | -| Secondary IMU | ICM-42688-P (on same SPI1, CS unknown — currently non-functional) | +| Secondary IMU | QMI8658-P (on same SPI1, CS unknown — currently non-functional) | | Betaflight Target | DIAT-MAMBAF722_2022B | | USB | OTG FS (PA11/PA12), enumerates as /dev/cu.usbmodemSALTY0011 | | VID/PID | 0x0483/0x5740 | @@ -104,7 +104,7 @@ PLATFORM.md # Hardware platform reference | UART | Pins | Connected To | Baud | |------|------|-------------|------| -| USART1 | PA9/PA10 | Jetson Nano | 115200 | +| USART1 | PA9/PA10 | Jetson Orin Nano Super | 115200 | | USART2 | PA2/PA3 | Hoverboard ESC | 115200 | | USART3 | PB10/PB11 | ELRS Receiver | 420000 (CRSF) | | UART4 | — | Spare | — | @@ -125,7 +125,7 @@ PLATFORM.md # Hardware platform reference | FC board size | ~36mm square | | Hub motor body | Ø200mm (~8") | | Motor axle | Ø12mm, 45mm long | -| Jetson Nano | 100×80×29mm, M2.5 holes at 86×58mm | +| Jetson Orin Nano Super | 100×80×29mm, M2.5 holes at 86×58mm | | RealSense D435i | 90×25×25mm, 1/4-20 tripod mount | | RPLIDAR A1 | Ø70×41mm, 4× M2.5 on Ø67mm circle | | Kill switch hole | Ø22mm panel mount | @@ -160,19 +160,19 @@ 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-S3** — 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. +5. **USB Serial (CH343) needs ReceivePacket() primed in CDC_Init** — without it, the OUT endpoint never starts listening. No data reception. ### DFU Reboot (Betaflight Method) The firmware supports reboot-to-DFU via USB command: -1. Send `R` byte over USB CDC +1. Send `R` byte over USB Serial (CH343) 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-S3 bootloader at `0x1FF00000` 6. Board appears as DFU device, ready for `dfu-util` flash ### Build & Flash @@ -198,14 +198,14 @@ Fallback: HSI 16MHz if HSE fails (PLL M=16) ## Current Status & Known Issues ### Working -- USB CDC serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`) +- USB Serial (CH343) serial streaming (50Hz JSON: `{"ax":...,"ay":...,"az":...,"gx":...,"gy":...,"gz":...}`) - Clock config with HSE + HSI fallback - Reboot-to-DFU via USB 'R' command - LED status patterns (status.c) - Web UI with WebSerial + Three.js 3D visualization ### Broken / In Progress -- **ICM-42688-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary. +- **QMI8658-P SPI reads return all zeros** — was the original IMU target, but SPI communication completely non-functional despite correct pin config. May be dead silicon. Switched to MPU6000 as primary. - **MPU6000 driver** — header exists but implementation needs completion - **PID balance loop** — not yet implemented - **Hoverboard ESC UART** — protocol defined, driver not written @@ -243,7 +243,7 @@ T:12.3,P:45,L:100,R:-80,S:3\n // T=tilt°, P=PID output, L/R=motor commands, S=state (0-3) ``` -### FC → USB CDC (50Hz JSON) +### FC → USB Serial (CH343) (50Hz JSON) ```json {"ax":123,"ay":-456,"az":16384,"gx":10,"gy":-5,"gz":3,"t":250,"p":0,"bt":0} // Raw IMU values (int16), t=temp×10, p=pressure, bt=baro temp diff --git a/docs/FACE_LCD_ANIMATION.md b/docs/FACE_LCD_ANIMATION.md index c100900..aa559cc 100644 --- a/docs/FACE_LCD_ANIMATION.md +++ b/docs/FACE_LCD_ANIMATION.md @@ -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-S3 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) +- ESP32-S3xx (ESP32-S3 BALANCE) - Available UART: USART3 (PB10=TX, PB11=RX) - Clock: 216 MHz diff --git a/docs/PLATFORM.md b/docs/PLATFORM.md index 35d7940..83e96b2 100644 --- a/docs/PLATFORM.md +++ b/docs/PLATFORM.md @@ -81,7 +81,7 @@ │ │ │ [RealSense D435i] │ ← Front-facing, angled down ~10° │ │ Height: ~400mm from ground - │ [Jetson Nano] │ ← Center, in ventilated enclosure + │ [Jetson Orin Nano Super] │ ← Center, in ventilated enclosure │ [WiFi/4G module] │ Noctua fan draws air through │ │ │ [Speaker] [LEDs] │ ← Rear: audio feedback + status @@ -173,7 +173,7 @@ PACK1 ═╤═ PACK2 (parallel, XT60) │ │ │ └── UART TX/RX ──→ Jetson GPIO │ - ├──→ DC-DC 36V→5V ──→ Jetson Nano (barrel jack 5V/4A) + ├──→ DC-DC 36V→5V ──→ Jetson Orin Nano Super (barrel jack 5V/4A) │ ──→ USB hub (sensors) │ ├──→ DC-DC 36V→12V ──→ LED strips diff --git a/docs/SALTYLAB-DETAILED.md b/docs/SALTYLAB-DETAILED.md index 6d91a34..5abcbbf 100644 --- a/docs/SALTYLAB-DETAILED.md +++ b/docs/SALTYLAB-DETAILED.md @@ -33,7 +33,7 @@ Self-balancing two-wheeled indoor robot with AI brain. | Component | Voltage | Current | Power (W) | Notes | |-----------|---------|---------|-----------|-------| -| Jetson Nano | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg | +| Jetson Orin Nano Super | 5V | 2-4A | 10-20W | AI inference mode: ~15W avg | | RealSense D435i | 5V (USB) | 0.7A | 3.5W | Depth + RGB streaming | | RPLIDAR A1M8 | 5V | 0.5A | 2.5W | Spinning at 5.5Hz | | BNO055 IMU | 3.3V | 0.01A | 0.04W | Negligible | @@ -80,7 +80,7 @@ Self-balancing two-wheeled indoor robot with AI brain. | Battery pack (1x) | 2500 | Estimated, weigh to verify | | 2x 8" hub motors | 2400 | ~1200g each with tire | | ESC board | 150 | Single board | -| Jetson Nano + heatsink | 280 | With Noctua fan | +| Jetson Orin Nano Super + heatsink | 280 | With Noctua fan | | RealSense D435i | 72 | Very light | | RPLIDAR A1M8 | 170 | With motor | | BNO055 breakout | 5 | Tiny | @@ -233,7 +233,7 @@ Self-balancing two-wheeled indoor robot with AI brain. 0mm — Base plate 30mm — Battery shelf (holds pack on its side) 150mm — ESC + DC-DC shelf - 250mm — Jetson Nano shelf + 250mm — Jetson Orin Nano Super shelf 300mm — BNO055 (attached to spine directly) 370mm — RealSense bracket (front-facing arm) 420mm — LIDAR standoff begins @@ -325,7 +325,7 @@ Self-balancing two-wheeled indoor robot with AI brain. - [ ] Assemble spine onto base plate - [ ] Mount battery to lowest shelf (velcro straps) - [ ] Mount ESC + DC-DC converters -- [ ] Mount Jetson Nano on shelf, connect 5V power +- [ ] Mount Jetson Orin Nano Super on shelf, connect 5V power - [ ] Wire Jetson UART → ESC UART - [ ] Install JetPack 4.6 on Jetson (if not already) - [ ] Write serial bridge: Jetson Python → ESC UART commands diff --git a/docs/SALTYLAB.md b/docs/SALTYLAB.md index 49bc664..837a1da 100644 --- a/docs/SALTYLAB.md +++ b/docs/SALTYLAB.md @@ -32,8 +32,8 @@ 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 (ESP32-S3 + QMI8658) | ✅ Have — balance brain | +| 1x Jetson Orin Nano Super + Noctua fan | ✅ Have | | 1x RealSense D435i | ✅ Have | | 1x RPLIDAR A1M8 | ✅ Have | | 1x battery pack (36V) | ✅ Have | @@ -49,20 +49,19 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments. | 1x BetaFPV ELRS 2.4GHz 1W TX module | ✅ Have — RC control + kill switch | | 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) -- **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) -- **UART pads (confirmed from silkscreen):** - - T1/R1 (bottom) → USART1 (PA9/PA10) → Jetson - - T2/R2 (right top) → USART2 (PA2/PA3) → Hoverboard ESC - - T3/R3 (bottom) → USART3 (PB10/PB11) → ELRS receiver - - T4/R4 (bottom) → UART4 → spare - - T5/R5 (right bottom) → UART5 → spare +### ESP32-S3 BALANCE Board Details — Waveshare ESP32-S3 Touch LCD 1.28 +- **MCU:** ESP32-S3RET6 (Xtensa LX7 dual-core, 240MHz, 8MB Flash, 512KB SRAM) +- **IMU:** QMI8658 (6-axis, 32kHz gyro, ultra-low noise, SPI) ← the good one! +- **Display:** 1.28" round LCD (GC9A01 driver, 240x240) +- **DFU mode:** Hold BOOT button while plugging USB +- **Firmware:** Custom balance firmware (ESP-IDF / Arduino-ESP32) +- **USB:** USB Serial via CH343 chip +- **UART assignments:** + - UART0 → USB Serial (CH343) → debug/flash + - UART1 → Jetson Orin Nano Super + - UART2 → Hoverboard ESC + - UART3 → ELRS receiver + - UART4/5 → spare ## Architecture @@ -74,7 +73,7 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments. │ RealSense │ ← Forward-facing depth+RGB │ D435i │ ├──────────────┤ - │ Jetson Nano │ ← AI brain: navigation, person tracking + │ Jetson Orin Nano Super │ ← AI brain: navigation, person tracking │ │ Sends velocity commands via UART ├──────────────┤ │ Drone FC │ ← Balance brain: IMU + PID @ 8kHz @@ -92,145 +91,19 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments. └─────┘ └─────┘ ``` -## Self-Balancing Control — Custom Firmware on Drone FC +## Self-Balancing Control — ESP32-S3 BALANCE Board -### 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). +> For full system architecture, firmware details, and protocol specs, see +> **docs/SAUL-TEE-SYSTEM-REFERENCE.md** -### Architecture -``` -Jetson (speed+steer via UART1) - │ - ▼ -Drone FC (F745 + MPU-6000) - │ - Reads IMU @ 8kHz (SPI) - │ - Runs PID balance loop - │ - Mixes balance correction + Jetson commands - │ - Outputs speed+steer via UART2 - ▼ -Hoverboard ESC (FOC firmware) - │ - Receives UART commands - │ - Drives hub motors - ▼ -Left + Right wheels -``` +The balance controller runs on the Waveshare ESP32-S3 Touch LCD 1.28 board +(ESP32-S3 BALANCE). It reads the onboard QMI8658 IMU at 8kHz, runs a PID +balance loop, and drives the hoverboard ESC via UART. Jetson Orin Nano Super +sends velocity commands over UART1. ELRS receiver on UART3 provides RC +override and kill-switch capability. -- **No motor outputs used** — FC talks UART directly to hoverboard ESC -- **Custom firmware only** — no third-party flight software -- **Dead motor output irrelevant** — not using any PWM channels - -### Wiring - -``` -Jetson UART1 Drone FC (UART1) -──────────── ──────────────── -TX (Pin 8) ──→ RX -RX (Pin 10) ──→ TX -GND ──→ GND - -Drone FC (UART2) Hoverboard ESC -──────────────── ────────────── -TX ──→ RX (serial input) -GND ──→ GND -5V (BEC) ←── ESC 5V out (powers FC) - -ELRS Receiver Drone FC (UART3) -───────────── ──────────────── -TX ──→ RX -RX ←── TX (for telemetry/binding) -GND ──→ GND -5V ←── 5V -``` - -### Custom Firmware (STM32 C) - -```c -// Core balance loop — runs in timer interrupt @ 1-8kHz -void balance_loop(void) { - // 1. Read pitch angle from MPU-6000 (complementary filter) - float pitch = get_pitch_angle(); // SPI read + filter - - // 2. Get velocity command from Jetson (updated async via UART1 RX) - float target_speed = jetson_cmd.speed; // -1000 to 1000 - float target_steer = jetson_cmd.steer; // -1000 to 1000 - - // 3. PID on pitch error - // Target angle shifts with speed command (lean forward = go forward) - float target_angle = target_speed * SPEED_TO_ANGLE_FACTOR; - float error = target_angle - pitch; - - integral += error * dt; - integral = clamp(integral, -MAX_I, MAX_I); // anti-windup - float derivative = (error - prev_error) / dt; - prev_error = error; - - float output = Kp * error + Ki * integral + Kd * derivative; - - // 4. Mix balance + steering → hoverboard ESC UART command - int16_t left = clamp(output + target_steer, -1000, 1000); - int16_t right = clamp(output - target_steer, -1000, 1000); - - // 5. Send to hoverboard ESC via UART2 - send_hoverboard_cmd(left, right); - - // 6. Safety: kill motors if tipped beyond recovery - if (fabs(pitch) > MAX_TILT_DEG) { - send_hoverboard_cmd(0, 0); - disarm(); - } - - // 7. Safety: RC kill switch (ELRS channel, checked every loop) - if (rc_channels.arm_switch == DISARMED) { - send_hoverboard_cmd(0, 0); - disarm(); - } - - // 8. Safety: kill if Jetson UART heartbeat lost - if (millis() - jetson_last_rx > JETSON_TIMEOUT_MS) { - send_hoverboard_cmd(0, 0); - disarm(); - } - - // 8. Safety: clamp output to max allowed speed - left = clamp(left, -max_speed_limit, max_speed_limit); - right = clamp(right, -max_speed_limit, max_speed_limit); -} -``` - -### Hoverboard ESC UART Protocol -```c -typedef struct { - uint16_t start; // 0xABCD - int16_t speed; // -1000 to 1000 (left) - int16_t steer; // -1000 to 1000 (right) - uint16_t checksum; // XOR of all bytes -} HoverboardCmd; -// 115200 baud, send at loop rate -``` - -### Jetson → FC Protocol (simple custom) -```c -typedef struct { - uint8_t header; // 0xAA - int16_t speed; // -1000 to 1000 - int16_t steer; // -1000 to 1000 - uint8_t mode; // 0=idle, 1=balance, 2=follow, 3=RC - uint8_t checksum; -} JetsonCmd; -// 115200 baud, ~50Hz from Jetson is plenty -``` - -### PID Tuning -| Param | Starting Value | Notes | -|-------|---------------|-------| -| Kp | 30-50 | Main balance response | -| Ki | 0.5-2 | Drift correction | -| Kd | 0.5-2 | Damping oscillation | -| Loop rate | 1-8 kHz | Start at 1kHz, increase if needed | -| Max tilt | ±25° | Beyond this = cut motors, require re-arm | -| JETSON_TIMEOUT_MS | 200 | Kill motors if Jetson stops talking | -| max_speed_limit | 100 | Start at 10% (100/1000), increase gradually | -| SPEED_TO_ANGLE_FACTOR | 0.01-0.05 | How much lean per speed unit | +The legacy STM32 firmware (Mamba F722S era) has been archived to +`legacy/stm32/` and is no longer built or deployed. ## LED Subsystem (ESP32-C3) @@ -280,8 +153,8 @@ GND ──→ Common ground ``` ### Dev Tools -- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD -- **IDE:** PlatformIO + STM32 HAL, or STM32CubeIDE +- **Flashing:** ESP32-S3CubeProgrammer via USB (DFU mode) or SWD +- **IDE:** PlatformIO + ESP-IDF, or ESP32-S3CubeIDE - **Debug:** SWD via ST-Link (or use FC's USB as virtual COM for printf debug) ## Physical Design @@ -348,7 +221,7 @@ GND ──→ Common ground ## Software Stack -### Jetson Nano +### Jetson Orin Nano Super - **OS:** JetPack 4.6.1 (Ubuntu 18.04) - **ROS2 Humble** (or Foxy) for: - `nav2` — navigation stack @@ -375,8 +248,8 @@ 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) -- [ ] Write MPU-6000 SPI driver (read gyro+accel, complementary filter) +- [ ] Set up PlatformIO project for ESP32-S3 (ESP-IDF) +- [ ] Write QMI8658 SPI driver (read gyro+accel, complementary filter) - [ ] Write PID balance loop with ALL safety checks: - ±25° tilt cutoff → disarm, require manual re-arm - Watchdog timer (50ms hardware WDT) diff --git a/docs/board-viz.html b/docs/board-viz.html index f75c237..0d450bf 100644 --- a/docs/board-viz.html +++ b/docs/board-viz.html @@ -113,7 +113,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }

🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout

-

STM32F722RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO

+

ESP32-S3RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO

@@ -125,7 +125,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
-
STM32
F722RET6
216MHz
+
ESP32-S3
F722RET6
216MHz
ICM
42688
@@ -206,7 +206,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }

🔌 UART Assignments

- USART1 T1/R1 → Jetson Nano + USART1 T1/R1 → Jetson Orin Nano Super
diff --git a/docs/wiring-diagram.md b/docs/wiring-diagram.md index 824e365..5a5241e 100644 --- a/docs/wiring-diagram.md +++ b/docs/wiring-diagram.md @@ -7,7 +7,7 @@ │ ORIN NANO SUPER │ │ (Top Plate — 25W) │ │ │ -│ USB-C ──── STM32 CDC (/dev/stm32-bridge, 921600 baud) │ +│ USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud) │ │ USB-A1 ─── RealSense D435i (USB 3.1) │ │ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │ │ USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP) │ @@ -25,7 +25,7 @@ │ 921600 baud │ 921600 baud, 3.3V ▼ ▼ ┌─────────────────────────────────────────────────────────────────────┐ -│ MAMBA F722S (FC) │ +│ ESP32-S3 BALANCE (FC) │ │ (Middle Plate — foam mounted) │ │ │ │ USB-C ──── Orin (CDC serial, primary link) │ @@ -66,13 +66,13 @@ ## Wire-by-Wire Connections -### 1. Orin ↔ FC (Primary: USB CDC) +### 1. Orin ↔ FC (Primary: USB Serial (CH343)) | From | To | Wire Color | Notes | |------|----|-----------|-------| | Orin USB-C port | FC USB-C port | USB cable | Data only, FC powered from 5V bus | -- Device: `/dev/ttyACM0` → symlink `/dev/stm32-bridge` +- Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge` - Baud: 921600, 8N1 - Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC) @@ -139,7 +139,7 @@ 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 (ESP32-S3 BALANCE) | UART | Pins | Baud | Assignment | Notes | |------|------|------|------------|-------| @@ -149,7 +149,7 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct) | UART4 | PA0=TX, PA1=RX | 420000 | ELRS RX (CRSF) | RC control | | UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional | | USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link | -| USB CDC | USB-C | 921600 | Jetson primary | `/dev/stm32-bridge` | +| USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` | ### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header) @@ -209,7 +209,7 @@ BATTERY (36V) ──┬── Hoverboard ESC (36V direct) | Device | Interface | Power Draw | |--------|-----------|------------| -| STM32 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) | +| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) | | RealSense D435i | USB-A | ~1.5W (3.5W peak) | | RPLIDAR A1M8 | USB-A | ~2.6W (motor on) | | SIM7600A | USB | ~1W idle, 3W TX peak | @@ -234,14 +234,14 @@ Orin Nano Super delivers up to 25W — USB peripherals are well within budget. └──────┬───────┘ │ UART4 ┌────────────▼────────────┐ - │ MAMBA F722S │ + │ ESP32-S3 BALANCE │ │ │ │ MPU6000 → Balance PID │ │ CRSF → Mode Manager │ │ Safety Monitor │ │ │ └──┬──────────┬───────────┘ - USART2 ─────┘ └───── USB CDC / USART6 + USART2 ─────┘ └───── USB Serial (CH343) / USART6 26400 baud 921600 baud │ │ ▼ ▼ diff --git a/jetson/Dockerfile b/jetson/Dockerfile index fc16cbf..0492035 100644 --- a/jetson/Dockerfile +++ b/jetson/Dockerfile @@ -2,7 +2,7 @@ # Base: JetPack 6 (L4T R36.2.0) + CUDA 12.x / Ubuntu 22.04 # # Hardware: Jetson Orin Nano Super 8GB (67 TOPS, 1024-core Ampere) -# Previous: Jetson Nano 4GB (JetPack 4.6 / L4T R32.6.1) — see git history +# Previous: Jetson Orin Nano Super 4GB (JetPack 4.6 / L4T R32.6.1) — see git history FROM nvcr.io/nvidia/l4t-jetpack:r36.2.0 diff --git a/jetson/README.md b/jetson/README.md index a17c345..2915184 100644 --- a/jetson/README.md +++ b/jetson/README.md @@ -1,12 +1,12 @@ -# Jetson Nano — AI/SLAM Platform Setup +# Jetson Orin Nano Super — AI/SLAM Platform Setup -Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack. +Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack. ## Stack | Component | Version / Part | |-----------|---------------| -| Platform | Jetson Nano 4GB | +| Platform | Jetson Orin Nano Super 4GB | | JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) | | ROS2 | Humble Hawksbill | | DDS | CycloneDDS | @@ -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-S3 (USB Serial (CH343) @ 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-S3) ├── README.md # This file ├── docs/ │ ├── pinout.md # GPIO/I2C/UART pinout reference diff --git a/jetson/config/RECOVERY_BEHAVIORS.md b/jetson/config/RECOVERY_BEHAVIORS.md index 14746ca..997d12c 100644 --- a/jetson/config/RECOVERY_BEHAVIORS.md +++ b/jetson/config/RECOVERY_BEHAVIORS.md @@ -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-S3 firmware. ## Behavior Tree Sequence diff --git a/jetson/config/nav2_params.yaml b/jetson/config/nav2_params.yaml index efcb0d9..c6adf30 100644 --- a/jetson/config/nav2_params.yaml +++ b/jetson/config/nav2_params.yaml @@ -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-S3 bridge consumes this topic. bt_navigator: ros__parameters: diff --git a/jetson/docker-compose.yml b/jetson/docker-compose.yml index 9b904b3..dff1797 100644 --- a/jetson/docker-compose.yml +++ b/jetson/docker-compose.yml @@ -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-S3 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-S3 CDC) ---------------------- + # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3. # 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 diff --git a/jetson/docs/pinout.md b/jetson/docs/pinout.md index a7d63b6..e1bf781 100644 --- a/jetson/docs/pinout.md +++ b/jetson/docs/pinout.md @@ -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-S3 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-S3 Bridge (USB Serial (CH343) — Primary) -The STM32 acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**. +The ESP32-S3 acts as a real-time motor + IMU controller. Communication is via **USB Serial (CH343) serial**. -### USB CDC Connection +### USB Serial (CH343) 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 Micro-B on ESP32-S3 dev board → USB-A on Jetson | +| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) | +| Baud rate | 921600 (configured in ESP32-S3 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-S3 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-S3 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-S3 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,\n` | -| `/saltybot/estop` | Jetson→STM32 | Emergency stop | +| `/saltybot/imu` | ESP32-S3→Jetson | IMU data (accel, gyro) at 50Hz | +| `/saltybot/balance_state` | ESP32-S3→Jetson | Motor cmd, pitch, state | +| `/cmd_vel` | Jetson→ESP32-S3 | Velocity commands → `C,\n` | +| `/saltybot/estop` | Jetson→ESP32-S3 | 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-S3 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-S3 (fallback) | +| 10 | RXD0 | 3.3V | UART RX ← ESP32-S3 (fallback) | | USB-A ×2 | — | 5V | D435i, RPLIDAR | -| USB-C | — | 5V | STM32 CDC | +| USB-C | — | 5V | ESP32-S3 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-S3 USB Serial (CH343) (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", \ diff --git a/jetson/docs/power-budget.md b/jetson/docs/power-budget.md index f22e1ef..071a4aa 100644 --- a/jetson/docs/power-budget.md +++ b/jetson/docs/power-budget.md @@ -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-S3 bridge | 0.0 | 0.0 | 0.0 | USB Serial (CH343) | 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** | | | @@ -72,7 +72,7 @@ sudo jtop ## Budget Analysis vs Previous Platform -| Metric | Jetson Nano | Jetson Orin Nano Super | +| Metric | Jetson Orin Nano Super | Jetson Orin Nano Super | |--------|------------|------------------------| | TDP | 10W | 25W | | CPU | 4× Cortex-A57 @ 1.43GHz | 6× A78AE @ 1.5GHz | @@ -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-S3 + logic 5V rail │ └─► Hoverboard ESC ──► Hub motors (48V loop) ``` diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml index 42010ae..b724208 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml @@ -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-S3 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat. heartbeat_period: 0.2 # seconds (= 200ms) # Twist → ESC command scaling diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml index 3a82ae2..ecf1748 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml @@ -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-S3 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-S3 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-S3 jetson heartbeat timeout for consistency. cmd_vel_timeout: 0.5 # seconds diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml similarity index 80% rename from jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml rename to jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml index 8b65663..6ec3466 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/esp32_cmd_params.yaml @@ -1,18 +1,18 @@ -# stm32_cmd_params.yaml — Configuration for stm32_cmd_node (Issue #119) -# Binary-framed Jetson↔STM32 bridge at 921600 baud. +# esp32_cmd_params.yaml — Configuration for esp32_cmd_node (Issue #119) +# Binary-framed Jetson↔ESP32-S3 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" +# SYMLINK+="esp32-bridge", MODE="0660", GROUP="dialout" serial_port: /dev/ttyACM0 baud_rate: 921600 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 +# ESP32-S3 fires watchdog and reverts to safe state if no frame received for 500ms. +heartbeat_period: 0.2 # 200ms → well within 500ms ESP32-S3 watchdog # ── Watchdog (Jetson-side) ──────────────────────────────────────────────────── # If no /cmd_vel message received for watchdog_timeout seconds, diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml index fdc7fac..4d3b314 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml @@ -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 diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py index b28a33d..5d50958 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py @@ -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-S3 commands + heartbeat. 