098475a606
Merge pull request 'feat(imu): MPU6000 sensor fusion — complementary filter (bd-2dv)' ( #2 ) from sl-controls/bd-2dv-imu-fusion into main
2026-02-28 13:12:09 -05:00
398cbb9a55
feat(imu): MPU6000 sensor fusion with complementary filter
...
Add src/mpu6000.c implementing a complementary filter (α=0.98) on top of
the existing icm42688 SPI driver. Fixes wrong scale factors in balance.c
(was ±250°/s / ±2g; hardware is configured ±2000°/s / ±16g). Fusion now
lives in the IMU driver layer; balance_update() consumes IMUData directly.
- mpu6000_init(): calls icm42688_init(), seeds filter state
- mpu6000_read(): reads raw SPI, applies complementary filter, returns
fused pitch (degrees) + pitch_rate (°/s) + accel_x/z (g)
- balance.c: removes duplicated fusion code, uses IMUData.pitch
- main.c: switches to mpu6000_init()/mpu6000_read(), updates telemetry
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 13:09:18 -05:00
29a3030abb
Merge pull request 'feat: Jetson Nano platform setup (bd-1hcg)' ( #8 ) from sl-jetson/bd-1hcg-jetson-platform into main
2026-02-28 13:06:48 -05:00
ec54a9cb8f
Merge pull request 'feat: Parametric chassis frame design (bd-1iy5)' ( #7 ) from sl-mechanical/bd-1iy5-chassis-frame into main
2026-02-28 13:06:23 -05:00
6b92d7089e
Merge pull request 'bd-wax: SLAM setup technical plan — Jetson Nano + RealSense D435i + RPLIDAR' ( #1 ) from sl-perception/bd-wax-slam-setup into main
2026-02-28 13:06:19 -05:00
bfb94fc169
Merge pull request 'fix(usb): resolve USB CDC TX failure — DCache coherency + buffer + IMU API (bd-1lo)' ( #6 ) from sl-firmware/bd-1lo-usb-cdc-fix into main
2026-02-28 12:52:43 -05:00
c47ac41573
feat: Jetson Nano platform setup and Docker env (bd-1hcg)
...
- Dockerfile: L4T R32.6.1 (JetPack 4.6) base + ROS2 Humble + SLAM stack
(slam_toolbox, Nav2, rplidar_ros, realsense2_camera, robot_localization)
- docker-compose.yml: multi-service stack (ROS2, RPLIDAR A1M8, D435i, STM32 bridge)
with device passthrough, host networking for DDS, persistent map volume
- docs/pinout.md: full GPIO/I2C/UART pinout for STM32F722 bridge (USB CDC +
UART fallback), RealSense D435i (USB3), RPLIDAR A1M8, udev rules
- docs/power-budget.md: 10W envelope analysis with per-component breakdown,
mitigation strategies (RPLIDAR gating, D435i 640p, nvpmodel modes)
- scripts/setup-jetson.sh: host one-shot setup (Docker, nvidia-container-runtime,
udev rules, MAXN power mode, swap)
- scripts/build-and-run.sh: build/up/down/shell/slam/status helper
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 12:46:14 -05:00
cd9299ded8
feat: parametric chassis frame design (bd-1iy5)
...
OpenSCAD parametric model for SaltyBot two-wheeled self-balancing robot chassis:
- 600mm wheelbase, 170mm hoverboard hub motor fork dropouts
- MAMBA F722S FC mount (30.5x30.5mm M3 pattern, 6mm nylon standoffs)
- Battery tray for 24V 4Ah pack (185x72x52mm) with strap slots + vent holes
- Jetson Nano B01 mount plate (58x58mm M3 pattern, 8mm standoffs)
- Front/rear bumper brackets with 22mm EMT conduit saddle clamps
- Longitudinal ribs, lightening holes, cable routing slots
- BOM (32 line items) and step-by-step assembly notes
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 12:45:40 -05:00
0bfd617c44
fix(usb): resolve USB CDC TX failure caused by three independent bugs
...
Bug 1 (PRIMARY — DCache/USB coherency):
SCB_DisableDCache() was buried inside icm42688_init(), called ~3.5s
after USB starts. STM32F7 DCache/USB coherency issue: when DCache is
on (enabled by SystemInit()), CPU writes to TX buffers stay in cache
and the USB hardware reads stale SRAM data. Moved SCB_DisableDCache()
to main() before HAL_Init(), ensuring coherency for all USB transfers.
Bug 2 (USB TX corruption):
CDC_Transmit() passed the caller's stack-allocated buf pointer directly
to the USB stack. The USB TXFE interrupt fires asynchronously; by then
the stack buffer may have been modified by the next loop iteration.
CDC_Transmit() now copies into the static UserTxBuffer before handing
off to the USB hardware, ensuring the buffer is stable for the transfer.
Bug 3 (IMU type mismatch → wrong data to balance):
main.c called icm42688_init()/icm42688_read() directly, passing
icm42688_data_t* (raw int16 ax/ay/az/gx/gy/gz) to balance_update()
which expects IMUData* (float pitch/pitch_rate from complementary
filter). Type mismatch produced garbage balance values. Fixed by using
mpu6000_init()/mpu6000_read() which wraps icm42688 + sensor fusion.
Telemetry updated to report fused pitch/rate instead of raw ADC counts.
Also fix icm42688_init() returning 0 on who==0 (no SPI response),
which falsely indicated IMU success.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 12:37:24 -05:00
00d62a621e
bd-wax: add SLAM setup technical plan for Jetson Nano + D435i + RPLIDAR
...
Scopes Phase 2 perception/SLAM integration:
- RTAB-Map (primary) + ORB-SLAM3 (fallback) recommendation with rationale
- Docker/Humble strategy on JetPack 4.6 (avoids OS reflash)
- ROS2 node graph, static TF frame, sensor params for Nano power budget
- Phased milestones: 2a SLAM bring-up, 2b Nav2 integration (separate bead)
- Power budget analysis and mitigation steps for 10W Nano constraint
Closes: bd-wax (scoping only — implementation tracking in Phase 2a checklist)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-02-28 12:17:19 -05:00
Sebastien Vayrette
0afdaea2e1
Add USB CDC bug doc and team requirements
2026-02-28 11:59:53 -05:00
Sebastien Vayrette
ba3e1161b9
Balance firmware + USB CDC bug
2026-02-28 11:58:23 -05:00
