feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only
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 <noreply@anthropic.com>
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@ -7,7 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
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### Jetson Autonomous Arming
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- Command: `A\n` (single byte 'A' followed by newline)
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- Sent via USB CDC to the STM32 firmware
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- Sent via USB Serial (CH343) to the ESP32-S3 firmware
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- Robot arms after ARMING_HOLD_MS (~500ms) safety hold period
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- Works even when RC is not connected or not armed
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@ -42,7 +42,7 @@ The robot can now be armed and operated autonomously from the Jetson without req
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## Command Protocol
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### From Jetson to STM32 (USB CDC)
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### From Jetson to ESP32-S3 (USB Serial (CH343))
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```
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A — Request arm (triggers safety hold, then motors enable)
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D — Request disarm (immediate motor stop)
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@ -52,7 +52,7 @@ H — Heartbeat (refresh timeout timer, every 500ms)
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C<spd>,<str> — Drive command: speed, steer (also refreshes heartbeat)
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```
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### From STM32 to Jetson (USB CDC)
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### From ESP32-S3 to Jetson (USB Serial (CH343))
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Motor commands are gated by `bal.state == BALANCE_ARMED`:
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- When ARMED: Motor commands sent every 20ms (50 Hz)
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- When DISARMED: Zero sent every 20ms (prevents ESC timeout)
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12
CLAUDE.md
12
CLAUDE.md
@ -1,17 +1,17 @@
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# SaltyLab Firmware — Agent Playbook
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## Project
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Self-balancing two-wheeled robot: STM32F722 flight controller, hoverboard hub motors, Jetson Nano for AI/SLAM.
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Self-balancing two-wheeled robot: ESP32-S3 ESP32-S3 BALANCE, hoverboard hub motors, Jetson Orin Nano Super for AI/SLAM.
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## Team
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| Agent | Role | Focus |
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|-------|------|-------|
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| **sl-firmware** | Embedded Firmware Lead | STM32 HAL, USB CDC debugging, SPI/UART, PlatformIO, DFU bootloader |
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| **sl-firmware** | Embedded Firmware Lead | ESP-IDF, USB Serial (CH343) debugging, SPI/UART, PlatformIO, DFU bootloader |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Nano, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Orin Nano Super, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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## Status
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USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
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USB Serial (CH343) TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
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## Repo Structure
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- `projects/saltybot/SALTYLAB.md` — Design doc
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@ -29,11 +29,11 @@ USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG order
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| `saltyrover-dev` | Integration — rover variant |
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| `saltytank` | Stable — tracked tank variant |
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| `saltytank-dev` | Integration — tank variant |
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| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) |
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| `main` | Shared code only (IMU drivers, USB Serial (CH343), balance core, safety) |
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### Rules
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- Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
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- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main`
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- Shared/infrastructure code (IMU drivers, USB Serial (CH343), balance core, safety) goes in `main`
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- Variant-specific code (motor topology, kinematics, config) goes in variant branches
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- Stable branches get promoted from `-dev` after review and hardware testing
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- **Current SaltyLab team** works against `saltylab-dev`
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30
TEAM.md
30
TEAM.md
@ -1,12 +1,12 @@
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# SaltyLab — Ideal Team
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## Project
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Self-balancing two-wheeled robot using a drone flight controller (STM32F722), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM.
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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.
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## Current Status
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- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand
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- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug
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- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md`
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- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug
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- **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
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---
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@ -14,18 +14,18 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
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### 1. Embedded Firmware Engineer (Lead)
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**Must-have:**
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- Deep STM32 HAL experience (F7 series specifically)
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- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
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- SPI + UART + USB coexistence on STM32
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- PlatformIO or bare-metal STM32 toolchain
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- DFU bootloader implementation
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- Deep ESP-IDF experience (ESP32-S3 specifically)
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- USB Serial (CH343) / UART debugging on ESP32-S3
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- SPI + UART + USB coexistence on ESP32-S3
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- ESP-IDF / Arduino-ESP32 toolchain
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- OTA firmware update implementation
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**Nice-to-have:**
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- Betaflight/iNav/ArduPilot codebase familiarity
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- ESP32-S3 peripheral coexistence (SPI + UART + USB)
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- PID control loop tuning for balance robots
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- FOC motor control (hoverboard ESC protocol)
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**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.
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**Why:** The immediate blocker is a USB peripheral conflict 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.
