From 30b0f245e1f411e53a2e4fa30211e1c83c113b57 Mon Sep 17 00:00:00 2001 From: sl-firmware Date: Fri, 3 Apr 2026 22:58:06 -0400 Subject: [PATCH 1/5] docs: retire Mamba F722S/BlackPill, adopt ESP32 BALANCE + ESP32 IO architecture MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Effective 2026-04-03: STM32F722 flight controller no longer used. New architecture: - ESP32 BALANCE: PID balance loop - ESP32 IO: motors, sensors, comms Updated: CLAUDE.md, TEAM.md, docs/AGENTS.md, docs/SALTYLAB.md Legacy src/ STM32 firmware is archived — not extended. Source code migration pending ESP32 hardware spec from max. Co-Authored-By: Claude Sonnet 4.6 --- CLAUDE.md | 11 ++++++++--- TEAM.md | 11 +++++++---- docs/AGENTS.md | 25 ++++++++++++++++++++----- docs/SALTYLAB.md | 11 +++++++++-- 4 files changed, 44 insertions(+), 14 deletions(-) diff --git a/CLAUDE.md b/CLAUDE.md index e390876..145ffaa 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -1,14 +1,19 @@ # SaltyLab Firmware — Agent Playbook ## Project -Self-balancing two-wheeled robot: STM32F722 flight controller, hoverboard hub motors, Jetson Nano for AI/SLAM. +Self-balancing two-wheeled robot: **two ESP32 boards** (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM. + +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) and BlackPill are NO LONGER USED. +> Replaced by: **ESP32 BALANCE** (PID loop) + **ESP32 IO** (motors/sensors/comms). +> The `src/` and `include/` STM32 firmware is legacy/archived — do not extend it. +> New firmware goes in `esp32/` — pin assignments and framework details TBD pending max. ## Team | Agent | Role | Focus | |-------|------|-------| -| **sl-firmware** | Embedded Firmware Lead | STM32 HAL, USB CDC debugging, SPI/UART, PlatformIO, DFU bootloader | +| **sl-firmware** | Embedded Firmware Lead | ESP32 firmware, balance loop, I/O drivers, PlatformIO | | **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems | -| **sl-perception** | Perception / SLAM Engineer | Jetson Nano, RealSense D435i, RPLIDAR, ROS2, Nav2 | +| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 | ## Status USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix). diff --git a/TEAM.md b/TEAM.md index daafce0..2f59fcf 100644 --- a/TEAM.md +++ b/TEAM.md @@ -1,12 +1,15 @@ # SaltyLab — Ideal Team ## Project -Self-balancing two-wheeled robot using a drone flight controller (STM32F722), hoverboard hub motors, and eventually a Jetson Nano for AI/SLAM. +Self-balancing two-wheeled robot using **two ESP32 boards** (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM. + +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) and BlackPill retired. +> Replaced by ESP32 BALANCE (PID loop) + ESP32 IO (motors/sensors/comms). ## Current Status -- **Hardware:** Assembled — FC, motors, ESC, IMU, battery, RC all on hand -- **Firmware:** Balance PID + hoverboard ESC protocol written, but blocked by USB CDC bug -- **Blocker:** USB CDC TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB OTG FS — see `USB_CDC_BUG.md` +- **Hardware:** ESP32 BALANCE + ESP32 IO replacing STM32 FC — details from max incoming +- **Firmware:** ESP32 firmware TBD; legacy STM32 code in `src/` is archived +- **STM32 blocker (resolved/irrelevant):** USB CDC bug was STM32-specific — no longer applies --- diff --git a/docs/AGENTS.md b/docs/AGENTS.md index f3ac992..55b6fa0 100644 --- a/docs/AGENTS.md +++ b/docs/AGENTS.md @@ -2,19 +2,34 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read this entire file before touching anything. +## ⚠️ ARCHITECTURE CHANGE — 2026-04-03 + +**Mamba F722S (STM32F722) and BlackPill are NO LONGER USED.** + +New hardware: +- **ESP32 BALANCE** — PID balance loop (replaces FC) +- **ESP32 IO** — motors, sensors, comms + +The `src/` and `include/` STM32 HAL firmware is **legacy/archived**. Do not extend it. +All new firmware targets the ESP32 boards in `esp32/`. Pin assignments and framework TBD — await details from max. + ## 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 BALANCE** — PID balance loop. IMU + balance PID, safety-critical layer. +2. **ESP32 IO** — motors, sensors, comms layer. +3. **Jetson Orin** — AI brain. ROS2, SLAM, person tracking. Not safety-critical. ``` -Jetson (speed+steer via UART1) ←→ ELRS RC (UART3, kill switch) +Jetson (speed+steer) ←→ ELRS RC (kill switch) │ ▼ - MAMBA F722S (MPU6000 IMU, PID balance) + ESP32 BALANCE (IMU, PID balance loop) │ - ▼ UART2 + ▼ + ESP32 IO (motor drivers, sensors, comms) + │ + ▼ Hoverboard ESC (FOC) → 2× 8" hub motors ``` diff --git a/docs/SALTYLAB.md b/docs/SALTYLAB.md index 49bc664..d230870 100644 --- a/docs/SALTYLAB.md +++ b/docs/SALTYLAB.md @@ -2,6 +2,11 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments. +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) and BlackPill are retired. +> New compute stack: **ESP32 BALANCE** (PID loop) + **ESP32 IO** (motors/sensors/comms). +> Sections below referencing the Drone FC / STM32F722 / GEPRC GEP-F7 are historical. +> Await updated spec from max before writing new firmware. + ## ⚠️ SAFETY — TOP PRIORITY **This robot can cause serious injury.** 8" hub motors with 36V power can crush toes, break fingers, and launch the frame if control is lost. Every design decision must prioritize safety. @@ -32,8 +37,10 @@ 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 (STM32F745 + MPU-6000)~~ | ❌ RETIRED — replaced by ESP32 BALANCE | +| 1x ESP32 BALANCE (PID loop) | ⬜ TBD — spec from max | +| 1x ESP32 IO (motors/sensors/comms) | ⬜ TBD — spec from max | +| 1x Jetson Orin + Noctua fan | ✅ Have | | 1x RealSense D435i | ✅ Have | | 1x RPLIDAR A1M8 | ✅ Have | | 1x battery pack (36V) | ✅ Have | -- 2.47.2 From 5e97676703bb5891494521aacf303cd5ab884baf Mon Sep 17 00:00:00 2001 From: sl-mechanical Date: Fri, 3 Apr 2026 23:00:01 -0400 Subject: [PATCH 2/5] docs: Update chassis docs for ESP32 architecture (retire Mamba F722S) Replace Mamba F722S / STM32F722 references in BOM.md and ASSEMBLY.md with ESP32 BALANCE + ESP32 IO. Board dimensions marked TBD pending spec from max. Co-Authored-By: Claude Sonnet 4.6 --- chassis/ASSEMBLY.md | 14 ++++++++++---- chassis/BOM.md | 18 +++++++++++------- 2 files changed, 21 insertions(+), 11 