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feat(firmware): Add GY-BMI160 barometric pressure & ambient temperature to FC #672

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opened 2026-03-17 17:45:38 -04:00 by seb · 0 comments
seb commented 2026-03-17 17:45:38 -04:00
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Overview

Add BME280 support on the GY-BMI160 breakout board (same I2C bus, already wired to TX3/RX3 = I2C2/PB10-11).

Sensors

  • Ambient temperature (°C)
  • Barometric pressure (hPa) → altitude estimate
  • Humidity (if supported by BME280 variant)

ROS2 output

  • Publish at 1 Hz on /saltybot/barometer (sensor_msgs/FluidPressure + Temperature)

CAN telemetry (PRODUCTION — no USB in prod)

Mamba must broadcast BME280 data as CAN frames alongside IMU telemetry:

  • CAN frame: pressure (Pa, uint32), temperature (°C x100, int16), altitude (cm, int32)
  • Orin CAN bridge node reads and publishes to ROS2
  • Frame rate: 1 Hz

Notes

  • BME280 on I2C2 (PB10=SCL, PB11=SDA) — shares bus with TX3/RX3 pads
  • I2C1 (PB8/PB9=SCL/SDA) is used for CAN transceiver — do NOT use I2C1
  • Altitude feeds into slope compensation for balance PID (issue #674)
  • Must be included in the CAN telemetry frame design from issue #680
## Overview Add BME280 support on the GY-BMI160 breakout board (same I2C bus, already wired to TX3/RX3 = I2C2/PB10-11). ## Sensors - **Ambient temperature** (°C) - **Barometric pressure** (hPa) → altitude estimate - **Humidity** (if supported by BME280 variant) ## ROS2 output - Publish at 1 Hz on `/saltybot/barometer` (sensor_msgs/FluidPressure + Temperature) ## CAN telemetry (PRODUCTION — no USB in prod) Mamba must broadcast BME280 data as CAN frames alongside IMU telemetry: - CAN frame: pressure (Pa, uint32), temperature (°C x100, int16), altitude (cm, int32) - Orin CAN bridge node reads and publishes to ROS2 - Frame rate: 1 Hz ## Notes - BME280 on I2C2 (PB10=SCL, PB11=SDA) — shares bus with TX3/RX3 pads - I2C1 (PB8/PB9=SCL/SDA) is used for CAN transceiver — do NOT use I2C1 - Altitude feeds into slope compensation for balance PID (issue #674) - Must be included in the CAN telemetry frame design from issue #680
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#672
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