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### 2. Control Systems / Robotics Engineer
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**Must-have:**
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@ -43,7 +43,7 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
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### 3. Perception / SLAM Engineer (Phase 2)
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**Must-have:**
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- Jetson Nano / NVIDIA Jetson platform
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- Jetson Orin Nano Super / NVIDIA Jetson platform
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- Intel RealSense D435i depth camera
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- RPLIDAR integration
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- SLAM (ORB-SLAM3, RTAB-Map, or similar)
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@ -54,19 +54,19 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
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- Obstacle avoidance
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- Nav2 stack
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**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
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**Why:** Phase 2 goal is autonomous navigation. Jetson Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.
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---
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## Hardware Reference
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| Component | Details |
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|-----------|---------|
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| FC | MAMBA F722S (STM32F722RET6, MPU6000) |
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| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
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| Motors | 2x 8" pneumatic hoverboard hub motors |
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| ESC | Hoverboard ESC (EFeru FOC firmware) |
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| Battery | 36V pack |
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| RC | BetaFPV ELRS 2.4GHz TX + RX |
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| AI Brain | Jetson Nano + Noctua fan |
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| AI Brain | Jetson Orin Nano Super + Noctua fan |
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| Depth | Intel RealSense D435i |
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| LIDAR | RPLIDAR A1M8 |
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| Spare IMUs | BNO055, MPU6050 |
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@ -74,4 +74,4 @@ Self-balancing two-wheeled robot using a drone flight controller (STM32F722), ho
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## Repo
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- Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
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- Design doc: `projects/saltybot/SALTYLAB.md`
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- Bug doc: `USB_CDC_BUG.md`
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- Bug doc: `legacy/stm32/USB_CDC_BUG.md` (archived — STM32 era)
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@ -60,7 +60,7 @@ color("Purple", 0.9)
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translate([0, 0, h_fc])
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cube([36, 36, 5], center=true);
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// Jetson Nano
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// Jetson Orin Nano Super
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color("LimeGreen", 0.7)
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translate([0, 0, h_jetson])
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cube([100, 80, 29], center=true);
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@ -20,7 +20,7 @@ fc_hole_dia = 3.2; // M3 clearance
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fc_board_size = 36; // Typical FC PCB
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fc_standoff_h = 5; // Rubber standoff height
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// --- Jetson Nano ---
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// --- Jetson Orin Nano Super ---
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jetson_w = 100;
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jetson_d = 80;
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jetson_h = 29; // With heatsink
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@ -1,7 +1,7 @@
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// ============================================
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// SaltyLab — Jetson Nano Shelf
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// SaltyLab — Jetson Orin Nano Super Shelf
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// 120×100×15mm PETG
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// Mounts Jetson Nano to 2020 extrusion
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// Mounts Jetson Orin Nano Super to 2020 extrusion
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// ============================================
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include <dimensions.scad>
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@ -56,15 +56,15 @@
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3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m.
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4. Insert battery pack; route Velcro straps through slots and cinch.
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### 7 FC mount (MAMBA F722S)
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### 7 FC mount (ESP32-S3 BALANCE)
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1. Place silicone anti-vibration grommets onto nylon M3 standoffs.
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2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque.
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3. Orient USB-C port toward front of robot for cable access.
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### 8 Jetson Nano mount plate
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### 8 Jetson Orin Nano Super mount plate
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1. Press or thread M3 nylon standoffs (8mm) into plate holes.
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2. Bolt plate to deck: 4× M3×10 SHCS at deck corners.
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3. Set Jetson Nano B01 carrier onto plate standoffs; fasten M3×6 BHCS.
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3. Set Jetson Orin Nano Super B01 carrier onto plate standoffs; fasten M3×6 BHCS.
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### 9 Bumper brackets
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1. Slide 22mm EMT conduit through saddle clamp openings.