deletions(-) diff --git a/chassis/ASSEMBLY.md b/chassis/ASSEMBLY.md index e7f10bc..f7b44cc 100644 --- a/chassis/ASSEMBLY.md +++ b/chassis/ASSEMBLY.md @@ -56,10 +56,15 @@ 3. Fasten 4× M4×12 SHCS. Torque 2.5 N·m. 4. Insert battery pack; route Velcro straps through slots and cinch. -### 7 FC mount (MAMBA F722S) +### 7 MCU mount (ESP32 BALANCE + ESP32 IO) + +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S retired. Two ESP32 boards replace it. +> Board dimensions and hole patterns TBD — await spec from max before machining mount plate. + 1. Place silicone anti-vibration grommets onto nylon M3 standoffs. -2. Lower FC onto standoffs; secure with M3×6 BHCS. Snug only — do not over-torque. -3. Orient USB-C port toward front of robot for cable access. +2. Lower ESP32 BALANCE board onto standoffs; secure with M3×6 BHCS. Snug only. +3. Mount ESP32 IO board adjacent — exact placement TBD pending board dimensions. +4. Orient USB connectors toward front of robot for cable access. ### 8 Jetson Nano mount plate 1. Press or thread M3 nylon standoffs (8mm) into plate holes. @@ -86,7 +91,8 @@ | Wheelbase (axle C/L to C/L) | 600 mm | ±1 mm | | Motor fork slot width | 24 mm | +0.5 / 0 | | Motor fork dropout depth | 60 mm | ±0.5 mm | -| FC hole pattern | 30.5 × 30.5 mm | ±0.2 mm | +| ESP32 BALANCE hole pattern | TBD — await spec from max | ±0.2 mm | +| ESP32 IO hole pattern | TBD — await spec from max | ±0.2 mm | | Jetson hole pattern | 58 × 58 mm | ±0.2 mm | | Battery tray inner | 185 × 72 × 52 mm | +2 / 0 mm | diff --git a/chassis/BOM.md b/chassis/BOM.md index 0a92d8f..c86e3bd 100644 --- a/chassis/BOM.md +++ b/chassis/BOM.md @@ -41,7 +41,7 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th | 3 | Dropout clamp — upper | 2 | 8mm 6061-T6 Al | 90×70mm blank | D-cut bore; `RENDER="clamp_upper_2d"` | | 4 | Stem flange ring | 2 | 6mm Al or acrylic | Ø82mm disc | One above + one below plate; `RENDER="stem_flange_2d"` | | 5 | Vertical stem tube | 1 | 38.1mm OD × 1.5mm wall 6061-T6 Al | 1050mm length | 1.5" EMT conduit is a drop-in alternative | -| 6 | FC standoff M3×6mm nylon | 4 | Nylon | — | MAMBA F722S vibration isolation | +| 6 | MCU standoff M3×6mm nylon | 4 | Nylon | — | ESP32 BALANCE / IO board isolation (dimensions TBD) | | 7 | Ø4mm × 16mm alignment pin | 8 | Steel dowel | — | Dropout clamp-to-plate alignment | ### Battery Stem Clamp (`stem_battery_clamp.scad`) — Part B @@ -88,12 +88,16 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th ## Electronics Mounts +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) is retired. +> Replaced by **ESP32 BALANCE** + **ESP32 IO**. Board dimensions and hole patterns TBD — await spec from max. + | # | Part | Qty | Spec | Notes | |---|------|-----|------|-------| -| 13 | STM32 MAMBA F722S FC | 1 | 36×36mm PCB, 30.5×30.5mm M3 mount | Oriented USB-C port toward front | -| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | FC vibration isolation | -| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under FC mount pads | -| 16 | Jetson Nano B01 module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | +| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces Mamba F722S | +| 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O | +| 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation | +| 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads | +| 16 | Jetson Orin module | 1 | 69.6×45mm module + carrier | 58×58mm M3 carrier hole pattern | | 17 | Nylon M3 standoff 8mm | 4 | F/F nylon | Jetson board standoffs | --- @@ -144,8 +148,8 @@ Slide entire carousel up/down the stem with M6 collar bolts loosened. Tighten at | 26 | M6×60 SHCS | 4 | ISO 4762, SS | Collar clamping bolts | | 27 | M6 hex nut | 4 | ISO 4032, SS | Captured in collar pockets | | 28 | M6×12 set screw | 2 | ISO 4026, SS cup-point | Stem height lock (1 per collar half) | -| 29 | M3×10 SHCS | 12 | ISO 4762, SS | FC mount + miscellaneous | -| 30 | M3×6 BHCS | 4 | ISO 4762, SS | FC board bolts | +| 29 | M3×10 SHCS | 12 | ISO 4762, SS | ESP32 mount + miscellaneous | +| 30 | M3×6 BHCS | 4 | ISO 4762, SS | ESP32 board bolts (qty TBD pending board spec) | | 31 | Axle lock nut (match axle tip thread) | 4 | Flanged, confirm thread | 2 per motor | | 32 | Flat washer M5 | 32 | SS | | | 33 | Flat washer M4 | 32 | SS | | -- 2.47.2 From f71dad5344a31f46182fe3fd3183fd9ce396e80b Mon Sep 17 00:00:00 2001 From: sl-webui Date: Fri, 3 Apr 2026 23:09:10 -0400 Subject: [PATCH 3/5] feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms). - Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget, wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose - Update all ROS2 package comments, config labels, launch args (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge) - Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version, "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel) - Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py binary frame layouts — pending ESP32 protocol spec from max - Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble rosbridge "Received a message without an op" incompatibility) Co-Authored-By: Claude Sonnet 4.6 --- AUTONOMOUS_ARMING.md | 6 +-- CLAUDE.md | 4 +- TEAM.md | 14 +++---- USB_CDC_BUG.md | 2 +- chassis/ASSEMBLY.md | 2 +- chassis/BOM.md | 4 +- chassis/ip54_BOM.md | 2 +- docs/AGENTS.md | 14 +++---- docs/FACE_LCD_ANIMATION.md | 4 +- docs/SALTYLAB.md | 20 +++++----- docs/board-viz.html | 8 ++-- docs/wiring-diagram.md | 14 +++---- jetson/README.md | 4 +- jetson/config/RECOVERY_BEHAVIORS.md | 2 +- jetson/config/nav2_params.yaml | 2 +- jetson/docker-compose.yml | 24 ++++++------ jetson/docs/pinout.md | 38 +++++++++---------- jetson/docs/power-budget.md | 4 +- .../saltybot_bridge/config/bridge_params.yaml | 4 +- .../config/cmd_vel_bridge_params.yaml | 8 ++-- .../saltybot_bridge/config/estop_params.yaml | 2 +- .../config/stm32_cmd_params.yaml | 6 +-- .../saltybot_bridge/launch/bridge.launch.py | 6 +-- .../launch/cmd_vel_bridge.launch.py | 8 ++-- .../launch/stm32_cmd.launch.py | 2 +- .../launch/uart_bridge.launch.py | 4 +- .../saltybot_bridge/battery_node.py | 4 +- .../saltybot_bridge/cmd_vel_bridge_node.py | 26 ++++++------- .../saltybot_bridge/remote_estop_node.py | 8 ++-- .../saltybot_bridge/saltybot_can_node.py | 2 +- .../saltybot_bridge/saltybot_cmd_node.py | 22 +++++------ .../saltybot_bridge/serial_bridge_node.py | 18 ++++----- .../saltybot_bridge/stm32_cmd_node.py | 10 ++--- .../saltybot_bridge/stm32_protocol.py | 16 +++++--- jetson/ros2_ws/src/saltybot_bridge/setup.py | 4 +- .../src/saltybot_bridge/test/test_cmd.py | 2 +- .../test/test_cmd_vel_bridge.py | 4 +- .../src/saltybot_bridge/test/test_parse.py | 2 +- .../saltybot_bringup/config/nav2_params.yaml | 2 +- .../config/saltybot_params.yaml | 4 +- .../launch/full_stack.launch.py | 38 +++++++++---------- .../launch/saltybot_bringup.launch.py | 30 +++++++-------- .../saltybot_bringup/_wheel_odom.py | 2 +- .../saltybot_bringup/launch_profiles.py | 10 ++--- .../saltybot_bringup/wheel_odom_node.py | 2 +- .../test/README_INTEGRATION_TESTS.md | 6 +-- .../test/test_launch_orchestrator.py | 8 ++-- .../saltybot_can_bridge/__init__.py | 2 +- .../saltybot_can_bridge/can_bridge_node.py | 18 ++++----- .../saltybot_can_bridge/mamba_protocol.py | 13 ++++--- .../ros2_ws/src/saltybot_can_bridge/setup.py | 2 +- .../saltybot_can_e2e_test/protocol_defs.py | 18 ++++----- .../src/saltybot_can_e2e_test/setup.py | 2 +- .../test/test_drive_command.py | 6 +-- .../test/test_fc_vesc_broadcast.py | 2 +- .../test/test_heartbeat_timeout.py | 2 +- .../config/saltybot_properties.yaml | 2 +- .../src/saltybot_diagnostics/README.md | 2 +- .../config/diagnostic_checks.yaml | 2 +- .../saltybot_diagnostics/diagnostics_node.py | 2 +- .../config/person_follower_params.yaml | 4 +- .../saltybot_follower/person_follower_node.py | 2 +- .../saltybot_gimbal/config/gimbal_params.yaml | 2 +- .../saltybot_gimbal/launch/gimbal.launch.py | 2 +- .../saltybot_gimbal/gimbal_node.py | 2 +- .../saltybot_gimbal/jlink_gimbal.py | 10 ++--- .../config/mode_switch_params.yaml | 2 +- .../saltybot_mode_switch/cmd_vel_mux_node.py | 2 +- .../saltybot_mode_switch/mode_logic.py | 4 +- .../saltybot_mode_switch/mode_switch_node.py | 6 +-- .../config/vesc_odometry_params.yaml | 4 +- .../saltybot_outdoor/config/ekf_outdoor.yaml | 2 +- .../param_server_node.py | 4 +- .../pid_autotune_node.py | 2 +- .../saltybot_routes/config/route_params.yaml | 2 +- .../launch/route_system.launch.py | 2 +- .../rover_driver_node.py | 2 +- .../config/safety_zone_params.yaml | 4 +- .../config/speed_profiles.yaml | 6 +-- .../launch/outdoor_speed.launch.py | 2 +- .../saltybot_tank_driver/tank_driver_node.py | 2 +- .../test/test_audio_monitoring.py | 4 +- .../config/vesc_telemetry_params.yaml | 2 +- platformio.ini | 2 +- projects/saltybot/SLAM-SETUP-PLAN.md | 4 +- scripts/flash_firmware.py | 16 ++++---- test/test_bno055_data.py | 2 +- test/test_jlink_frames.py | 2 +- test/test_ota.py | 8 ++-- test/test_power_mgmt.py | 6 +-- ui/can_monitor_panel.html | 2 +- ui/diagnostics_panel.html | 4 +- ui/event_log_panel.html | 2 +- ui/gamepad_panel.html | 2 +- ui/gimbal_panel.html | 2 +- ui/gps_map_panel.html | 2 +- ui/index.html | 2 +- ui/map_panel.html | 2 +- ui/settings_panel.html | 2 +- ui/social-bot/src/components/ControlMode.jsx | 4 +- .../src/components/SettingsPanel.jsx | 4 +- ui/social-bot/src/hooks/useFleet.js | 4 +- ui/social-bot/src/hooks/useSettings.js | 4 +- ui/sultee-tracker.html | 2 +- ui/vesc_panel.html | 2 +- 105 files changed, 331 insertions(+), 324 deletions(-) diff --git a/AUTONOMOUS_ARMING.md b/AUTONOMOUS_ARMING.md index d8b1c42..ee14d80 100644 --- a/AUTONOMOUS_ARMING.md +++ b/AUTONOMOUS_ARMING.md @@ -7,7 +7,7 @@ The robot can now be armed and operated autonomously from the Jetson without req ### Jetson Autonomous Arming - Command: `A\n` (single byte 'A' followed by newline) -- Sent via USB CDC to the STM32 firmware +- Sent via USB CDC to the ESP32 BALANCE firmware - Robot arms after ARMING_HOLD_MS (~500ms) safety hold period - Works even when RC is not connected or not armed @@ -42,7 +42,7 @@ The robot can now be armed and operated autonomously from the Jetson without req ## Command Protocol -### From Jetson to STM32 (USB CDC) +### From Jetson to ESP32 BALANCE (USB CDC) ``` A — Request arm (triggers safety hold, then motors enable) D — Request disarm (immediate motor stop) @@ -52,7 +52,7 @@ H — Heartbeat (refresh timeout timer, every 500ms) C, — Drive command: speed, steer (also refreshes heartbeat) ``` -### From STM32 to Jetson (USB CDC) +### From ESP32 BALANCE to Jetson (USB CDC) Motor commands are gated by `bal.state == BALANCE_ARMED`: - When ARMED: Motor commands sent every 20ms (50 Hz) - When DISARMED: Zero sent every 20ms (prevents ESC timeout) diff --git a/CLAUDE.md b/CLAUDE.md index 145ffaa..af8f050 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -3,9 +3,9 @@ ## Project Self-balancing two-wheeled robot: **two ESP32 boards** (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM. -> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) and BlackPill are NO LONGER USED. +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) and ESP32 IO are NO LONGER USED. > Replaced by: **ESP32 BALANCE** (PID loop) + **ESP32 IO** (motors/sensors/comms). -> The `src/` and `include/` STM32 firmware is legacy/archived — do not extend it. +> The `src/` and `include/` ESP32 BALANCE firmware is legacy/archived — do not extend it. > New firmware goes in `esp32/` — pin assignments and framework details TBD pending max. ## Team diff --git a/TEAM.md b/TEAM.md index 2f59fcf..8c631f0 100644 --- a/TEAM.md +++ b/TEAM.md @@ -3,13 +3,13 @@ ## Project Self-balancing two-wheeled robot using **two ESP32 boards** (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM. -> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) and BlackPill retired. +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) and ESP32 IO retired. > Replaced by ESP32 BALANCE (PID loop) + ESP32 IO (motors/sensors/comms). ## Current Status - **Hardware:** ESP32 BALANCE + ESP32 IO replacing STM32 FC — details from max incoming - **Firmware:** ESP32 firmware TBD; legacy STM32 code in `src/` is archived -- **STM32 blocker (resolved/irrelevant):** USB CDC bug was STM32-specific — no longer applies +- **STM32 legacy (archived):** USB CDC bug was