2. RX-only (telemetry monitor, no drive commands): ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only @@ -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-S3 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)"), diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py index 284bff6..cb691dd 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py @@ -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-S3 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-S3 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-S3 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-S3 HB timeout (0.5s)"), DeclareLaunchArgument( "max_linear_vel", default_value="0.5", description="Hard speed cap before scaling (m/s)"), diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py similarity index 80% rename from jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py rename to jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py index 2fa400a..7c7c696 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/esp32_cmd.launch.py @@ -1,14 +1,14 @@ -"""stm32_cmd.launch.py — Launch the binary-framed STM32 command node (Issue #119). +"""esp32_cmd.launch.py — Launch the binary-framed ESP32-S3 command node (Issue #119). Usage: # Default (binary protocol, bidirectional): - ros2 launch saltybot_bridge stm32_cmd.launch.py + ros2 launch saltybot_bridge esp32_cmd.launch.py # Override serial port: - ros2 launch saltybot_bridge stm32_cmd.launch.py serial_port:=/dev/ttyACM1 + ros2 launch saltybot_bridge esp32_cmd.launch.py serial_port:=/dev/ttyACM1 # Custom velocity scales: - ros2 launch saltybot_bridge stm32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0 + ros2 launch saltybot_bridge esp32_cmd.launch.py speed_scale:=800.0 steer_scale:=-400.0 """ import os @@ -21,7 +21,7 @@ from launch_ros.actions import Node def generate_launch_description() -> LaunchDescription: pkg = get_package_share_directory("saltybot_bridge") - params_file = os.path.join(pkg, "config", "stm32_cmd_params.yaml") + params_file = os.path.join(pkg, "config", "esp32_cmd_params.yaml") return LaunchDescription([ DeclareLaunchArgument("serial_port", default_value="/dev/ttyACM0"), @@ -33,8 +33,8 @@ def generate_launch_description() -> LaunchDescription: Node( package="saltybot_bridge", - executable="stm32_cmd_node", - name="stm32_cmd_node", + executable="esp32_cmd_node", + name="esp32_cmd_node", output="screen", emulate_tty=True, parameters=[ diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py index aa460f3..583fb58 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py @@ -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-S3) 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-S3 firmware transmitting JSON telemetry frames (50 Hz) - ROS2 environment sourced (source install/setup.bash) Note: diff --git a/jetson/ros2_ws/src/saltybot_bridge/package.xml b/jetson/ros2_ws/src/saltybot_bridge/package.xml index 7ec0e5c..34cd053 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/package.xml +++ b/jetson/ros2_ws/src/saltybot_bridge/package.xml @@ -4,9 +4,9 @@ saltybot_bridge 0.1.0 - STM32F722 USB CDC serial bridge for saltybot. + ESP32-S3 USB CDC serial bridge for saltybot. serial_bridge_node: JSON telemetry RX → sensor_msgs/Imu + diagnostics. - stm32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX, + esp32_cmd_node (Issue #119): binary-framed protocol — STX/TYPE/LEN/CRC16/ETX, commands: HEARTBEAT, SPEED_STEER, ARM, SET_MODE, PID_UPDATE; telemetry: IMU, BATTERY, MOTOR_RPM, ARM_STATE, ERROR; watchdog 500ms. battery_node (Issue #125): SoC tracking, threshold alerts, SQLite history. diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py index e070638..bd637d4 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py @@ -1,6 +1,6 @@ """battery_node.py — Battery management for saltybot (Issue #125). -Subscribes to /saltybot/telemetry/battery (JSON from stm32_cmd_node) and: +Subscribes to /saltybot/telemetry/battery (JSON from esp32_cmd_node) and: - Publishes sensor_msgs/BatteryState on /saltybot/battery - Publishes JSON alerts on /saltybot/battery/alert at threshold crossings - Reduces speed limit at low SoC via /saltybot/speed_limit (std_msgs/Float32) @@ -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-S3 BATTERY telemetry (fuel gauge or lookup on ESP32-S3) 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-S3.""" self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming") # Publish zero velocity zero_twist = Twist() diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py index 993d2f4..fe16296 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py @@ -1,5 +1,5 @@ """ -cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 drive command bridge. +cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32-S3 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-S3 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,\\n / H\\n — same as saltybot_cmd_node): C,\\n — drive command. speed/steer: -1000..+1000 integers. - H\\n — heartbeat. STM32 reverts steer to 0 after 500ms silence. + H\\n — heartbeat. ESP32-S3 reverts steer to 0 after 500ms silence. -Telemetry (50 Hz from STM32): +Telemetry (50 Hz from ESP32-S3): Same RX/publish pipeline as saltybot_cmd_node. The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate. @@ -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-S3 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) @@ -238,7 +238,7 @@ class CmdVelBridgeNode(Node): speed = self._current_speed steer = self._current_steer - # Send to STM32 + # Send to ESP32-S3 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-S3 jetson_cmd heartbeat alive regardless of mode.""" self._write(b"H\n") # ── Telemetry RX ────────────────────────────────────────────────────────── @@ -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 = "esp32s322" 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 = "esp32s322" 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-S3 IMU fault: errno={errno}") # ── Lifecycle ───────────────────────────────────────────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py similarity index 96% rename from jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py rename to jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py index 4e3d63c..3add2be 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_cmd_node.py @@ -1,18 +1,18 @@ -"""stm32_cmd_node.py — Full bidirectional binary-framed STM32↔Jetson bridge. +"""esp32_cmd_node.py — Full bidirectional binary-framed ESP32-S3↔Jetson bridge. Issue #119: replaces the ASCII-protocol saltybot_cmd_node with a robust binary framing protocol (STX/TYPE/LEN/PAYLOAD/CRC16/ETX) at 921600 baud. -TX commands (Jetson → STM32): +TX commands (Jetson → ESP32-S3): SPEED_STEER — 50 Hz from /cmd_vel subscription - HEARTBEAT — 200 ms timer (STM32 watchdog fires at 500 ms) + HEARTBEAT — 200 ms timer (ESP32-S3 watchdog fires at 500 ms) ARM — via /saltybot/arm service SET_MODE — via /saltybot/set_mode service PID_UPDATE — via /saltybot/pid_update topic Watchdog: if /cmd_vel is silent for 500 ms, send SPEED_STEER(0,0) and log warning. -RX telemetry (STM32 → Jetson): +RX telemetry (ESP32-S3 → Jetson): IMU → /saltybot/imu (sensor_msgs/Imu) BATTERY → /saltybot/telemetry/battery (std_msgs/String JSON) MOTOR_RPM → /saltybot/telemetry/motor_rpm (std_msgs/String JSON) @@ -26,7 +26,7 @@ continuously retries at reconnect_delay interval. This node owns /dev/ttyACM0 exclusively — do NOT run alongside serial_bridge_node or saltybot_cmd_node on the same port. -Parameters (config/stm32_cmd_params.yaml): +Parameters (config/esp32_cmd_params.yaml): serial_port /dev/ttyACM0 baud_rate 921600 reconnect_delay 2.0 (seconds) @@ -55,7 +55,7 @@ from sensor_msgs.msg import Imu from std_msgs.msg import String from std_srvs.srv import SetBool, Trigger -from .stm32_protocol import ( +from .esp32_protocol import ( FrameParser, ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame, encode_heartbeat, encode_speed_steer, encode_arm, encode_set_mode, @@ -75,10 +75,10 @@ def _clamp(v: float, lo: float, hi: float) -> float: # ── Node ────────────────────────────────────────────────────────────────────── class Stm32CmdNode(Node): - """Binary-framed Jetson↔STM32 bridge node.""" + """Binary-framed Jetson↔ESP32-S3 bridge node.""" def __init__(self) -> None: - super().__init__("stm32_cmd_node") + super().__init__("esp32_cmd_node") # ── Parameters ──────────────────────────────────────────────────────── self.declare_parameter("serial_port", "/dev/ttyACM0") @@ -158,7 +158,7 @@ class Stm32CmdNode(Node): self._diag_timer = self.create_timer(1.0, self._publish_diagnostics) self.get_logger().info( - f"stm32_cmd_node started — {port} @ {baud} baud | " + f"esp32_cmd_node started — {port} @ {baud} baud | " f"HB {int(self._hb_period * 1000)}ms | WD {int(self._wd_timeout * 1000)}ms" ) @@ -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-S3 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-S3 error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}" ) payload = { "error_code": frame.error_code, @@ -431,8 +431,8 @@ class Stm32CmdNode(Node): diag.header.stamp = self.get_clock().now().to_msg() status = DiagnosticStatus() - status.name = "saltybot/stm32_cmd_node" - status.hardware_id = "stm32f722" + status.name = "saltybot/esp32_cmd_node" + status.hardware_id = "esp32s322" port_ok = self._ser is not None and self._ser.is_open if port_ok: diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py similarity index 95% rename from jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py rename to jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py index ed98326..19ce93c 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py @@ -1,7 +1,7 @@ -"""stm32_protocol.py — Binary frame codec for Jetson↔STM32 communication. +"""esp32_protocol.py — Binary frame codec for Jetson↔ESP32-S3 communication. -Issue #119: defines the binary serial protocol between the Jetson Nano and the -STM32F722 flight controller over USB CDC @ 921600 baud. +Issue #119: defines the binary serial protocol between the Jetson Orin Nano Super and the +ESP32-S3 ESP32-S3 BALANCE over USB CDC @ 921600 baud. Frame layout (all multi-byte fields are big-endian): ┌──────┬──────┬──────┬──────────────────┬───────────┬──────┐ @@ -12,14 +12,14 @@ 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-S3): 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-S3 → 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) @@ -27,11 +27,11 @@ Telemetry types (STM32 → Jetson): 0x14 ERROR — uint8 error_code + uint8 subcode (len=2) Usage: - # Encoding (Jetson → STM32) + # Encoding (Jetson → ESP32-S3) frame = encode_speed_steer(300, -150) ser.write(frame) - # Decoding (STM32 → Jetson), one byte at a time + # Decoding (ESP32-S3 → Jetson), one byte at a time parser = FrameParser() for byte in incoming_bytes: result = parser.feed(byte) @@ -87,7 +87,7 @@ class ImuFrame: class BatteryFrame: voltage_mv: int # millivolts (e.g. 11100 = 11.1 V) current_ma: int # milliamps (negative = charging) - soc_pct: int # state of charge 0–100 (from STM32 fuel gauge or lookup) + soc_pct: int # state of charge 0–100 (from ESP32-S3 fuel gauge or lookup) @dataclass @@ -183,7 +183,7 @@ class ParseError(Exception): class FrameParser: - """Byte-by-byte streaming parser for STM32 telemetry frames. + """Byte-by-byte streaming parser for ESP32-S3 telemetry frames. Feed individual bytes via feed(); returns a decoded TelemetryFrame (or raw bytes tuple) when a complete valid frame is received. diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py index d83c23a..2999a05 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py @@ -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-S3 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-S3 (ESTOP_REMOTE, immediate motor cutoff) +{"kill": false} -> writes 'Z\n' to ESP32-S3 (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) diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py index f0a4ee8..7bb5902 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py @@ -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 = "esp32s322" st.message = state_label st.level = (DiagnosticStatus.OK if state == 1 else DiagnosticStatus.WARN if state == 0 else diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py index ddcd5f0..b1ce883 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py @@ -1,20 +1,20 @@ """ -saltybot_cmd_node — full bidirectional STM32↔Jetson bridge +saltybot_cmd_node — full bidirectional ESP32-S3↔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-S3): JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics TX path: - /cmd_vel (geometry_msgs/Twist) → C,\\n → STM32 - Heartbeat timer (200ms) → H\\n → STM32 + /cmd_vel (geometry_msgs/Twist) → C,\\n → ESP32-S3 + Heartbeat timer (200ms) → H\\n → ESP32-S3 Protocol: - H\\n — heartbeat. STM32 reverts steer to 0 if gap > 500ms. + H\\n — heartbeat. ESP32-S3 reverts steer to 0 if gap > 500ms. C,\\n — drive command. speed/steer: -1000..