docs: Add SAUL-TEE system reference — ESP32-S3 architecture (Issue #695+)

2026-04-04 08:19:14 -04:00 · 2026-04-04 08:19:14 -04:00 · ea71cefff5
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+# SAUL-TEE System Reference — SaltyLab ESP32 Architecture
+*Source of truth for all hardware, pin, protocol, and CAN assignments.*
+*Generated 2026-04-04 from hal@Orin spec.*
+
+---
+
+## Overview
+
+| Board | Role | MCU | USB |
+|-------|------|-----|-----|
+| **ESP32-S3 BALANCE** | PID balance loop, CAN to VESCs, LCD UI | ESP32-S3 | CH343 USB-serial |
+| **ESP32-S3 IO** | RC input, motor drivers, sensors, LEDs, peripherals | ESP32-S3 | JTAG USB |
+
+**Robot form factor:** 4-wheel wagon — 870 × 510 × 550 mm, ~23 kg  
+**Power:** 36 V battery, DC-DC to 5 V / 12 V  
+**Orin connection:** CANable2 USB → CAN bus (same bus as VESCs)
+
+---
+
+## ESP32-S3 BALANCE
+
+### Board
+Waveshare ESP32-S3 Touch LCD 1.28 (GC9A01 round 240×240 LCD, CST816 touch, QMI8658 IMU)
+
+### Pin Assignments
+
+| Function | GPIO | Notes |
+|----------|------|-------|
+| **QMI8658 IMU** | | |
+| SPI SCK | IO39 | |
+| SPI MOSI | IO38 | |
+| SPI MISO | IO40 | |
+| IMU CS | IO41 | |
+| IMU INT1 | IO42 | data-ready interrupt |
+| **GC9A01 LCD** | | |
+| SPI (shared) | IO39/38 | same SPI bus |
+| LCD CS | IO12 | |
+| LCD DC | IO11 | |
+| LCD RST | IO10 | |
+| LCD BL | IO9 | PWM backlight |
+| **CST816 Touch** | | |
+| I2C SDA | IO4 | |
+| I2C SCL | IO5 | |
+| Touch INT | IO6 | |
+| Touch RST | IO7 | |
+| **CAN (SN65HVD230)** | | 500 kbps |
+| CAN TX | IO43 | to SN65HVD230 TXD |
+| CAN RX | IO44 | from SN65HVD230 RXD |
+| **Inter-board UART** | | 460800 baud |
+| UART TX → IO | IO17 | |
+| UART RX ← IO | IO18 | |
+
+### Software Responsibilities
+- Read QMI8658 @ 1 kHz (SPI)
+- Run PID balance loop (configurable Kp/Ki/Kd, target pitch)
+- Send VESC speed commands via CAN (IDs 68 left, 56 right)
+- Receive Orin velocity commands via CAN (0x300–0x303)
+- Receive IO board status (arming, RC, faults) via UART
+- Drive LCD status display (pitch, speed, battery, state)
+- Enforce tilt cutoff at ±25°, hardware watchdog 50 ms
+- Send telemetry CAN frames 0x400–0x401 at 10 Hz
+
+---
+
+## ESP32-S3 IO
+
+### Board
+Bare ESP32-S3 devkit (JTAG USB)
+
+### Pin Assignments
+
+| Function | GPIO | Notes |
+|----------|------|-------|
+| **TBS Crossfire RC** | | UART0, primary RC |
+| CRSF RX | IO44 | UART0 RX |
+| CRSF TX | IO43 | UART0 TX |
+| **ELRS RC failover** | | UART2 |
+| ELRS RX | IO16 | UART2 RX |
+| ELRS TX | IO17 | UART2 TX |
+| **BTS7960 Motor Drivers** | | 2× drivers (left/right) |
+| Left RPWM | IO1 | forward PWM |
+| Left LPWM | IO2 | reverse PWM |
+| Left R_EN | IO3 | enable |
+| Left L_EN | IO4 | enable |
+| Right RPWM | IO5 | forward PWM |
+| Right LPWM | IO6 | reverse PWM |
+| Right R_EN | IO7 | enable |
+| Right L_EN | IO8 | enable |
+| **I2C bus** | | sensors |
+| SDA | IO11 | |
+| SCL | IO12 | |
+| NFC reader | I2C | PN532 or similar |
+| Barometer | I2C | BMP280 / BMP388 |
+| ToF sensor | I2C | VL53L0X / VL53L1X |
+| **WS2812B LEDs** | | |
+| LED data | IO13 | |
+| **Outputs** | | |
+| Horn / buzzer | IO14 | PWM |
+| Headlight | IO15 | PWM or digital |
+| Fan | IO16 | (shared if ELRS not fitted) |
+| Arming button | IO9 | active-low, hold 3 s |
+| Kill switch in | IO10 | hardware estop sense |
+| **Inter-board UART** | | 460800 baud |
+| UART TX → BAL | IO18 | |
+| UART RX ← BAL | IO21 | |
+
+### Software Responsibilities
+- Parse CRSF frames (TBS Crossfire primary)
+- Parse ELRS frames (failover if CRSF absent)
+- Drive BTS7960 motor drivers (PWM + enable)
+- Read NFC, barometer, ToF via I2C
+- Drive WS2812B LEDs (status patterns)
+- Control horn, headlight, fan, buzzer