STM32-specific — no longer applies --- @@ -17,10 +17,10 @@ Self-balancing two-wheeled robot using **two ESP32 boards** (BALANCE + IO), hove ### 1. Embedded Firmware Engineer (Lead) **Must-have:** -- Deep STM32 HAL experience (F7 series specifically) +- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience - USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts) -- SPI + UART + USB coexistence on STM32 -- PlatformIO or bare-metal STM32 toolchain +- SPI + UART + USB coexistence on ESP32 +- PlatformIO or bare-metal ESP32 toolchain - DFU bootloader implementation **Nice-to-have:** @@ -28,7 +28,7 @@ Self-balancing two-wheeled robot using **two ESP32 boards** (BALANCE + IO), hove - PID control loop tuning for balance robots - FOC motor control (hoverboard ESC protocol) -**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — this is not a software logic bug, it's a hardware peripheral interaction issue. +**Why:** The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch. ### 2. Control Systems / Robotics Engineer **Must-have:** @@ -64,7 +64,7 @@ Self-balancing two-wheeled robot using **two ESP32 boards** (BALANCE + IO), hove ## Hardware Reference | Component | Details | |-----------|---------| -| FC | MAMBA F722S (STM32F722RET6, MPU6000) | +| FC | ESP32 BALANCE (ESP32RET6, MPU6000) | | Motors | 2x 8" pneumatic hoverboard hub motors | | ESC | Hoverboard ESC (EFeru FOC firmware) | | Battery | 36V pack | diff --git a/USB_CDC_BUG.md b/USB_CDC_BUG.md index 9a810b2..90f05cc 100644 --- a/USB_CDC_BUG.md +++ b/USB_CDC_BUG.md @@ -127,7 +127,7 @@ loop — USB would never enumerate cleanly. | LED2 | PC15 | GPIO | | Buzzer | PB2 | GPIO/TIM4_CH3 | -MCU: STM32F722RET6 (MAMBA F722S FC, Betaflight target DIAT-MAMBAF722_2022B) +MCU: ESP32RET6 (ESP32 BALANCE FC, Betaflight target DIAT-MAMBAF722_2022B) --- diff --git a/chassis/ASSEMBLY.md b/chassis/ASSEMBLY.md index f7b44cc..16e9d20 100644 --- a/chassis/ASSEMBLY.md +++ b/chassis/ASSEMBLY.md @@ -58,7 +58,7 @@ ### 7 MCU mount (ESP32 BALANCE + ESP32 IO) -> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S retired. Two ESP32 boards replace it. +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE retired. Two ESP32 boards replace it. > Board dimensions and hole patterns TBD — await spec from max before machining mount plate. 1. Place silicone anti-vibration grommets onto nylon M3 standoffs. diff --git a/chassis/BOM.md b/chassis/BOM.md index c86e3bd..1439020 100644 --- a/chassis/BOM.md +++ b/chassis/BOM.md @@ -88,12 +88,12 @@ PR #7 (`chassis_frame.scad`) used placeholder values. The table below records th ## Electronics Mounts -> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) is retired. +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) is retired. > Replaced by **ESP32 BALANCE** + **ESP32 IO**. Board dimensions and hole patterns TBD — await spec from max. | # | Part | Qty | Spec | Notes | |---|------|-----|------|-------| -| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces Mamba F722S | +| 13 | ESP32 BALANCE board | 1 | TBD — mount pattern TBD | PID balance loop; replaces ESP32 BALANCE | | 13b | ESP32 IO board | 1 | TBD — mount pattern TBD | Motor/sensor/comms I/O | | 14 | Nylon M3 standoff 6mm | 4 | F/F nylon | ESP32 board isolation | | 15 | Anti-vibration grommet M3 | 4 | Ø6mm silicone | Under ESP32 mount pads | diff --git a/chassis/ip54_BOM.md b/chassis/ip54_BOM.md index 96b7103..ce8a409 100644 --- a/chassis/ip54_BOM.md +++ b/chassis/ip54_BOM.md @@ -104,7 +104,7 @@ IP54-rated enclosures and sensor housings for all-weather outdoor robot operatio | Component | Thermal strategy | Max junction | Enclosure budget | |-----------|-----------------|-------------|-----------------| | Jetson Orin NX | Al pad → lid → fan forced convection | 95 °C Tj | Target ≤ 60 °C case | -| FC (MAMBA F722S) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK | +| FC (ESP32 BALANCE) | Passive; FC has own EMI shield | 85 °C | <60 °C ambient OK | | ESC × 2 | Al pad → lid | 100 °C Tj | Target ≤ 60 °C | | D435i | Passive; housing vent gap on rear cap | 45 °C surface | — | diff --git a/docs/AGENTS.md b/docs/AGENTS.md index 55b6fa0..e7a3c7f 100644 --- a/docs/AGENTS.md +++ b/docs/AGENTS.md @@ -4,13 +4,13 @@ You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read ## ⚠️ ARCHITECTURE CHANGE — 2026-04-03 -**Mamba F722S (STM32F722) and BlackPill are NO LONGER USED.** +**ESP32 BALANCE (ESP32) and ESP32 IO are NO LONGER USED.** New hardware: - **ESP32 BALANCE** — PID balance loop (replaces FC) - **ESP32 IO** — motors, sensors, comms -The `src/` and `include/` STM32 HAL firmware is **legacy/archived**. Do not extend it. +The `src/` and `include/` ESP32/STM32 HAL firmware is **legacy/archived**. Do not extend it. All new firmware targets the ESP32 boards in `esp32/`. Pin assignments and framework TBD — await details from max. ## Project Overview @@ -50,7 +50,7 @@ This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, an ## Repository Layout ``` -firmware/ # STM32 HAL firmware (PlatformIO) +firmware/ # Legacy ESP32/STM32 HAL firmware (PlatformIO, archived) ├── src/ │ ├── main.c # Entry point, clock config, main loop │ ├── icm42688.c # ICM-42688-P SPI driver (backup IMU — currently broken) @@ -97,11 +97,11 @@ PLATFORM.md # Hardware platform reference ## Hardware Quick Reference -### MAMBA F722S Flight Controller +### ESP32 BALANCE Flight Controller | Spec | Value | |------|-------| -| MCU | STM32F722RET6 (Cortex-M7, 216MHz, 512KB flash, 256KB RAM) | +| MCU | ESP32RET6 (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) | @@ -175,7 +175,7 @@ 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** — 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. @@ -187,7 +187,7 @@ The firmware supports reboot-to-DFU via USB command: 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 BALANCE bootloader at `0x1FF00000` 6. Board appears as DFU device, ready for `dfu-util` flash ### Build & Flash diff --git a/docs/FACE_LCD_ANIMATION.md b/docs/FACE_LCD_ANIMATION.md index c100900..c7bcb6e 100644 --- a/docs/FACE_LCD_ANIMATION.md +++ b/docs/FACE_LCD_ANIMATION.md @@ -1,6 +1,6 @@ # Face LCD Animation System (Issue #507) -Implements expressive