+1000 integers. - C command also refreshes STM32 heartbeat timer. + C command also refreshes ESP32-S3 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-S3 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 = "esp32s322" 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 = "esp32s322" 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-S3 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-S3 reverts steer to 0 if gap > 500ms.""" self._write(b"H\n") # ── Lifecycle ───────────────────────────────────────────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py index 6816410..217d0c9 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py @@ -1,6 +1,6 @@ """ saltybot_bridge — serial_bridge_node -STM32F722 USB CDC → ROS2 topic publisher +ESP32-S3 USB CDC → ROS2 topic publisher Telemetry frame (50 Hz, newline-delimited JSON): {"p":,"r":,"e":,"ig":, @@ -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-S3 balance_state_t enum _STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"} # Sensor frame_id published in Imu header @@ -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-S3 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-S3 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-S3 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 = "esp32s322" 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 = "esp32s322" 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-S3 reported IMU fault: errno={errno}") def destroy_node(self): self._close_serial() diff --git a/jetson/ros2_ws/src/saltybot_bridge/setup.py b/jetson/ros2_ws/src/saltybot_bridge/setup.py index dc798c0..8b70ec4 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py @@ -13,7 +13,7 @@ setup( "launch/bridge.launch.py", "launch/cmd_vel_bridge.launch.py", "launch/remote_estop.launch.py", - "launch/stm32_cmd.launch.py", + "launch/esp32_cmd.launch.py", "launch/battery.launch.py", "launch/uart_bridge.launch.py", ]), @@ -21,7 +21,7 @@ setup( "config/bridge_params.yaml", "config/cmd_vel_bridge_params.yaml", "config/estop_params.yaml", - "config/stm32_cmd_params.yaml", + "config/esp32_cmd_params.yaml", "config/battery_params.yaml", ]), ], @@ -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-S3 USB CDC → ROS2 serial bridge for saltybot", license="MIT", tests_require=["pytest"], entry_points={ @@ -41,8 +41,8 @@ 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) - "stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main", + # Binary-framed ESP32-S3 command node (Issue #119) + "esp32_cmd_node = saltybot_bridge.esp32_cmd_node:main", # Battery management node (Issue #125) "battery_node = saltybot_bridge.battery_node:main", # Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685) diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py index 37aa7df..311a768 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py @@ -1,5 +1,5 @@ """ -Unit tests for Jetson→STM32 command serialization logic. +Unit tests for Jetson→ESP32-S3 command serialization logic. Tests Twist→speed/steer conversion and frame formatting. Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py """ diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_stm32_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py similarity index 95% rename from jetson/ros2_ws/src/saltybot_bridge/test/test_stm32_cmd_node.py rename to jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py index 00d98b6..1cd5e8c 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_stm32_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_cmd_node.py @@ -1,4 +1,4 @@ -"""test_stm32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port. +"""test_esp32_cmd_node.py — Unit tests for Stm32CmdNode with mock serial port. Tests: - Serial open/close lifecycle @@ -12,7 +12,7 @@ Tests: - Zero-speed sent on node shutdown - CRC errors counted correctly -Run with: pytest test/test_stm32_cmd_node.py -v +Run with: pytest test/test_esp32_cmd_node.py -v No ROS2 runtime required — uses mock Node infrastructure. """ @@ -29,7 +29,7 @@ import pytest sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) -from saltybot_bridge.stm32_protocol import ( +from saltybot_bridge.esp32_protocol import ( STX, ETX, CmdType, TelType, encode_speed_steer, encode_heartbeat, encode_arm, encode_pid_update, _build_frame, _crc16_ccitt, @@ -219,10 +219,10 @@ class TestMockSerialTX: class TestMockSerialRX: """Test RX parsing path using MockSerial with pre-loaded telemetry data.""" - from saltybot_bridge.stm32_protocol import FrameParser + from saltybot_bridge.esp32_protocol import FrameParser def test_rx_imu_frame(self): - from saltybot_bridge.stm32_protocol import FrameParser, ImuFrame + from saltybot_bridge.esp32_protocol import FrameParser, ImuFrame raw = _imu_frame_bytes(pitch=500, roll=-200, yaw=100, ax=0, ay=0, az=981) ms = MockSerial(rx_data=raw) parser = FrameParser() @@ -241,7 +241,7 @@ class TestMockSerialRX: assert f.accel_z == pytest.approx(9.81) def test_rx_battery_frame(self): - from saltybot_bridge.stm32_protocol import FrameParser, BatteryFrame + from saltybot_bridge.esp32_protocol import FrameParser, BatteryFrame raw = _battery_frame_bytes(v_mv=10500, i_ma=1200, soc=45) ms = MockSerial(rx_data=raw) parser = FrameParser() @@ -257,7 +257,7 @@ class TestMockSerialRX: assert f.soc_pct == 45 def test_rx_multiple_frames_in_one_read(self): - from saltybot_bridge.stm32_protocol import FrameParser + from saltybot_bridge.esp32_protocol import FrameParser raw = (_imu_frame_bytes() + _arm_state_frame_bytes() + _battery_frame_bytes()) ms = MockSerial(rx_data=raw) parser = FrameParser() @@ -271,7 +271,7 @@ class TestMockSerialRX: assert parser.frames_error == 0 def test_rx_bad_crc_counted_as_error(self): - from saltybot_bridge.stm32_protocol import FrameParser + from saltybot_bridge.esp32_protocol import FrameParser raw = bytearray(_arm_state_frame_bytes(state=1)) raw[-3] ^= 0xFF # corrupt CRC ms = MockSerial(rx_data=bytes(raw)) @@ -282,7 +282,7 @@ class TestMockSerialRX: assert parser.frames_error == 1 def test_rx_resync_after_corrupt_byte(self): - from saltybot_bridge.stm32_protocol import FrameParser, ArmStateFrame + from saltybot_bridge.esp32_protocol import FrameParser, ArmStateFrame garbage = b"\xDE\xAD\x00\x00" valid = _arm_state_frame_bytes(state=1) ms = MockSerial(rx_data=garbage + valid) diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_stm32_protocol.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_protocol.py similarity index 99% rename from jetson/ros2_ws/src/saltybot_bridge/test/test_stm32_protocol.py rename to jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_protocol.py index 4e33f11..9d98862 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_stm32_protocol.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_esp32_protocol.py @@ -1,4 +1,4 @@ -"""test_stm32_protocol.py — Unit tests for binary STM32 frame codec. +"""test_esp32_protocol.py — Unit tests for binary ESP32-S3 frame codec. Tests: - CRC16-CCITT correctness @@ -12,7 +12,7 @@ Tests: - Speed/steer clamping in encode_speed_steer - Round-trip encode → decode for all known telemetry types -Run with: pytest test/test_stm32_protocol.py -v +Run with: pytest test/test_esp32_protocol.py -v """ from __future__ import annotations @@ -25,7 +25,7 @@ import os # ── Path setup (no ROS2 install needed) ────────────────────────────────────── sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) -from saltybot_bridge.stm32_protocol import ( +from saltybot_bridge.esp32_protocol import ( STX, ETX, CmdType, TelType, ImuFrame, BatteryFrame, MotorRpmFrame, ArmStateFrame, ErrorFrame, diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py index 3fe7ee6..1a08546 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py @@ -1,5 +1,5 @@ """ -Unit tests for STM32 telemetry parsing logic. +Unit tests for ESP32-S3 telemetry parsing logic. Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py """ diff --git a/jetson/ros2_ws/src/saltybot_bridge_msgs/msg/WheelTicks.msg b/jetson/ros2_ws/src/saltybot_bridge_msgs/msg/WheelTicks.msg index 301aaa1..653fa6d 100644 --- a/jetson/ros2_ws/src/saltybot_bridge_msgs/msg/WheelTicks.msg +++ b/jetson/ros2_ws/src/saltybot_bridge_msgs/msg/WheelTicks.msg @@ -1,4 +1,4 @@ -# WheelTicks.msg — cumulative wheel encoder tick counts from STM32 (Issue #184) +# WheelTicks.msg — cumulative wheel encoder tick counts from ESP32-S3 (Issue #184) # # left_ticks : cumulative left encoder count (int32, wraps at ±2^31) # right_ticks : cumulative right encoder count (int32, wraps at ±2^31) diff --git a/jetson/ros2_ws/src/saltybot_bridge_msgs/package.xml b/jetson/ros2_ws/src/saltybot_bridge_msgs/package.xml index 7d7ed20..49032a2 100644 --- a/jetson/ros2_ws/src/saltybot_bridge_msgs/package.xml +++ b/jetson/ros2_ws/src/saltybot_bridge_msgs/package.xml @@ -3,7 +3,7 @@ saltybot_bridge_msgs 0.1.0 - STM32 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184) + ESP32-S3 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184) sl-perception MIT diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml index e6d4cfa..d72c694 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml @@ -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-S3 bridge consumes this topic. bt_navigator: ros__parameters: diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml index fa9e10b..fa1aa97 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml @@ -2,12 +2,12 @@ # Master configuration for full stack bringup # ──────────────────────────────────────────────────────────────────────────── -# HARDWARE — STM32 Bridge & Motor Control +# HARDWARE — ESP32-S3 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 diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py index 19a98b5..5f06982 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py @@ -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-S3 (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-S3 bridge (serial port owner — must be first) + t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32-S3 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-S3 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-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still + until ESP32-S3 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-S3) /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-S3 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-S3 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-S3 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-S3 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, diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py index e250b37..e6f7128 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/realsense.launch.py @@ -1,7 +1,7 @@ """ realsense.launch.py — Intel RealSense D435i driver (standalone) -Launches realsense2_camera_node with Jetson Nano power-budget settings: +Launches realsense2_camera_node with Jetson Orin Nano Super power-budget settings: - 640×480 @ 15fps (depth + RGB) — saves ~0.4W vs 30fps - IMU enabled with linear interpolation (unified /camera/imu topic) - Depth aligned to color frame diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py index c8e7b91..893b4cc 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py @@ -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-S3 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-S3 USART 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-S3 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-S3 bidirectional bridge (JLINK USART1) + 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-S3 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, diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py index 839e9da..9beb779 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py @@ -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-S3 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: diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py index 5200f3a..cfb9010 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py @@ -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-S3 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-S3 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, diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py index 6d915f8..346948d 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py @@ -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-S3 bridge, integrates differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz. Optionally broadcasts the odom → base_link TF transform. diff --git