+- Manage arming sequence (hold button 3 s while upright)
+- Monitor hardware kill switch
+- Forward RC + sensor data to BALANCE board via UART
+- Report faults, RC loss, sensor health upstream
+
+---
+
+## Inter-Board Protocol (UART 460800 baud)
+
+```
+Frame: [0xAA][LEN][TYPE][PAYLOAD...][CRC8]
+  0xAA  — start byte
+  LEN   — payload length (1 byte)
+  TYPE  — message type (1 byte)
+  PAYLOAD — LEN bytes
+  CRC8  — CRC-8/MAXIM over TYPE+PAYLOAD
+```
+
+### Message Types (IO → BALANCE)
+
+| TYPE | Name | Payload |
+|------|------|---------|
+| 0x01 | RC_CMD | int16 throttle, int16 steer, uint8 flags (armed, kill) |
+| 0x02 | SENSOR | uint16 tof_mm, int16 baro_pa_delta, uint8 nfc_present |
+| 0x03 | FAULT | uint8 fault_flags (rc_loss, motor_fault, estop) |
+
+### Message Types (BALANCE → IO)
+
+| TYPE | Name | Payload |
+|------|------|---------|
+| 0x10 | STATE | int16 pitch_x100, int16 pid_out, uint8 error_state |
+| 0x11 | LED_CMD | uint8 pattern, uint8 r, uint8 g, uint8 b |
+| 0x12 | BUZZER | uint8 tone_hz, uint16 duration_ms |
+
+---
+
+## CAN Bus — 500 kbps
+
+### Node IDs
+
+| Node | CAN ID | Description |
+|------|--------|-------------|
+| VESC Left motor | 68 | Speed/duty commands via VESC protocol |
+| VESC Right motor | 56 | Speed/duty commands via VESC protocol |
+| ESP32 BALANCE | — | Initiates VESC commands; sends telemetry |
+| Jetson Orin | — | Via CANable2 USB adapter |
+
+### CAN Frame Assignments
+
+| ID | Direction | Description | Rate |
+|----|-----------|-------------|------|
+| 0x300 | Orin → BALANCE | Velocity cmd: int16 speed_mmps, int16 steer_mrad | 20 Hz |
+| 0x301 | Orin → BALANCE | PID override: float Kp, Ki, Kd (IEEE 754, 4B each) | on demand |
+| 0x302 | Orin → BALANCE | Mode: uint8 (0=off,1=balance,2=manual,3=estop) | on demand |
+| 0x303 | Orin → BALANCE | Config: uint16 tilt_limit_x100, uint16 max_speed | on demand |
+| 0x400 | BALANCE → Orin | Telemetry A: int16 pitch_x100, int16 pid_out, int16 speed_mmps, uint8 state | 10 Hz |
+| 0x401 | BALANCE → Orin | Telemetry B: int16 vesc_l_rpm, int16 vesc_r_rpm, uint16 battery_mv, uint8 faults | 10 Hz |
+
+---
+
+## RC Channel Mapping (CRSF / ELRS)
+
+| Channel | Function | Range | Notes |
+|---------|----------|-------|-------|
+| CH1 | Roll (steer) | 988–2012 µs | ±100% = ±max steer |
+| CH2 | Pitch (throttle) | 988–2012 µs | forward/back speed |
+| CH3 | Throttle | 988–2012 µs | unused / spare |
+| CH4 | Yaw | 988–2012 µs | unused |
+| CH5 | ARM switch | <1500=disarm, >1500=arm | SB on TX |
+| CH6 | ESTOP | <1500=normal, >1500=kill | SC on TX, always checked |
+| CH7 | Speed limit | 988–2012 µs | 10–100% speed cap |
+| CH8 | Spare | | |
+
+RC loss (CRSF failsafe or no frame >100 ms): immediate motor cutoff, fault 0x03.
+
+---
+
+## Safety Invariants (unchanged from STM32 era)
+
+1. Motors NEVER spin on power-on — 3 s arm hold required
+2. Tilt cutoff ±25° — immediate motor zero, manual re-arm
+3. Hardware watchdog 50 ms — firmware hang → motors cut
+4. RC ESTOP channel checked every loop iteration
+5. Orin CAN timeout 500 ms — revert to RC-only mode
+6. Speed hard cap in firmware — start at 10%, increase in 10% steps
+7. Never test untethered until stable for 5+ min tethered
+
+---
+
+## Serial Commands (USB debug, both boards)
+
+```
+help          — list commands
+status        — print state, pitch, PID, CAN stats
+pid <Kp> <Ki> <Kd>   — set PID gains
+arm           — arm (if upright)
+disarm        — disarm immediately
+estop         — emergency stop
+tilt_limit <deg>     — set tilt cutoff (default 25)
+speed_limit <pct>    — set speed cap (default 10)
+can_stats     — CAN bus stats (tx/rx/errors)
+reboot        — soft reboot
+```