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@ -41,7 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
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| 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` |
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| 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` |
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| 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative |
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| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | MAMBA F722S vibration isolation |
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| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | ESP32-S3 BALANCE vibration isolation |
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| 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment |
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### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B
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@ -70,7 +70,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
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| 10 | Motor fork bracket (R) | 1 | 8mm 6061 aluminium | Mirror of item 9 |
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| 11 | Battery tray | 1 | 3mm PETG FDM or 3mm aluminium fold | `chassis_frame.scad` — `battery_tray()` module |
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| 12 | FC mount plate / standoffs | 1 set | PETG or nylon FDM | Includes 4× M3 nylon standoffs, 6mm height |
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| 13 | Jetson Nano mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
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| 13 | Jetson Orin Nano Super mount plate | 1 | 4mm 5052 aluminium or 4mm PETG FDM | B01 58×58mm hole pattern |
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| 14 | Front bumper bracket | 1 | 5mm PETG FDM | Saddle clamps for 22mm EMT conduit |
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| 15 | Rear bumper bracket | 1 | 5mm PETG FDM | Mirror of item 14 |
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@ -90,10 +90,10 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th
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| # | Part | Qty | Spec | Notes |
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|---|------|-----|------|-------|
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| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
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| 13 | ESP32-S3 ESP32-S3 BALANCE FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front |
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| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation |
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| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads |
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| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
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| 16 | Jetson Orin Nano Super B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern |
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| 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs |
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---
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@ -8,9 +8,9 @@
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// Requirements:
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// - 600mm wheelbase
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// - 2x hoverboard hub motors (170mm OD)
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// - STM32 MAMBA F722S FC mount (30.5x30.5mm pattern)
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// - ESP32-S3 ESP32-S3 BALANCE FC mount (30.5x30.5mm pattern)
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// - Battery tray (24V 4Ah — ~180x70x50mm pack)
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// - Jetson Nano B01 mount plate (100x80mm, M3 holes)
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// - Jetson Orin Nano Super B01 mount plate (100x80mm, M3 holes)
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// - Front/rear bumper brackets
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// =============================================================================
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@ -37,7 +37,7 @@ MOTOR_FORK_H = 80; // mm, total height of motor fork bracket
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MOTOR_FORK_T = 8; // mm, fork plate thickness
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AXLE_HEIGHT = 310; // mm, axle CL above ground (motor radius + clearance)
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// ── FC mount (MAMBA F722S — 30.5 × 30.5 mm M3 pattern) ──────────────────────
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// ── FC mount (ESP32-S3 BALANCE — 30.5 × 30.5 mm M3 pattern) ──────────────────────
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FC_MOUNT_SPACING = 30.5; // mm, hole pattern pitch
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FC_MOUNT_HOLE_D = 3.2; // mm, M3 clearance
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FC_STANDOFF_H = 6; // mm, standoff height
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@ -52,7 +52,7 @@ BATT_FLOOR = 4; // mm, tray floor thickness
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BATT_STRAP_W = 20; // mm, Velcro strap slot width
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BATT_STRAP_T = 2; // mm, strap slot depth
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// ── Jetson Nano B01 mount plate ──────────────────────────────────────────────
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// ── Jetson Orin Nano Super B01 mount plate ──────────────────────────────────────────────
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// B01 carrier board hole pattern: 58 x 58 mm M3 (inner) + corner pass-throughs
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JETSON_HOLE_PITCH = 58; // mm, M3 mounting hole pattern
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JETSON_HOLE_D = 3.2; // mm
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@ -210,7 +210,7 @@ module battery_tray() {
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// ─── FC mount holes helper ────────────────────────────────────────────────────
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module fc_mount_holes(z_offset=0, depth=10) {
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// MAMBA F722S: 30.5×30.5 mm M3 pattern, centred at origin
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// ESP32-S3 BALANCE: 30.5×30.5 mm M3 pattern, centred at origin
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for (x = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
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for (y = [-FC_MOUNT_SPACING/2, FC_MOUNT_SPACING/2])
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translate([x, y, z_offset])
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@ -247,7 +247,7 @@ module fc_mount_plate() {
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}
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}
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// ─── Jetson Nano B01 mount plate ─────────────────────────────────────────────
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// ─── Jetson Orin Nano Super B01 mount plate ─────────────────────────────────────────────
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// Positioned rear of deck, elevated on standoffs
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module jetson_mount_plate() {
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jet_x = 60; // offset toward rear
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@ -104,7 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio
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| Component | Thermal strategy | Max junction | Enclosure budget |
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|-----------|-----------------|-------------|-----------------|
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| Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case |
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| FC (MAMBA F722S) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
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| FC (ESP32-S3 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK |
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| ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C |
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| D435i | Passive; housing vent gap on rear cap | 45 °C surface | — |
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@ -65,7 +65,7 @@ CLAMP_ALIGN_D = 4.1; // Ø4 pin
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// D-cut bore clearance
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DCUT_CL = 0.3;
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// FC mount — MAMBA F722S 30.5 × 30.5 mm M3
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// FC mount — ESP32-S3 BALANCE 30.5 × 30.5 mm M3
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FC_PITCH = 30.5;
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FC_HOLE_D = 3.2;
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// FC is offset toward front of plate (away from stem)
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@ -202,7 +202,7 @@ module base_plate() {
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translate([STEM_FLANGE_BC/2, 0, -1])
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cylinder(d=M5, h=PLATE_THICK + 2);
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// ── FC mount (MAMBA F722S 30.5 × 30.5 M3) ────────────────────────
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// ── FC mount (ESP32-S3 BALANCE 30.5 × 30.5 M3) ────────────────────────
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for (x = [FC_X_OFFSET - FC_PITCH/2, FC_X_OFFSET + FC_PITCH/2])
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for (y = [-FC_PITCH/2, FC_PITCH/2])
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translate([x, y, -1])
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@ -11,7 +11,7 @@
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// • Ventilation slots — all 4 walls + lid
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//
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// Shared mounting patterns (swappable with SaltyLab):
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// FC : 30.5 × 30.5 mm M3 (MAMBA F722S / Pixhawk)
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// FC : 30.5 × 30.5 mm M3 (ESP32-S3 BALANCE / Pixhawk)
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// Jetson: 58 × 49 mm M3 (Orin NX / Nano Devkit carrier)
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//
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// Coordinate: bay centred at origin; Z=0 = deck top face.