a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md index 8214fbf..d2e1344 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md +++ b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md @@ -61,7 +61,7 @@ kill %1 ### Core System Components - Robot Description (URDF/TF tree) -- STM32 Serial Bridge +- ESP32-S3 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-S3 bridge is running first ros2 node list | grep bridge # Check serial port -ls -l /dev/stm32-bridge +ls -l /dev/esp32-bridge ``` ## Performance Baseline diff --git a/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py index 2b1fa9b..d3c9978 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py +++ b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py @@ -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() diff --git a/jetson/ros2_ws/src/saltybot_bringup/urdf/saltybot.urdf.xacro b/jetson/ros2_ws/src/saltybot_bringup/urdf/saltybot.urdf.xacro index 1db61ac..a809f09 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/urdf/saltybot.urdf.xacro +++ b/jetson/ros2_ws/src/saltybot_bringup/urdf/saltybot.urdf.xacro @@ -10,7 +10,7 @@ - Sensors: * RPLIDAR A1M8 (360° scanning LiDAR) * RealSense D435i (RGB-D camera + IMU) - * BNO055 (9-DOF IMU, STM32 FC) + * BNO055 (9-DOF IMU, ESP32-S3 FC) - Actuators: * 2x differential drive motors * Pan/Tilt servos for camera @@ -120,7 +120,7 @@ - + diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py similarity index 98% rename from jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py rename to jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py index 804ae29..61520c6 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 """ -mamba_protocol.py — CAN message encoding/decoding for the Mamba motor controller +balance_protocol.py — CAN message encoding/decoding for the Mamba motor controller and VESC telemetry. CAN message layout diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py index fe62740..d3bf900 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py @@ -34,7 +34,7 @@ from rcl_interfaces.msg import SetParametersResult from sensor_msgs.msg import BatteryState, Imu from std_msgs.msg import Bool, Float32MultiArray, String -from saltybot_can_bridge.mamba_protocol import ( +from saltybot_can_bridge.balance_protocol import ( MAMBA_CMD_ESTOP, MAMBA_CMD_MODE, MAMBA_CMD_VELOCITY, diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py index 88161c9..e940f26 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py @@ -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-S3 BALANCE controller and VESC telemetry", license="MIT", tests_require=["pytest"], entry_points={ diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py b/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py index 2b8f9bf..6bddca2 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/test/test_can_bridge.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 """ -Unit tests for saltybot_can_bridge.mamba_protocol. +Unit tests for saltybot_can_bridge.balance_protocol. No ROS2 or CAN hardware required — tests exercise encode/decode round-trips and boundary conditions entirely in Python. @@ -11,7 +11,7 @@ Run with: pytest test/test_can_bridge.py -v import struct import unittest -from saltybot_can_bridge.mamba_protocol import ( +from saltybot_can_bridge.balance_protocol import ( MAMBA_CMD_ESTOP, MAMBA_CMD_MODE, MAMBA_CMD_VELOCITY, diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/package.xml b/jetson/ros2_ws/src/saltybot_can_e2e_test/package.xml index a542bf8..c7a8012 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/package.xml +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/package.xml @@ -17,7 +17,7 @@ sl-jetson MIT - + saltybot_can_bridge ament_python diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py index 41bdd6c..c8d37ed 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py @@ -6,7 +6,7 @@ Orin↔Mamba↔VESC integration test suite. All IDs and payload formats are derived from: include/orin_can.h — Orin↔FC (Mamba) protocol include/vesc_can.h — VESC CAN protocol - saltybot_can_bridge/mamba_protocol.py — existing bridge constants + saltybot_can_bridge/balance_protocol.py — existing bridge constants CAN IDs used in tests --------------------- @@ -22,7 +22,7 @@ FC (Mamba) → Orin telemetry (standard 11-bit, matching orin_can.h): FC_IMU 0x402 8 bytes FC_BARO 0x403 8 bytes -Mamba ↔ VESC internal commands (matching mamba_protocol.py): +Mamba ↔ VESC internal commands (matching balance_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 @@ -54,7 +54,7 @@ FC_IMU: int = 0x402 FC_BARO: int = 0x403 # --------------------------------------------------------------------------- -# Mamba → VESC internal command IDs (from mamba_protocol.py) +# Mamba → VESC internal command IDs (from balance_protocol.py) # --------------------------------------------------------------------------- MAMBA_CMD_VELOCITY: int = 0x100 @@ -136,14 +136,14 @@ def build_estop_cmd(action: int = 1) -> bytes: # --------------------------------------------------------------------------- -# Frame builders — Mamba velocity commands (mamba_protocol.py encoding) +# Frame builders — Mamba velocity commands (balance_protocol.py encoding) # --------------------------------------------------------------------------- def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes: """ Build a MAMBA_CMD_VELOCITY payload (8 bytes, 2 × float32 big-endian). - Matches encode_velocity_cmd() in mamba_protocol.py. + Matches encode_velocity_cmd() in balance_protocol.py. """ return struct.pack(">ff", float(left_mps), float(right_mps)) diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/conftest.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/conftest.py index db8c471..2617741 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/conftest.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/conftest.py @@ -14,7 +14,7 @@ _pkg_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) if _pkg_root not in sys.path: sys.path.insert(0, _pkg_root) -# Also add the saltybot_can_bridge package so we can import mamba_protocol. +# Also add the saltybot_can_bridge package so we can import balance_protocol. _bridge_pkg = os.path.join( os.path.dirname(_pkg_root), "saltybot_can_bridge" ) @@ -60,7 +60,7 @@ def loopback_can_bus(): @pytest.fixture(scope="function") def bridge_components(): """ - Return the mamba_protocol encode/decode callables and a fresh mock bus. + Return the balance_protocol encode/decode callables and a fresh mock bus. Yields a dict with keys: bus — MockCANBus instance @@ -69,7 +69,7 @@ def bridge_components(): encode_estop — encode_estop_cmd(stop) → bytes decode_vesc — decode_vesc_state(data) → VescStateTelemetry """ - from saltybot_can_bridge.mamba_protocol import ( + from saltybot_can_bridge.balance_protocol import ( encode_velocity_cmd, encode_mode_cmd, encode_estop_cmd, diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py index dfbee87..b647b26 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py @@ -28,7 +28,7 @@ from saltybot_can_e2e_test.protocol_defs import ( parse_velocity_cmd, parse_fc_vesc, ) -from saltybot_can_bridge.mamba_protocol import ( +from saltybot_can_bridge.balance_protocol import ( encode_velocity_cmd, encode_mode_cmd, ) diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py index b77581e..746840f 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_estop.py @@ -32,7 +32,7 @@ from saltybot_can_e2e_test.protocol_defs import ( parse_velocity_cmd, parse_fc_status, ) -from saltybot_can_bridge.mamba_protocol import ( +from saltybot_can_bridge.balance_protocol import ( encode_velocity_cmd, encode_mode_cmd, encode_estop_cmd, diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py index a7e9f9a..cde51fe 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py @@ -30,7 +30,7 @@ from saltybot_can_e2e_test.protocol_defs import ( parse_fc_vesc, parse_vesc_status, ) -from saltybot_can_bridge.mamba_protocol import ( +from saltybot_can_bridge.balance_protocol import ( VESC_TELEM_STATE as BRIDGE_VESC_TELEM_STATE, decode_vesc_state, ) diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py index adf7db2..7b7f3a6 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py @@ -33,7 +33,7 @@ from saltybot_can_e2e_test.protocol_defs import ( build_velocity_cmd, parse_velocity_cmd, ) -from saltybot_can_bridge.mamba_protocol import ( +from saltybot_can_bridge.balance_protocol import ( encode_velocity_cmd, encode_mode_cmd, encode_estop_cmd, diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py index d87ab29..9e8da58 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_mode_switching.py @@ -27,7 +27,7 @@ from saltybot_can_e2e_test.protocol_defs import ( build_velocity_cmd, parse_velocity_cmd, ) -from saltybot_can_bridge.mamba_protocol import ( +from saltybot_can_bridge.balance_protocol import ( encode_velocity_cmd, encode_mode_cmd, encode_estop_cmd, @@ -189,7 +189,7 @@ class TestModeCommandEncoding: """build_mode_cmd in protocol_defs must produce identical bytes.""" for mode in (MODE_IDLE, MODE_DRIVE, MODE_ESTOP): assert build_mode_cmd(mode) == encode_mode_cmd(mode), \ - f"protocol_defs.build_mode_cmd({mode}) != mamba_protocol.encode_mode_cmd({mode})" + f"protocol_defs.build_mode_cmd({mode}) != balance_protocol.encode_mode_cmd({mode})" class TestInvalidMode: @@ -218,8 +218,8 @@ class TestInvalidMode: accepted = sm.set_mode(-1) assert accepted is False - def test_mamba_protocol_invalid_mode_raises(self): - """mamba_protocol.encode_mode_cmd must raise on invalid mode.""" + def test_balance_protocol_invalid_mode_raises(self): + """balance_protocol.encode_mode_cmd must raise on invalid mode.""" with pytest.raises(ValueError): encode_mode_cmd(99) with pytest.raises(ValueError): diff --git a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml index d44d67d..f36d2f6 100644 --- a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml +++ b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml @@ -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-S3 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 diff --git a/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro b/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro index d12ef7b..1e77881 100644 --- a/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro +++ b/jetson/ros2_ws/src/saltybot_description/urdf/saltybot.urdf.xacro @@ -172,7 +172,7 @@ diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/README.md b/jetson/ros2_ws/src/saltybot_diagnostics/README.md index 7d63d5b..61579cc 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/README.md +++ b/jetson/ros2_ws/src/saltybot_diagnostics/README.md @@ -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-S3, servos - WiFi, GPS, disk space, RAM - Boot result TTS + face animation - JSON logging diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml b/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml index ec7fb2f..705e6dc 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml +++ b/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml @@ -6,7 +6,7 @@ startup_checks: - realsense - vesc - jabra_microphone - - stm32_bridge + - esp32_bridge - servos - wifi - gps diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py index 554fdf1..5c10a87 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py +++ b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py @@ -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-S3 bridge online", {}) def _check_servos(self): try: diff --git a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml index ac6d92c..a58d045 100644 --- a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml +++ b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml @@ -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-S3 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-S3 AUTONOMOUS mode (md=2). follow_enabled: true diff --git a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py index c9bf3ad..911c165 100644 --- a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py +++ b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py @@ -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-S3 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 diff --git a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml index 0d39fab..085e86e 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml +++ b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml @@ -1,6 +1,6 @@ gimbal_node: ros__parameters: - # Serial port connecting to STM32 over JLINK protocol + # Serial port connecting to ESP32-S3 over JLINK protocol serial_port: "/dev/ttyTHS1" baud_rate: 921600 diff --git a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py index 41b7578..6f29c7e 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py @@ -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-S3", ) pan_limit_arg = DeclareLaunchArgument( "pan_limit_deg", diff --git a/jetson/ros2_ws/src/saltybot_gimbal/package.xml b/jetson/ros2_ws/src/saltybot_gimbal/package.xml index f82f045..7d28b1a 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/package.xml +++ b/jetson/ros2_ws/src/saltybot_gimbal/package.xml @@ -3,7 +3,7 @@ saltybot_gimbal 1.0.0 - ROS2 gimbal control node: pan/tilt camera head via JLINK serial to STM32. + ROS2 gimbal control node: pan/tilt camera head via JLINK serial to ESP32-S3. Smooth trapezoidal motion profiles, configurable limits, look_at 3D projection. Issue #548. diff --git a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py index aa27ee2..b470847 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py @@ -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-S3. Implements smooth trapezoidal motion profiles with configurable axis limits. Subscribed topics: diff --git a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py index 9915624..4d4b80a 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py @@ -1,19 +1,19 @@ """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-S3 side). -Command type (Jetson → STM32): +Command type (Jetson → ESP32-S3): 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-S3 → 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) -Frame format (shared with stm32_protocol.py): +Frame format (shared with esp32_protocol.py): [STX=0x02][CMD][LEN][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03] CRC16-CCITT: poly=0x1021, init=0xFFFF, covers CMD+LEN+PAYLOAD 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-S3: set pan/tilt target +TLM_GIMBAL_STATE = 0x84 # ESP32-S3 → 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)) diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml index 7ac783d..1f30a08 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml +++ b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml @@ -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-S3 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) diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py index 3a05c02..3895236 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py @@ -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-S3 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. diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py index 1a9b2d5..c576b2a 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py @@ -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-S3 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-S3 executing Jetson cmd_vel; RC sticks idle. "RAMP_TO_RC" — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s. Blend alpha diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py index 78ed0a1..b5409bd 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py @@ -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-S3 mode. (geometry_msgs/PoseWithCovarianceStamped) Any message received within slam_fix_timeout_s → SLAM fix valid. diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml index 1fa8a32..5567ba9 100644 --- a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml @@ -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-S3 BALANCE) + right_can_id: 68 # right motor VESC CAN ID (ESP32-S3 BALANCE) # ── State topic names (must match VESC telemetry publisher) ────────────── left_state_topic: /vesc/left/state diff --git a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml index 1be2a7a..d277469 100644 --- a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml +++ b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml @@ -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-S3 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 ────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py index d096aa8..96e0a1b 100644 --- a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py +++ b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py @@ -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-S3 bridge serial port'), 'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware', min_val=9600, max_val=3000000, description='Serial baud rate'), diff --git a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py index 6e37885..3f6dcac 100644 --- a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py +++ b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py @@ -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-S3; wait for it time.sleep(1.5) self.get_logger().info( diff --git a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml index 1567812..fff0997 100644 --- a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml +++ b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml @@ -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-S3 wheel encoders → /odom # UWB: /uwb/target (follow-me reference, logged for context) route_recorder: diff --git a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py index a2b98f7..a44ed0d 100644 --- a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py +++ b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py @@ -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-S3 bridge (/odom from wheel encoders) D435i (/imu/data for heading) Usage — record a route: diff --git a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py index ccc24b7..7c42222 100644 --- a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py +++ b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py @@ -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-S3 or Raspberry Pi Pico GPIO PWM bridge. ESC channel assignments (configurable): CH1 = left-front diff --git a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml index 2d8e7bb..e6b068d 100644 --- a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml +++ b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml @@ -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-S3 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-S3 bridge) diff --git a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml index 7532ab0..81742ed 100644 --- a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml +++ b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml @@ -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-S3 # ── 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-S3 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-S3 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: diff --git a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py index 4d98fb3..cfde374 100644 --- a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py +++ b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py @@ -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-S3 Usage: # Defaults (walk profile initially, adapts via UWB + GPS): diff --git a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py index 3f9024e..88d15ec 100644 --- a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py +++ b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py @@ -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-S3 or Raspberry Pi Pico GPIO PWM bridge. ESC channel assignments (configurable): CH1 = left-front (or left-track in 2WD/tracked mode) diff --git a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py index c1a7e47..a3245b3 100644 --- a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py +++ b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py @@ -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-S3 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-S3 bridge may be disabled in test mode)") class TestDockingServices(unittest.TestCase): diff --git a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml index 2be902f..4dc76bd 100644 --- a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml +++ b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml @@ -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-S3 BALANCE CAN2) vesc_telemetry: ros__parameters: diff --git a/jetson/scripts/entrypoint.sh b/jetson/scripts/entrypoint.sh index cf0afc5..b11ce66 100644 --- a/jetson/scripts/entrypoint.sh +++ b/jetson/scripts/entrypoint.sh @@ -1,5 +1,5 @@ #!/usr/bin/env bash -# Docker entrypoint for Jetson Nano ROS2 container +# Docker entrypoint for Jetson Orin Nano Super ROS2 container set -e diff --git a/jetson/scripts/setup-jetson.sh b/jetson/scripts/setup-jetson.sh index 3ff7cb6..e0f27cb 100644 --- a/jetson/scripts/setup-jetson.sh +++ b/jetson/scripts/setup-jetson.sh @@ -107,9 +107,9 @@ cat > /etc/udev/rules.d/99-saltybot.rules << 'EOF' KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", \ SYMLINK+="rplidar", MODE="0666" -# STM32 USB CDC (STMicroelectronics Virtual COM) +# ESP32-S3 USB CDC (STMicroelectronics Virtual COM) 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", \ @@ -143,7 +143,7 @@ if grep -q "console=ttyTCU0" /boot/extlinux/extlinux.conf 2>/dev/null; then echo "[i] Serial console is on ttyTCU0 (debug UART) — ttyTHS0 is free." else echo "[!] Check /boot/extlinux/extlinux.conf — ensure ttyTHS0 is not used" - echo " as a serial console if you need it for STM32 UART fallback." + echo " as a serial console if you need it for ESP32-S3 UART fallback." fi # ── Check CSI camera drivers ────────────────────────────────────────────────── diff --git a/legacy/stm32/README.md b/legacy/stm32/README.md new file mode 100644 index 0000000..e49fec5 --- /dev/null +++ b/legacy/stm32/README.md @@ -0,0 +1,4 @@ +# Legacy STM32 Firmware (Archived 2026-04-04) +This directory contains the archived STM32F7 (Mamba F722S) firmware. +Hardware retired 2026-04-04. Replaced by ESP32-S3 BALANCE + ESP32-S3 IO. +See docs/SAUL-TEE-SYSTEM-REFERENCE.md for current architecture. diff --git a/USB_CDC_BUG.md b/legacy/stm32/USB_CDC_BUG.md similarity index 100% rename from USB_CDC_BUG.md rename to legacy/stm32/USB_CDC_BUG.md diff --git a/include/audio.h b/legacy/stm32/include/audio.h similarity index 100% rename from include/audio.h rename to legacy/stm32/include/audio.h diff --git a/include/balance.h b/legacy/stm32/include/balance.h similarity index 100% rename from include/balance.h rename to legacy/stm32/include/balance.h diff --git a/include/baro.h b/legacy/stm32/include/baro.h similarity index 100% rename from include/baro.h rename to legacy/stm32/include/baro.h diff --git a/include/battery.h b/legacy/stm32/include/battery.h similarity index 100% rename from include/battery.h rename to legacy/stm32/include/battery.h diff --git a/include/battery_adc.h b/legacy/stm32/include/battery_adc.h similarity index 100% rename from include/battery_adc.h rename to legacy/stm32/include/battery_adc.h diff --git a/include/bmp280.h b/legacy/stm32/include/bmp280.h similarity index 100% rename from include/bmp280.h rename to legacy/stm32/include/bmp280.h diff --git a/include/bno055.h b/legacy/stm32/include/bno055.h similarity index 100% rename from include/bno055.h rename to legacy/stm32/include/bno055.h diff --git a/include/buzzer.h b/legacy/stm32/include/buzzer.h similarity index 100% rename from include/buzzer.h rename to legacy/stm32/include/buzzer.h diff --git a/include/can_driver.h b/legacy/stm32/include/can_driver.h similarity index 100% rename from include/can_driver.h rename to legacy/stm32/include/can_driver.h diff --git a/include/config.h b/legacy/stm32/include/config.h similarity index 100% rename from include/config.h rename to legacy/stm32/include/config.h diff --git a/include/coulomb_counter.h b/legacy/stm32/include/coulomb_counter.h similarity index 100% rename from include/coulomb_counter.h rename to legacy/stm32/include/coulomb_counter.h diff --git a/include/crsf.h b/legacy/stm32/include/crsf.h similarity index 100% rename from include/crsf.h rename to legacy/stm32/include/crsf.h diff --git a/include/encoder_odom.h b/legacy/stm32/include/encoder_odom.h similarity index 100% rename from include/encoder_odom.h rename to legacy/stm32/include/encoder_odom.h diff --git a/include/esc_backend.h b/legacy/stm32/include/esc_backend.h similarity index 100% rename from include/esc_backend.h rename to legacy/stm32/include/esc_backend.h diff --git a/include/face_animation.h b/legacy/stm32/include/face_animation.h similarity index 100% rename from include/face_animation.h rename to legacy/stm32/include/face_animation.h diff --git a/include/face_lcd.h b/legacy/stm32/include/face_lcd.h similarity index 100% rename from include/face_lcd.h rename to legacy/stm32/include/face_lcd.h diff --git a/include/face_uart.h b/legacy/stm32/include/face_uart.h similarity index 100% rename from include/face_uart.h rename to legacy/stm32/include/face_uart.h diff --git a/include/fan.h b/legacy/stm32/include/fan.h similarity index 100% rename from include/fan.h rename to legacy/stm32/include/fan.h diff --git a/include/fault_handler.h b/legacy/stm32/include/fault_handler.h similarity index 100% rename from include/fault_handler.h rename to legacy/stm32/include/fault_handler.h diff --git a/include/gimbal.h b/legacy/stm32/include/gimbal.h similarity index 100% rename from include/gimbal.h rename to legacy/stm32/include/gimbal.h diff --git a/include/hoverboard.h b/legacy/stm32/include/hoverboard.h similarity index 100% rename from include/hoverboard.h rename to legacy/stm32/include/hoverboard.h diff --git a/include/hw_button.h b/legacy/stm32/include/hw_button.h similarity index 100% rename from include/hw_button.h rename to legacy/stm32/include/hw_button.h diff --git a/include/i2c1.h b/legacy/stm32/include/i2c1.h similarity index 100% rename from include/i2c1.h rename to legacy/stm32/include/i2c1.h diff --git a/include/icm42688.h b/legacy/stm32/include/icm42688.h similarity index 100% rename from include/icm42688.h rename to legacy/stm32/include/icm42688.h diff --git a/include/imu_cal_flash.h b/legacy/stm32/include/imu_cal_flash.h similarity index 100% rename from include/imu_cal_flash.h rename to legacy/stm32/include/imu_cal_flash.h diff --git a/include/ina219.h b/legacy/stm32/include/ina219.h similarity index 100% rename from include/ina219.h rename to legacy/stm32/include/ina219.h diff --git a/include/jetson_cmd.h b/legacy/stm32/include/jetson_cmd.h similarity index 100% rename from include/jetson_cmd.h rename to legacy/stm32/include/jetson_cmd.h diff --git a/include/jetson_uart.h b/legacy/stm32/include/jetson_uart.h similarity index 100% rename from include/jetson_uart.h rename to legacy/stm32/include/jetson_uart.h diff --git a/include/jlink.h b/legacy/stm32/include/jlink.h similarity index 100% rename from include/jlink.h rename to legacy/stm32/include/jlink.h diff --git a/include/led.h b/legacy/stm32/include/led.h similarity index 100% rename from include/led.h rename to legacy/stm32/include/led.h diff --git a/include/lvc.h b/legacy/stm32/include/lvc.h similarity index 100% rename from include/lvc.h rename to legacy/stm32/include/lvc.h diff --git a/include/mag.h b/legacy/stm32/include/mag.h similarity index 100% rename from include/mag.h rename to legacy/stm32/include/mag.h diff --git a/include/mode_manager.h b/legacy/stm32/include/mode_manager.h similarity index 100% rename from include/mode_manager.h rename to legacy/stm32/include/mode_manager.h diff --git a/include/motor_current.h b/legacy/stm32/include/motor_current.h similarity index 100% rename from include/motor_current.h rename to legacy/stm32/include/motor_current.h diff --git a/include/motor_driver.h b/legacy/stm32/include/motor_driver.h similarity index 100% rename from include/motor_driver.h rename to legacy/stm32/include/motor_driver.h diff --git a/include/mpu6000.h b/legacy/stm32/include/mpu6000.h similarity index 100% rename from include/mpu6000.h rename to legacy/stm32/include/mpu6000.h diff --git a/include/orin_can.h b/legacy/stm32/include/orin_can.h similarity index 100% rename from include/orin_can.h rename to legacy/stm32/include/orin_can.h diff --git a/include/ota.h b/legacy/stm32/include/ota.h similarity index 100% rename from include/ota.h rename to legacy/stm32/include/ota.h diff --git a/include/pid_flash.h b/legacy/stm32/include/pid_flash.h similarity index 100% rename from include/pid_flash.h rename to legacy/stm32/include/pid_flash.h diff --git a/include/pid_schedule.h b/legacy/stm32/include/pid_schedule.h similarity index 100% rename from include/pid_schedule.h rename to legacy/stm32/include/pid_schedule.h diff --git a/include/power_mgmt.h b/legacy/stm32/include/power_mgmt.h similarity index 100% rename from include/power_mgmt.h rename to legacy/stm32/include/power_mgmt.h diff --git a/include/rgb_fsm.h b/legacy/stm32/include/rgb_fsm.h similarity index 100% rename from include/rgb_fsm.h rename to legacy/stm32/include/rgb_fsm.h diff --git a/include/safety.h b/legacy/stm32/include/safety.h similarity index 100% rename from include/safety.h rename to legacy/stm32/include/safety.h diff --git a/include/servo.h b/legacy/stm32/include/servo.h similarity index 100% rename from include/servo.h rename to legacy/stm32/include/servo.h diff --git a/include/servo_bus.h b/legacy/stm32/include/servo_bus.h similarity index 100% rename from include/servo_bus.h rename to legacy/stm32/include/servo_bus.h diff --git a/include/slope_estimator.h b/legacy/stm32/include/slope_estimator.h similarity index 100% rename from include/slope_estimator.h rename to legacy/stm32/include/slope_estimator.h diff --git a/include/status.h b/legacy/stm32/include/status.h similarity index 100% rename from include/status.h rename to legacy/stm32/include/status.h diff --git a/include/steering_pid.h b/legacy/stm32/include/steering_pid.h similarity index 100% rename from include/steering_pid.h rename to legacy/stm32/include/steering_pid.h diff --git a/include/uart_protocol.h b/legacy/stm32/include/uart_protocol.h similarity index 100% rename from include/uart_protocol.h rename to legacy/stm32/include/uart_protocol.h diff --git a/include/ultrasonic.h b/legacy/stm32/include/ultrasonic.h similarity index 100% rename from include/ultrasonic.h rename to legacy/stm32/include/ultrasonic.h diff --git a/include/vesc_can.h b/legacy/stm32/include/vesc_can.h similarity index 100% rename from include/vesc_can.h rename to legacy/stm32/include/vesc_can.h diff --git a/include/watchdog.h b/legacy/stm32/include/watchdog.h similarity index 100% rename from include/watchdog.h rename to legacy/stm32/include/watchdog.h diff --git a/lib/USB_CDC/include/usbd_cdc.h b/legacy/stm32/lib/USB_CDC/include/usbd_cdc.h similarity index 100% rename from lib/USB_CDC/include/usbd_cdc.h rename to legacy/stm32/lib/USB_CDC/include/usbd_cdc.h diff --git a/lib/USB_CDC/include/usbd_cdc_if.h b/legacy/stm32/lib/USB_CDC/include/usbd_cdc_if.h similarity index 100% rename from lib/USB_CDC/include/usbd_cdc_if.h rename to legacy/stm32/lib/USB_CDC/include/usbd_cdc_if.h diff --git a/lib/USB_CDC/include/usbd_conf.h b/legacy/stm32/lib/USB_CDC/include/usbd_conf.h similarity index 100% rename from lib/USB_CDC/include/usbd_conf.h rename to legacy/stm32/lib/USB_CDC/include/usbd_conf.h diff --git a/lib/USB_CDC/include/usbd_core.h b/legacy/stm32/lib/USB_CDC/include/usbd_core.h similarity index 100% rename from lib/USB_CDC/include/usbd_core.h rename to legacy/stm32/lib/USB_CDC/include/usbd_core.h diff --git a/lib/USB_CDC/include/usbd_ctlreq.h b/legacy/stm32/lib/USB_CDC/include/usbd_ctlreq.h similarity index 100% rename from lib/USB_CDC/include/usbd_ctlreq.h rename to legacy/stm32/lib/USB_CDC/include/usbd_ctlreq.h diff --git a/lib/USB_CDC/include/usbd_def.h b/legacy/stm32/lib/USB_CDC/include/usbd_def.h similarity index 100% rename from lib/USB_CDC/include/usbd_def.h rename to legacy/stm32/lib/USB_CDC/include/usbd_def.h diff --git a/lib/USB_CDC/include/usbd_desc.h b/legacy/stm32/lib/USB_CDC/include/usbd_desc.h similarity index 100% rename from lib/USB_CDC/include/usbd_desc.h rename to legacy/stm32/lib/USB_CDC/include/usbd_desc.h diff --git a/lib/USB_CDC/include/usbd_ioreq.h b/legacy/stm32/lib/USB_CDC/include/usbd_ioreq.h similarity index 100% rename from lib/USB_CDC/include/usbd_ioreq.h rename to legacy/stm32/lib/USB_CDC/include/usbd_ioreq.h diff --git a/lib/USB_CDC/src/usbd_cdc.c b/legacy/stm32/lib/USB_CDC/src/usbd_cdc.c similarity index 100% rename from lib/USB_CDC/src/usbd_cdc.c rename to legacy/stm32/lib/USB_CDC/src/usbd_cdc.c diff --git a/lib/USB_CDC/src/usbd_cdc_if.c b/legacy/stm32/lib/USB_CDC/src/usbd_cdc_if.c similarity index 100% rename from lib/USB_CDC/src/usbd_cdc_if.c rename to legacy/stm32/lib/USB_CDC/src/usbd_cdc_if.c diff --git a/lib/USB_CDC/src/usbd_conf.c b/legacy/stm32/lib/USB_CDC/src/usbd_conf.c similarity index 100% rename from lib/USB_CDC/src/usbd_conf.c rename to legacy/stm32/lib/USB_CDC/src/usbd_conf.c diff --git a/lib/USB_CDC/src/usbd_core.c b/legacy/stm32/lib/USB_CDC/src/usbd_core.c similarity index 100% rename from lib/USB_CDC/src/usbd_core.c rename to legacy/stm32/lib/USB_CDC/src/usbd_core.c diff --git a/lib/USB_CDC/src/usbd_ctlreq.c b/legacy/stm32/lib/USB_CDC/src/usbd_ctlreq.c similarity index 100% rename from lib/USB_CDC/src/usbd_ctlreq.c rename to legacy/stm32/lib/USB_CDC/src/usbd_ctlreq.c diff --git a/lib/USB_CDC/src/usbd_desc.c b/legacy/stm32/lib/USB_CDC/src/usbd_desc.c similarity index 100% rename from lib/USB_CDC/src/usbd_desc.c rename to legacy/stm32/lib/USB_CDC/src/usbd_desc.c diff --git a/lib/USB_CDC/src/usbd_ioreq.c b/legacy/stm32/lib/USB_CDC/src/usbd_ioreq.c similarity index 100% rename from lib/USB_CDC/src/usbd_ioreq.c rename to legacy/stm32/lib/USB_CDC/src/usbd_ioreq.c diff --git a/platformio.ini b/legacy/stm32/platformio.ini similarity index 100% rename from platformio.ini rename to legacy/stm32/platformio.ini diff --git a/scripts/flash_firmware.py b/legacy/stm32/scripts/flash_firmware.py similarity index 100% rename from scripts/flash_firmware.py rename to legacy/stm32/scripts/flash_firmware.py diff --git a/src/audio.c b/legacy/stm32/src/audio.c similarity index 100% rename from src/audio.c rename to legacy/stm32/src/audio.c diff --git a/src/balance.c b/legacy/stm32/src/balance.c similarity index 100% rename from src/balance.c rename to legacy/stm32/src/balance.c diff --git a/src/baro.c b/legacy/stm32/src/baro.c similarity index 100% rename from src/baro.c rename to legacy/stm32/src/baro.c diff --git a/src/battery.c b/legacy/stm32/src/battery.c similarity index 100% rename from src/battery.c rename to legacy/stm32/src/battery.c diff --git a/src/battery_adc.c b/legacy/stm32/src/battery_adc.c similarity index 100% rename from src/battery_adc.c rename to legacy/stm32/src/battery_adc.c diff --git a/src/bmp280.c b/legacy/stm32/src/bmp280.c similarity index 100% rename from src/bmp280.c rename to legacy/stm32/src/bmp280.c diff --git a/src/bno055.c b/legacy/stm32/src/bno055.c similarity index 100% rename from src/bno055.c rename to legacy/stm32/src/bno055.c diff --git a/src/buzzer.c b/legacy/stm32/src/buzzer.c similarity index 100% rename from src/buzzer.c rename to legacy/stm32/src/buzzer.c diff --git a/src/can_driver.c b/legacy/stm32/src/can_driver.c similarity index 100% rename from src/can_driver.c rename to legacy/stm32/src/can_driver.c diff --git a/src/coulomb_counter.c b/legacy/stm32/src/coulomb_counter.c similarity index 100% rename from src/coulomb_counter.c rename to legacy/stm32/src/coulomb_counter.c diff --git a/src/crsf.c b/legacy/stm32/src/crsf.c similarity index 100% rename from src/crsf.c rename to legacy/stm32/src/crsf.c diff --git a/src/encoder_odom.c b/legacy/stm32/src/encoder_odom.c similarity index 100% rename from src/encoder_odom.c rename to legacy/stm32/src/encoder_odom.c diff --git a/src/esc_backend.c b/legacy/stm32/src/esc_backend.c similarity index 100% rename from src/esc_backend.c rename to legacy/stm32/src/esc_backend.c diff --git a/src/esc_hoverboard.c b/legacy/stm32/src/esc_hoverboard.c similarity index 100% rename from src/esc_hoverboard.c rename to legacy/stm32/src/esc_hoverboard.c diff --git a/src/esc_vesc.c b/legacy/stm32/src/esc_vesc.c similarity index 100% rename from src/esc_vesc.c rename to legacy/stm32/src/esc_vesc.c diff --git a/src/face_animation.c b/legacy/stm32/src/face_animation.c similarity index 100% rename from src/face_animation.c rename to legacy/stm32/src/face_animation.c diff --git a/src/face_lcd.c b/legacy/stm32/src/face_lcd.c similarity index 100% rename from src/face_lcd.c rename to legacy/stm32/src/face_lcd.c diff --git a/src/face_uart.c b/legacy/stm32/src/face_uart.c similarity index 100% rename from src/face_uart.c rename to legacy/stm32/src/face_uart.c diff --git a/src/fan.c b/legacy/stm32/src/fan.c