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@ -17,7 +17,7 @@
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// • Weight target: <2 kg frame (excl. motors/electronics)
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//
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// Shared SaltyLab patterns (swappable electronics):
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// FC : 30.5 × 30.5 mm M3 (MAMBA F722S / Pixhawk)
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// 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;
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
189
docs/SALTYLAB.md
189
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)
|
||||
|
||||
@ -113,7 +113,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
|
||||
</head>
|
||||
<body>
|
||||
<h1>🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout</h1>
|
||||
<p class="subtitle">STM32F722RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
|
||||
<p class="subtitle">ESP32-S3RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO</p>
|
||||
|
||||
<div class="container">
|
||||
<div class="board-wrap">
|
||||
@ -125,7 +125,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
|
||||
<div class="mount br"></div>
|
||||
|
||||
<!-- MCU -->
|
||||
<div class="mcu"><div class="dot"></div>STM32<br>F722RET6<br>216MHz</div>
|
||||
<div class="mcu"><div class="dot"></div>ESP32-S3<br>F722RET6<br>216MHz</div>
|
||||
|
||||
<!-- IMU -->
|
||||
<div class="imu">ICM<br>42688</div>
|
||||
@ -206,7 +206,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
|
||||
<h2>🔌 UART Assignments</h2>
|
||||
<div class="legend-item">
|
||||
<div class="swatch" style="background:#2196F3"></div>
|
||||
<span><b>USART1</b> T1/R1 → Jetson Nano</span>
|
||||
<span><b>USART1</b> T1/R1 → Jetson Orin Nano Super</span>
|
||||
</div>
|
||||
<div class="legend-item">
|
||||
<div class="swatch" style="background:#FF9800"></div>
|
||||
|
||||
@ -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
|
||||
│ │
|
||||
▼ ▼
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
@ -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:
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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<spd>,<str>\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<spd>,<str>\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", \
|
||||
|
||||
@ -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)
|
||||
```
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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,
|
||||
@ -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
|
||||
|
||||
@ -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)"),
|
||||
|
||||
@ -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)"),
|
||||
|
||||
@ -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=[
|
||||
@ -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:
|
||||
|
||||
@ -4,9 +4,9 @@
|
||||
<name>saltybot_bridge</name>
|
||||
<version>0.1.0</version>
|
||||
<description>
|
||||
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.
|
||||
|
||||
@ -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()
|
||||
|
||||
@ -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<speed>,<steer>\\n / H\\n — same as saltybot_cmd_node):
|
||||
C<spd>,<str>\\n — drive command. speed/steer: -1000..+1000 integers.
|
||||
H\\n — heartbeat. STM32 reverts steer to 0 after 500ms silence.
|
||||
H\\n — heartbeat. ESP32-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 ─────────────────────────────────────────────────────────────
|
||||
|
||||
|
||||
@ -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:
|
||||
@ -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.