similarity index 100% rename from src/fan.c rename to legacy/stm32/src/fan.c diff --git a/src/fault_handler.c b/legacy/stm32/src/fault_handler.c similarity index 100% rename from src/fault_handler.c rename to legacy/stm32/src/fault_handler.c diff --git a/src/gimbal.c b/legacy/stm32/src/gimbal.c similarity index 100% rename from src/gimbal.c rename to legacy/stm32/src/gimbal.c diff --git a/src/hw_button.c b/legacy/stm32/src/hw_button.c similarity index 100% rename from src/hw_button.c rename to legacy/stm32/src/hw_button.c diff --git a/src/i2c1.c b/legacy/stm32/src/i2c1.c similarity index 100% rename from src/i2c1.c rename to legacy/stm32/src/i2c1.c diff --git a/src/icm42688.c b/legacy/stm32/src/icm42688.c similarity index 100% rename from src/icm42688.c rename to legacy/stm32/src/icm42688.c diff --git a/src/imu_cal_flash.c b/legacy/stm32/src/imu_cal_flash.c similarity index 100% rename from src/imu_cal_flash.c rename to legacy/stm32/src/imu_cal_flash.c diff --git a/src/ina219.c b/legacy/stm32/src/ina219.c similarity index 100% rename from src/ina219.c rename to legacy/stm32/src/ina219.c diff --git a/src/jetson_cmd.c b/legacy/stm32/src/jetson_cmd.c similarity index 100% rename from src/jetson_cmd.c rename to legacy/stm32/src/jetson_cmd.c diff --git a/src/jetson_uart.c b/legacy/stm32/src/jetson_uart.c similarity index 100% rename from src/jetson_uart.c rename to legacy/stm32/src/jetson_uart.c diff --git a/src/jlink.c b/legacy/stm32/src/jlink.c similarity index 100% rename from src/jlink.c rename to legacy/stm32/src/jlink.c diff --git a/src/led.c b/legacy/stm32/src/led.c similarity index 100% rename from src/led.c rename to legacy/stm32/src/led.c diff --git a/src/lvc.c b/legacy/stm32/src/lvc.c similarity index 100% rename from src/lvc.c rename to legacy/stm32/src/lvc.c diff --git a/src/mag.c b/legacy/stm32/src/mag.c similarity index 100% rename from src/mag.c rename to legacy/stm32/src/mag.c diff --git a/src/main.c b/legacy/stm32/src/main.c similarity index 100% rename from src/main.c rename to legacy/stm32/src/main.c diff --git a/src/main.c.bak b/legacy/stm32/src/main.c.bak similarity index 100% rename from src/main.c.bak rename to legacy/stm32/src/main.c.bak diff --git a/src/mode_manager.c b/legacy/stm32/src/mode_manager.c similarity index 100% rename from src/mode_manager.c rename to legacy/stm32/src/mode_manager.c diff --git a/src/motor_current.c b/legacy/stm32/src/motor_current.c similarity index 100% rename from src/motor_current.c rename to legacy/stm32/src/motor_current.c diff --git a/src/motor_driver.c b/legacy/stm32/src/motor_driver.c similarity index 100% rename from src/motor_driver.c rename to legacy/stm32/src/motor_driver.c diff --git a/src/mpu6000.c b/legacy/stm32/src/mpu6000.c similarity index 100% rename from src/mpu6000.c rename to legacy/stm32/src/mpu6000.c diff --git a/src/orin_can.c b/legacy/stm32/src/orin_can.c similarity index 100% rename from src/orin_can.c rename to legacy/stm32/src/orin_can.c diff --git a/src/ota.c b/legacy/stm32/src/ota.c similarity index 100% rename from src/ota.c rename to legacy/stm32/src/ota.c diff --git a/src/pid_flash.c b/legacy/stm32/src/pid_flash.c similarity index 100% rename from src/pid_flash.c rename to legacy/stm32/src/pid_flash.c diff --git a/src/pid_schedule.c b/legacy/stm32/src/pid_schedule.c similarity index 100% rename from src/pid_schedule.c rename to legacy/stm32/src/pid_schedule.c diff --git a/src/power_mgmt.c b/legacy/stm32/src/power_mgmt.c similarity index 100% rename from src/power_mgmt.c rename to legacy/stm32/src/power_mgmt.c diff --git a/src/rgb_fsm.c b/legacy/stm32/src/rgb_fsm.c similarity index 100% rename from src/rgb_fsm.c rename to legacy/stm32/src/rgb_fsm.c diff --git a/src/safety.c b/legacy/stm32/src/safety.c similarity index 100% rename from src/safety.c rename to legacy/stm32/src/safety.c diff --git a/src/servo.c b/legacy/stm32/src/servo.c similarity index 100% rename from src/servo.c rename to legacy/stm32/src/servo.c diff --git a/src/servo_bus.c b/legacy/stm32/src/servo_bus.c similarity index 100% rename from src/servo_bus.c rename to legacy/stm32/src/servo_bus.c diff --git a/src/slope_estimator.c b/legacy/stm32/src/slope_estimator.c similarity index 100% rename from src/slope_estimator.c rename to legacy/stm32/src/slope_estimator.c diff --git a/src/status.c b/legacy/stm32/src/status.c similarity index 100% rename from src/status.c rename to legacy/stm32/src/status.c diff --git a/src/steering_pid.c b/legacy/stm32/src/steering_pid.c similarity index 100% rename from src/steering_pid.c rename to legacy/stm32/src/steering_pid.c diff --git a/src/uart_protocol.c b/legacy/stm32/src/uart_protocol.c similarity index 100% rename from src/uart_protocol.c rename to legacy/stm32/src/uart_protocol.c diff --git a/src/ultrasonic.c b/legacy/stm32/src/ultrasonic.c similarity index 100% rename from src/ultrasonic.c rename to legacy/stm32/src/ultrasonic.c diff --git a/src/vesc_can.c b/legacy/stm32/src/vesc_can.c similarity index 100% rename from src/vesc_can.c rename to legacy/stm32/src/vesc_can.c diff --git a/src/watchdog.c b/legacy/stm32/src/watchdog.c similarity index 100% rename from src/watchdog.c rename to legacy/stm32/src/watchdog.c diff --git a/test/stubs/stm32f7xx_hal.h b/legacy/stm32/test/stubs/stm32f7xx_hal.h similarity index 100% rename from test/stubs/stm32f7xx_hal.h rename to legacy/stm32/test/stubs/stm32f7xx_hal.h diff --git a/test/test_battery_adc.c b/legacy/stm32/test/test_battery_adc.c similarity index 100% rename from test/test_battery_adc.c rename to legacy/stm32/test/test_battery_adc.c diff --git a/test/test_can_watchdog.c b/legacy/stm32/test/test_can_watchdog.c similarity index 100% rename from test/test_can_watchdog.c rename to legacy/stm32/test/test_can_watchdog.c diff --git a/test/test_hw_button.c b/legacy/stm32/test/test_hw_button.c similarity index 100% rename from test/test_hw_button.c rename to legacy/stm32/test/test_hw_button.c diff --git a/test/test_pid_schedule.c b/legacy/stm32/test/test_pid_schedule.c similarity index 100% rename from test/test_pid_schedule.c rename to legacy/stm32/test/test_pid_schedule.c diff --git a/test/test_vesc_can.c b/legacy/stm32/test/test_vesc_can.c similarity index 100% rename from test/test_vesc_can.c rename to legacy/stm32/test/test_vesc_can.c diff --git a/projects/saltybot/SLAM-SETUP-PLAN.md b/projects/saltybot/SLAM-SETUP-PLAN.md index 844011a..e38c9e5 100644 --- a/projects/saltybot/SLAM-SETUP-PLAN.md +++ b/projects/saltybot/SLAM-SETUP-PLAN.md @@ -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-S3 — 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-S3 4× IMX219 CSI (Phase 2c — pending hardware) front/right/rear/left 160° diff --git a/test/test_bno055_data.py b/test/test_bno055_data.py index 0ca3cb0..4fb757c 100644 --- a/test/test_bno055_data.py +++ b/test/test_bno055_data.py @@ -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 ESP32-S3 hardware required — pure Python logic. """ import struct diff --git a/test/test_jlink_frames.py b/test/test_jlink_frames.py index b790b90..269c92e 100644 --- a/test/test_jlink_frames.py +++ b/test/test_jlink_frames.py @@ -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 ESP32-S3 hardware required — pure Python logic. """ import struct diff --git a/test/test_ota.py b/test/test_ota.py index 57eda29..ef93929 100644 --- a/test/test_ota.py +++ b/test/test_ota.py @@ -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-S3 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_esp32s3(self): + """ESP32-S3 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-S3 DFU mode).""" assert DFU_PID == 0xDF11 def test_bkp_idx_not_zero(self): diff --git a/test/test_power_mgmt.py b/test/test_power_mgmt.py index b7d7c4a..09a357d 100644 --- a/test/test_power_mgmt.py +++ b/test/test_power_mgmt.py @@ -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-S3 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-S3: 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-S3 at 2.7-3.3 V: 7 wait states for 210-216 MHz.""" FLASH_LATENCY = 7 assert FLASH_LATENCY == 7 diff --git a/test/test_watchdog.c b/test/test_watchdog.c index c26fb4a..cfbe394 100644 --- a/test/test_watchdog.c +++ b/test/test_watchdog.c @@ -1,5 +1,5 @@ /* - * test_watchdog.c — STM32 IWDG Watchdog Timer tests (Issue #300) + * test_watchdog.c — ESP32-S3 IWDG Watchdog Timer tests (Issue #300) * * Verifies: * - Watchdog initialization with configurable timeouts @@ -307,7 +307,7 @@ void test_prescaler_selection(void) { int main(void) { printf("\n══════════════════════════════════════════════════════════════\n"); - printf(" STM32 IWDG Watchdog Timer — Unit Tests (Issue #300)\n"); + printf(" ESP32-S3 IWDG Watchdog Timer — Unit Tests (Issue #300)\n"); printf("══════════════════════════════════════════════════════════════\n"); test_timeout_calculation(); diff --git a/ui/diagnostics_panel.html b/ui/diagnostics_panel.html index 8aa5417..f6e37da 100644 --- a/ui/diagnostics_panel.html +++ b/ui/diagnostics_panel.html @@ -112,7 +112,7 @@
-
Board / STM32
+
Board / ESP32-S3
—
diff --git a/ui/social-bot/src/components/ControlMode.jsx b/ui/social-bot/src/components/ControlMode.jsx index 80a7b04..ef9048b 100644 --- a/ui/social-bot/src/components/ControlMode.jsx +++ b/ui/social-bot/src/components/ControlMode.jsx @@ -151,14 +151,14 @@ export function ControlMode({ subscribe }) {
BALANCE STATE
- STM32 State: + ESP32 State: {balState.state}
- STM32 Mode: + ESP32 Mode: {balState.mode}
diff --git a/ui/social-bot/src/components/SettingsPanel.jsx b/ui/social-bot/src/components/SettingsPanel.jsx index 4668d25..d524f32 100644 --- a/ui/social-bot/src/components/SettingsPanel.jsx +++ b/ui/social-bot/src/components/SettingsPanel.jsx @@ -287,7 +287,7 @@ function FirmwareView({ firmwareInfo, startFirmwareWatch, connected }) { useEffect(() => { if (!connected) return; const unsub = startFirmwareWatch(); return unsub; }, [connected, startFirmwareWatch]); const formatUptime = (s) => { if (!s) return '—'; return `${Math.floor(s/3600)}h ${Math.floor((s%3600)/60)}m`; }; const rows = [ - ['STM32 Firmware', firmwareInfo?.stm32Version ?? '—'], + ['ESP32-S3 Firmware', firmwareInfo?.esp32Version ?? '—'], ['Jetson SW', firmwareInfo?.jetsonVersion ?? '—'], ['Last OTA Update',firmwareInfo?.lastOtaDate ?? '—'], ['Hostname', firmwareInfo?.hostname ?? '—'], diff --git a/ui/social-bot/src/hooks/useFleet.js b/ui/social-bot/src/hooks/useFleet.js index d9c0476..b9c8802 100644 --- a/ui/social-bot/src/hooks/useFleet.js +++ b/ui/social-bot/src/hooks/useFleet.js @@ -48,7 +48,7 @@ function loadRobots() { const EMPTY_DATA = () => ({ state: null, // 'DISARMED'|'ARMED'|'TILT FAULT' - stm32Mode: null, // 'MANUAL'|'ASSISTED' + esp32Mode: null, // 'MANUAL'|'ASSISTED' controlMode: null, // 'RC'|'RAMP_TO_AUTO'|'AUTO'|'RAMP_TO_RC' blendAlpha: 0, pipeline: null, // 'idle'|'listening'|'thinking'|'speaking' @@ -153,7 +153,7 @@ export function useFleet() { const d = JSON.parse(msg.data); _update(id, { state: d.state, - stm32Mode: d.mode, + esp32Mode: d.mode, pitch: d.pitch_deg ?? 0, motorCmd: d.motor_cmd ?? 0, lastSeen: Date.now(), diff --git a/ui/social-bot/src/hooks/useSettings.js b/ui/social-bot/src/hooks/useSettings.js index 607d419..c856cda 100644 --- a/ui/social-bot/src/hooks/useSettings.js +++ b/ui/social-bot/src/hooks/useSettings.js @@ -89,7 +89,7 @@ export function validatePID(gains) { warnings.push({ level: 'error', msg: `Override Kd (${override_kd}) exceeds kd_max (${kd_max}).` }); } if (control_rate > 150) - warnings.push({ level: 'warn', msg: `Control rate ${control_rate} Hz — ensure STM32 UART can keep up.` }); + warnings.push({ level: 'warn', msg: `Control rate ${control_rate} Hz — ensure ESP32-S3 UART can keep up.` }); if (Math.abs(balance_setpoint_rad) > 0.05) warnings.push({ level: 'warn', msg: `Setpoint |${balance_setpoint_rad?.toFixed(3)}| rad > 3° — intentional lean?` }); return warnings; @@ -228,7 +228,7 @@ export function useSettings({ callService, subscribe } = {}) { const info = {}; for (const status of msg.status ?? []) { for (const kv of status.values ?? []) { - if (kv.key === 'stm32_fw_version') info.stm32Version = kv.value; + if (kv.key === 'stm32_fw_version') info.esp32Version = kv.value; if (kv.key === 'jetson_sw_version') info.jetsonVersion = kv.value; if (kv.key === 'last_ota_date') info.lastOtaDate = kv.value; if (kv.key === 'jetson_hostname') info.hostname = kv.value;