|
||||
@ -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)
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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<speed>,<steer>\\n → STM32
|
||||
Heartbeat timer (200ms) → H\\n → STM32
|
||||
/cmd_vel (geometry_msgs/Twist) → C<speed>,<steer>\\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<spd>,<str>\\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 ─────────────────────────────────────────────────────────────
|
||||
|
||||
@ -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":<pitch×10>,"r":<roll×10>,"e":<err×10>,"ig":<integral×10>,
|
||||
@ -29,7 +29,7 @@ from sensor_msgs.msg import Imu
|
||||
from std_msgs.msg import String
|
||||
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
|
||||
|
||||
# Balance state labels matching STM32 balance_state_t enum
|
||||
# Balance state labels matching ESP32-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()
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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
|
||||
"""
|
||||
|
||||
@ -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)
|
||||
@ -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,
|
||||
@ -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
|
||||
"""
|
||||
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
<package format="3">
|
||||
<name>saltybot_bridge_msgs</name>
|
||||
<version>0.1.0</version>
|
||||
<description>STM32 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184)</description>
|
||||
<description>ESP32-S3 bridge message definitions — wheel encoder ticks and low-level hardware telemetry (Issue #184)</description>
|
||||
<maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
|
||||
@ -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:
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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:
|
||||
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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.
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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()
|
||||
|
||||
@ -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 @@
|
||||
<child link="right_wheel_link" />
|
||||
</joint>
|
||||
|
||||
<!-- IMU Link (STM32 FC BNO055, mounted on main board) -->
|
||||
<!-- IMU Link (ESP32-S3 FC BNO055, mounted on main board) -->
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.01" />
|
||||
|
||||
@ -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
|
||||
@ -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,
|
||||
|
||||
@ -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={
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -17,7 +17,7 @@
|
||||
<maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
<!-- Runtime dependency on saltybot_can_bridge for mamba_protocol -->
|
||||
<!-- Runtime dependency on saltybot_can_bridge for balance_protocol -->
|
||||
<exec_depend>saltybot_can_bridge</exec_depend>
|
||||
|
||||
<buildtool_depend>ament_python</buildtool_depend>
|
||||
|
||||
@ -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))
|
||||
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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,
|
||||
)
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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,
|
||||
)
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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):
|
||||
|
||||
@ -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
|
||||
|
||||
@ -172,7 +172,7 @@
|
||||
<xacro:wheel name="wheel_right_link" side="-1"/>
|
||||
|
||||
<!-- ═══════════════════════════════════════════════════════════════════
|
||||
imu_link — MPU-6000 on MAMBA F722S flight controller
|
||||
imu_link — MPU-6000 on ESP32-S3 BALANCE ESP32-S3 BALANCE
|
||||
fc_x = -50mm SCAD = +x ROS; z = pad + standoff above deck = 12mm
|
||||
═══════════════════════════════════════════════════════════════════ -->
|
||||
<link name="imu_link"/>
|
||||
|
||||
@ -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
|
||||
|
||||
@ -6,7 +6,7 @@ startup_checks:
|
||||
- realsense
|
||||
- vesc
|
||||
- jabra_microphone
|
||||
- stm32_bridge
|
||||
- esp32_bridge
|
||||
- servos
|
||||
- wifi
|
||||
- gps
|
||||
|
||||
@ -138,7 +138,7 @@ class DiagnosticsNode(Node):
|
||||
self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {})
|
||||
|
||||
def _check_stm32(self):
|
||||
self.hardware_checks["stm32"] = ("OK", "STM32 bridge online", {})
|
||||
self.hardware_checks["stm32"] = ("OK", "ESP32-S3 bridge online", {})
|
||||
|
||||
def _check_servos(self):
|
||||
try:
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
# ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2
|
||||
#
|
||||
# IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46)
|
||||
# applies the ESC ramp, deadman switch, and STM32 AUTONOMOUS mode gate.
|
||||
# applies the ESC ramp, deadman switch, and ESP32-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
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
|
||||
@ -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",
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
<name>saltybot_gimbal</name>
|
||||
<version>1.0.0</version>
|
||||
<description>
|
||||
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.
|
||||
</description>
|
||||
|
||||
@ -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:
|
||||
|
||||
@ -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))
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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.
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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.
|
||||
|
||||
<slam_fix_topic> (geometry_msgs/PoseWithCovarianceStamped)
|
||||
Any message received within slam_fix_timeout_s → SLAM fix valid.
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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 ──────────────────────
|
||||
|
||||
@ -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'),
|
||||
|
||||
@ -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(
|
||||
|
||||
@ -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:
|
||||
|
||||
@ -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:
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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:
|
||||
|
||||
@ -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):
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
x
Reference in New Issue
Block a user