face animations on an STM32 LCD display with 5 core emotions and smooth transitions. +Implements expressive face animations on an ESP32 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) +- ESP32xx (ESP32 BALANCE) - Available UART: USART3 (PB10=TX, PB11=RX) - Clock: 216 MHz diff --git a/docs/SALTYLAB.md b/docs/SALTYLAB.md index d230870..84b8f0f 100644 --- a/docs/SALTYLAB.md +++ b/docs/SALTYLAB.md @@ -2,9 +2,9 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments. -> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S (STM32F722) and BlackPill are retired. +> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) and ESP32 IO are retired. > New compute stack: **ESP32 BALANCE** (PID loop) + **ESP32 IO** (motors/sensors/comms). -> Sections below referencing the Drone FC / STM32F722 / GEPRC GEP-F7 are historical. +> Sections below referencing the Drone FC / ESP32 / GEPRC GEP-F7 are historical. > Await updated spec from max before writing new firmware. ## ⚠️ SAFETY — TOP PRIORITY @@ -37,7 +37,7 @@ 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)~~ | ❌ RETIRED — replaced by ESP32 BALANCE | +| ~~1x Drone FC (ESP3245 + MPU-6000)~~ | ❌ RETIRED — replaced by ESP32 BALANCE | | 1x ESP32 BALANCE (PID loop) | ⬜ TBD — spec from max | | 1x ESP32 IO (motors/sensors/comms) | ⬜ TBD — spec from max | | 1x Jetson Orin + Noctua fan | ✅ Have | @@ -57,13 +57,13 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments. | 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) +- **MCU:** ESP32RET6 (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) +- **Firmware:** Custom balance firmware (PlatformIO + STM32 HAL) — LEGACY, see ESP32 BALANCE - **UART pads (confirmed from silkscreen):** - T1/R1 (bottom) → USART1 (PA9/PA10) → Jetson - T2/R2 (right top) → USART2 (PA2/PA3) → Hoverboard ESC @@ -102,7 +102,7 @@ Two-wheeled, self-balancing robot for indoor AI/SLAM experiments. ## Self-Balancing Control — Custom Firmware on Drone FC ### 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). +The F745 board was a premium STM32 dev board (legacy; now replaced by ESP32 BALANCE) 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). ### Architecture ``` @@ -149,7 +149,7 @@ GND ──→ GND 5V ←── 5V ``` -### Custom Firmware (STM32 C) +### Custom Firmware (Legacy STM32 C — archived) ```c // Core balance loop — runs in timer interrupt @ 1-8kHz @@ -287,8 +287,8 @@ GND ──→ Common ground ``` ### Dev Tools -- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD -- **IDE:** PlatformIO + STM32 HAL, or STM32CubeIDE +- **Flashing:** STM32CubeProgrammer via USB (DFU mode) or SWD (legacy) +- **IDE:** PlatformIO + ESP-IDF (new) or STM32 HAL/STM32CubeIDE (legacy) - **Debug:** SWD via ST-Link (or use FC's USB as virtual COM for printf debug) ## Physical Design @@ -382,7 +382,7 @@ 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) +- [ ] Set up PlatformIO project for ESP32 BALANCE (ESP-IDF) - [ ] Write MPU-6000 SPI driver (read gyro+accel, complementary filter) - [ ] Write PID balance loop with ALL safety checks: - ±25° tilt cutoff → disarm, require manual re-arm diff --git a/docs/board-viz.html b/docs/board-viz.html index f75c237..cb0355c 100644 --- a/docs/board-viz.html +++ b/docs/board-viz.html @@ -2,7 +2,7 @@ -GEPRC GEP-F722-45A AIO — Board Layout +GEPRC GEP-F722-45A AIO — Board Layout (Legacy / Archived) -

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

-

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

+

🤖 GEPRC GEP-F722-45A AIO — SaltyLab Pinout (Legacy / Archived)

+

ESP32RET6 + ICM-42688-P | Betaflight target: GEPR-GEPRC_F722_AIO

@@ -125,7 +125,7 @@ h1 { color: #e94560; margin-bottom: 5px; font-size: 1.4em; }
-
STM32
F722RET6
216MHz
+
ESP32
(legacy:
F722RET6)
ICM
42688
diff --git a/docs/wiring-diagram.md b/docs/wiring-diagram.md index 824e365..cd0e011 100644 --- a/docs/wiring-diagram.md +++ b/docs/wiring-diagram.md @@ -7,7 +7,7 @@ │ ORIN NANO SUPER │ │ (Top Plate — 25W) │ │ │ -│ USB-C ──── STM32 CDC (/dev/stm32-bridge, 921600 baud) │ +│ USB-C ──── ESP32 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 BALANCE (FC) │ │ (Middle Plate — foam mounted) │ │ │ │ USB-C ──── Orin (CDC serial, primary link) │ @@ -72,7 +72,7 @@ |------|----|-----------|-------| | 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 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 CDC | 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 BALANCE (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 | @@ -234,7 +234,7 @@ Orin Nano Super delivers up to 25W — USB peripherals are well within budget. └──────┬───────┘ │ UART4 ┌────────────▼────────────┐ - │ MAMBA F722S │ + │ ESP32 BALANCE │ │ │ │ MPU6000 → Balance PID │ │ CRSF → Mode Manager │ diff --git a/jetson/README.md b/jetson/README.md index a17c345..515d5f8 100644 --- a/jetson/README.md +++ b/jetson/README.md @@ -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 (USB CDC @ 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 BALANCE) ├── README.md # This file ├── docs/ │ ├── pinout.md # GPIO/I2C/UART pinout reference diff --git a/jetson/config/RECOVERY_BEHAVIORS.md b/jetson/config/RECOVERY_BEHAVIORS.md index 14746ca..96e192b 100644 --- a/jetson/config/RECOVERY_BEHAVIORS.md +++ b/jetson/config/RECOVERY_BEHAVIORS.md @@ -34,7 +34,7 @@ Recovery behaviors are triggered when Nav2 encounters navigation failures (path The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority. -Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the STM32 firmware. +Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware. ## Behavior Tree Sequence diff --git a/jetson/config/nav2_params.yaml b/jetson/config/nav2_params.yaml index efcb0d9..7115fdb 100644 --- a/jetson/config/nav2_params.yaml +++ b/jetson/config/nav2_params.yaml @@ -12,7 +12,7 @@ # /scan — RPLIDAR A1M8 (obstacle layer) # /camera/depth/color/points — RealSense D435i (voxel layer) # -# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic. +# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic. bt_navigator: ros__parameters: diff --git a/jetson/docker-compose.yml b/jetson/docker-compose.yml index 9b904b3..414c1bc 100644 --- a/jetson/docker-compose.yml +++ b/jetson/docker-compose.yml @@ -31,7 +31,7 @@ services: - ./config:/config:ro devices: - /dev/rplidar:/dev/rplidar - - /dev/stm32-bridge:/dev/stm32-bridge + - /dev/esp32-bridge:/dev/esp32-bridge - /dev/bus/usb:/dev/bus/usb - /dev/i2c-7:/dev/i2c-7 - /dev/video0:/dev/video0 @@ -97,13 +97,13 @@ services: rgb_camera.profile:=640x480x30 " - # ── STM32 bridge node (bidirectional serial<->ROS2) ──────────────────────── - stm32-bridge: + # ── ESP32 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 CDC) ---------------------- + # Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32 BALANCE. # Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT). remote-estop: image: saltybot/ros2-humble:jetson-orin @@ -221,12 +221,12 @@ services: runtime: nvidia network_mode: host depends_on: - - stm32-bridge + - esp32-bridge environment: - ROS_DOMAIN_ID=42 - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp devices: - - /dev/stm32-bridge:/dev/stm32-bridge + - /dev/esp32-bridge:/dev/esp32-bridge volumes: - ./ros2_ws/src:/ros2_ws/src:rw - ./config:/config:ro @@ -316,7 +316,7 @@ services: runtime: nvidia network_mode: host depends_on: - - stm32-bridge + - esp32-bridge environment: - NVIDIA_VISIBLE_DEVICES=all - NVIDIA_DRIVER_CAPABILITIES=all,audio diff --git a/jetson/docs/pinout.md b/jetson/docs/pinout.md index a7d63b6..ad7d672 100644 --- a/jetson/docs/pinout.md +++ b/jetson/docs/pinout.md @@ -1,5 +1,5 @@ # Jetson Orin Nano Super — GPIO / I2C / UART / CSI Pinout Reference -## Self-Balancing Robot: STM32F722 Bridge + RealSense D435i + RPLIDAR A1M8 + 4× IMX219 +## Self-Balancing Robot: ESP32 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 Bridge (USB CDC — Primary) -The STM32 acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**. +The ESP32 BALANCE acts as a real-time motor + IMU controller. Communication is via **USB CDC serial**. ### USB CDC 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 on ESP32 BALANCE board → USB-A on Jetson | +| Device node | `/dev/ttyACM0` → symlink `/dev/esp32-bridge` (via udev) | +| Baud rate | 921600 (configured in ESP32 BALANCE 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 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 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 bridge node):** | ROS2 Topic | Direction | Content | |-----------|-----------|--------- -| `/saltybot/imu` | STM32→Jetson | IMU data (accel, gyro) at 50Hz | -| `/saltybot/balance_state` | STM32→Jetson | Motor cmd, pitch, state | -| `/cmd_vel` | Jetson→STM32 | Velocity commands → `C,\n` | -| `/saltybot/estop` | Jetson→STM32 | Emergency stop | +| `/saltybot/imu` | ESP32 BALANCE→Jetson | IMU data (accel, gyro) at 50Hz | +| `/saltybot/balance_state` | ESP32 BALANCE→Jetson | Motor cmd, pitch, state | +| `/cmd_vel` | Jetson→ESP32 BALANCE | Velocity commands → `C,\n` | +| `/saltybot/estop` | Jetson→ESP32 BALANCE | 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 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 BALANCE (fallback) | +| 10 | RXD0 | 3.3V | UART RX ← ESP32 BALANCE (fallback) | | USB-A ×2 | — | 5V | D435i, RPLIDAR | -| USB-C | — | 5V | STM32 CDC | +| USB-C | — | 5V | ESP32 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 USB CDC (STMicroelectronics) KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", \ - SYMLINK+="stm32-bridge", MODE="0666" + SYMLINK+="esp32-bridge", MODE="0666" # Intel RealSense D435i SUBSYSTEM=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", \ diff --git a/jetson/docs/power-budget.md b/jetson/docs/power-budget.md index f22e1ef..477cf3e 100644 --- a/jetson/docs/power-budget.md +++ b/jetson/docs/power-budget.md @@ -56,7 +56,7 @@ sudo jtop |-----------|----------|------------|----------|-----------|-------| | RealSense D435i | 0.3 | 1.5 | 3.5 | USB 3.1 | Peak during boot/init | | RPLIDAR A1M8 | 0.4 | 2.6 | 3.0 | USB (UART adapter) | Motor spinning | -| STM32F722 bridge | 0.0 | 0.0 | 0.0 | USB CDC | Self-powered from robot 5V | +| ESP32 bridge | 0.0 | 0.0 | 0.0 | USB CDC | 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** | | | @@ -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 + logic 5V rail │ └─► Hoverboard ESC ──► Hub motors (48V loop) ``` diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml index 42010ae..5aba4af 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/bridge_params.yaml @@ -2,7 +2,7 @@ # Used by both serial_bridge_node (RX-only) and saltybot_cmd_node (bidirectional) # ── Serial ───────────────────────────────────────────────────────────────────── -# Use /dev/stm32-bridge if udev rule from jetson/docs/pinout.md is applied. +# Use /dev/esp32-bridge if udev rule from jetson/docs/pinout.md is applied. serial_port: /dev/ttyACM0 baud_rate: 921600 timeout: 0.05 # serial readline timeout (seconds) @@ -11,7 +11,7 @@ reconnect_delay: 2.0 # seconds between reconnect attempts on serial disconne # ── saltybot_cmd_node (bidirectional) only ───────────────────────────────────── # Heartbeat: H\n sent every heartbeat_period seconds. -# STM32 reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat. +# ESP32 BALANCE reverts steer to 0 after JETSON_HB_TIMEOUT_MS (500ms) without heartbeat. heartbeat_period: 0.2 # seconds (= 200ms) # Twist → ESC command scaling diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml index 3a82ae2..a4860c3 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/cmd_vel_bridge_params.yaml @@ -1,5 +1,5 @@ # cmd_vel_bridge_params.yaml -# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 autonomous drive. +# Configuration for cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE 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 BALANCE 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 BALANCE jetson heartbeat timeout for consistency. cmd_vel_timeout: 0.5 # seconds diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml index fdc7fac..4d3b314 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/estop_params.yaml @@ -1,6 +1,6 @@ remote_estop_node: ros__parameters: - serial_port: /dev/stm32-bridge + serial_port: /dev/esp32-bridge baud_rate: 921600 mqtt_host: "mqtt.example.com" mqtt_port: 1883 diff --git a/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml b/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml index 8b65663..842a8bb 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bridge/config/stm32_cmd_params.yaml @@ -1,8 +1,8 @@ # stm32_cmd_params.yaml — Configuration for stm32_cmd_node (Issue #119) -# Binary-framed Jetson↔STM32 bridge at 921600 baud. +# Binary-framed Jetson↔ESP32 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" serial_port: /dev/ttyACM0 @@ -12,7 +12,7 @@ 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 +heartbeat_period: 0.2 # 200ms → well within 500ms ESP32 BALANCE watchdog # ── Watchdog (Jetson-side) ──────────────────────────────────────────────────── # If no /cmd_vel message received for watchdog_timeout seconds, diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py index b28a33d..36f93b7 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/bridge.launch.py @@ -6,7 +6,7 @@ Two deployment modes: 1. Full bidirectional (recommended for Nav2): ros2 launch saltybot_bridge bridge.launch.py mode:=bidirectional Starts saltybot_cmd_node — owns serial port, handles both RX telemetry - and TX /cmd_vel → STM32 commands + heartbeat. + and TX /cmd_vel → ESP32 BALANCE commands + heartbeat. 2. RX-only (telemetry monitor, no drive commands): ros2 launch saltybot_bridge bridge.launch.py mode:=rx_only @@ -40,7 +40,7 @@ def _launch_nodes(context, *args, **kwargs): return [Node( package="saltybot_bridge", executable="serial_bridge_node", - name="stm32_serial_bridge", + name="esp32_serial_bridge", output="screen", parameters=[params], )] @@ -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 USB CDC device node"), DeclareLaunchArgument("baud_rate", default_value="921600"), DeclareLaunchArgument("speed_scale", default_value="1000.0", description="m/s → ESC units (linear.x scale)"), diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py index 284bff6..ec42e69 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/cmd_vel_bridge.launch.py @@ -1,10 +1,10 @@ """ -cmd_vel_bridge.launch.py — Nav2 cmd_vel → STM32 autonomous drive bridge. +cmd_vel_bridge.launch.py — Nav2 cmd_vel → ESP32 BALANCE 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 BALANCE 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 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 BALANCE HB timeout (0.5s)"), DeclareLaunchArgument( "max_linear_vel", default_value="0.5", description="Hard speed cap before scaling (m/s)"), diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py index 2fa400a..fa01e6a 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/stm32_cmd.launch.py @@ -1,4 +1,4 @@ -"""stm32_cmd.launch.py — Launch the binary-framed STM32 command node (Issue #119). +"""stm32_cmd.launch.py — Launch the binary-framed ESP32 BALANCE command node (Issue #119). Usage: # Default (binary protocol, bidirectional): diff --git a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py index aa460f3..86215e3 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py +++ b/jetson/ros2_ws/src/saltybot_bridge/launch/uart_bridge.launch.py @@ -2,7 +2,7 @@ uart_bridge.launch.py — FC↔Orin UART bridge (Issue #362) Launches serial_bridge_node configured for Jetson Orin UART port. -Bridges Flight Controller (STM32F722) telemetry from /dev/ttyTHS1 into ROS2. +Bridges Flight Controller (ESP32) 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 BALANCE firmware transmitting JSON telemetry frames (50 Hz) - ROS2 environment sourced (source install/setup.bash) Note: diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py index e070638..247a718 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/battery_node.py @@ -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 BATTERY telemetry (fuel gauge or lookup on ESP32 BALANCE) 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 BALANCE.""" self.get_logger().fatal("EMERGENCY: publishing zero /cmd_vel and disarming") # Publish zero velocity zero_twist = Twist() diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py index 993d2f4..ca1e738 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/cmd_vel_bridge_node.py @@ -1,5 +1,5 @@ """ -cmd_vel_bridge_node — Nav2 /cmd_vel → STM32 drive command bridge. +cmd_vel_bridge_node — Nav2 /cmd_vel → ESP32 BALANCE 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 BALANCE reports md=2 (AUTONOMOUS). In any other mode (RC_MANUAL, RC_ASSISTED) Jetson cannot override the RC pilot. On mode re-entry current ramp state resets to 0 so @@ -20,9 +20,9 @@ autonomous operation on a self-balancing robot: Serial protocol (C,\\n / H\\n — same as saltybot_cmd_node): C,\\n — drive command. speed/steer: -1000..+1000 integers. - H\\n — heartbeat. STM32 reverts steer to 0 after 500ms silence. + H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 after 500ms silence. -Telemetry (50 Hz from STM32): +Telemetry (50 Hz from ESP32 BALANCE): Same RX/publish pipeline as saltybot_cmd_node. The "md" field (0=MANUAL,1=ASSISTED,2=AUTO) is parsed for the mode gate. @@ -134,7 +134,7 @@ class CmdVelBridgeNode(Node): self._current_speed = 0 # ramped output actually sent self._current_steer = 0 self._last_cmd_vel = 0.0 # wall clock (seconds) of last /cmd_vel msg - self._stm32_mode = 0 # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO + self._esp32_mode = 0 # parsed "md" field: 0=MANUAL,1=ASSISTED,2=AUTO self._last_state = -1 self._frame_count = 0 self._error_count = 0 @@ -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 BALANCE 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) @@ -225,7 +225,7 @@ class CmdVelBridgeNode(Node): # Mode gate: in non-AUTONOMOUS mode, zero and reset ramp state so # re-entry always accelerates smoothly from 0. - if self._stm32_mode != MODE_AUTONOMOUS: + if self._esp32_mode != MODE_AUTONOMOUS: self._current_speed = 0 self._current_steer = 0 speed, steer = 0, 0 @@ -238,7 +238,7 @@ class CmdVelBridgeNode(Node): speed = self._current_speed steer = self._current_steer - # Send to STM32 + # Send to ESP32 BALANCE 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 BALANCE jetson_cmd heartbeat alive regardless of mode.""" self._write(b"H\n") # ── Telemetry RX ────────────────────────────────────────────────────────── @@ -319,7 +319,7 @@ class CmdVelBridgeNode(Node): state = int(data["s"]) mode = int(data.get("md", 0)) # 0=MANUAL if not present - self._stm32_mode = mode + self._esp32_mode = mode self._frame_count += 1 self._publish_imu(pitch_deg, roll_deg, yaw_deg, now) @@ -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 = "esp32" 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 = "esp32" 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 BALANCE IMU fault: errno={errno}") # ── Lifecycle ───────────────────────────────────────────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py index d83c23a..001a996 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/remote_estop_node.py @@ -1,8 +1,8 @@ """ -remote_estop_node.py -- Remote e-stop bridge: MQTT -> STM32 USB CDC +remote_estop_node.py -- Remote e-stop bridge: MQTT -> ESP32 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 BALANCE (ESTOP_REMOTE, immediate motor cutoff) +{"kill": false} -> writes 'Z\n' to ESP32 BALANCE (clear latch, robot can re-arm) Cellular watchdog: if MQTT link drops for > cellular_timeout_s while in AUTO mode, automatically sends 'F\n' (ESTOP_CELLULAR_TIMEOUT). @@ -26,7 +26,7 @@ class RemoteEstopNode(Node): def __init__(self): super().__init__('remote_estop_node') - self.declare_parameter('serial_port', '/dev/stm32-bridge') + self.declare_parameter('serial_port', '/dev/esp32-bridge') self.declare_parameter('baud_rate', 921600) self.declare_parameter('mqtt_host', 'mqtt.example.com') self.declare_parameter('mqtt_port', 1883) diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py index f0a4ee8..d439ecd 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_can_node.py @@ -322,7 +322,7 @@ class SaltybotCanNode(Node): diag.header.stamp = stamp st = DiagnosticStatus() st.name = "saltybot/balance_controller" - st.hardware_id = "stm32f722" + st.hardware_id = "esp32" st.message = state_label st.level = (DiagnosticStatus.OK if state == 1 else DiagnosticStatus.WARN if state == 0 else diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py index ddcd5f0..db30383 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/saltybot_cmd_node.py @@ -1,20 +1,20 @@ """ -saltybot_cmd_node — full bidirectional STM32↔Jetson bridge +saltybot_cmd_node — full bidirectional ESP32 BALANCE↔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 BALANCE): JSON telemetry → /saltybot/imu, /saltybot/balance_state, /diagnostics TX path: - /cmd_vel (geometry_msgs/Twist) → C,\\n → STM32 - Heartbeat timer (200ms) → H\\n → STM32 + /cmd_vel (geometry_msgs/Twist) → C,\\n → ESP32 BALANCE + Heartbeat timer (200ms) → H\\n → ESP32 BALANCE Protocol: - H\\n — heartbeat. STM32 reverts steer to 0 if gap > 500ms. + H\\n — heartbeat. ESP32 BALANCE reverts steer to 0 if gap > 500ms. C,\\n — drive command. speed/steer: -1000..+1000 integers. - C command also refreshes STM32 heartbeat timer. + C command also refreshes ESP32 BALANCE 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 BALANCE 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 = "esp32" 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 = "esp32" 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 BALANCE 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 BALANCE reverts steer to 0 if gap > 500ms.""" self._write(b"H\n") # ── Lifecycle ───────────────────────────────────────────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py index 6816410..19e3bcd 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/serial_bridge_node.py @@ -1,6 +1,6 @@ """ saltybot_bridge — serial_bridge_node -STM32F722 USB CDC → ROS2 topic publisher +ESP32 USB CDC → ROS2 topic publisher Telemetry frame (50 Hz, newline-delimited JSON): {"p":,"r":,"e":,"ig":, @@ -29,7 +29,7 @@ from sensor_msgs.msg import Imu from std_msgs.msg import String from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue -# Balance state labels matching STM32 balance_state_t enum +# Balance state labels matching ESP32 BALANCE balance_state_t enum _STATE_LABEL = {0: "DISARMED", 1: "ARMED", 2: "TILT_FAULT"} # Sensor frame_id published in Imu header @@ -38,7 +38,7 @@ IMU_FRAME_ID = "imu_link" class SerialBridgeNode(Node): def __init__(self): - super().__init__("stm32_serial_bridge") + super().__init__("esp32_serial_bridge") # ── Parameters ──────────────────────────────────────────────────────── self.declare_parameter("serial_port", "/dev/ttyACM0") @@ -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 BALANCE 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 BALANCE 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 BALANCE 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 = "esp32" 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 = "esp32" 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 BALANCE reported IMU fault: errno={errno}") def destroy_node(self): self._close_serial() diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py index 4e3d63c..3533418 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py @@ -5,7 +5,7 @@ framing protocol (STX/TYPE/LEN/PAYLOAD/CRC16/ETX) at 921600 baud. TX commands (Jetson → STM32): SPEED_STEER — 50 Hz from /cmd_vel subscription - HEARTBEAT — 200 ms timer (STM32 watchdog fires at 500 ms) + HEARTBEAT — 200 ms timer (ESP32 BALANCE watchdog fires at 500 ms) ARM — via /saltybot/arm service SET_MODE — via /saltybot/set_mode service PID_UPDATE — via /saltybot/pid_update topic @@ -75,7 +75,7 @@ def _clamp(v: float, lo: float, hi: float) -> float: # ── Node ────────────────────────────────────────────────────────────────────── class Stm32CmdNode(Node): - """Binary-framed Jetson↔STM32 bridge node.""" + """Binary-framed Jetson↔ESP32 bridge node.""" def __init__(self) -> None: super().__init__("stm32_cmd_node") @@ -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 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 BALANCE error code=0x{frame.error_code:02X} sub=0x{frame.subcode:02X}" ) payload = { "error_code": frame.error_code, @@ -432,7 +432,7 @@ class Stm32CmdNode(Node): status = DiagnosticStatus() status.name = "saltybot/stm32_cmd_node" - status.hardware_id = "stm32f722" + status.hardware_id = "esp32" port_ok = self._ser is not None and self._ser.is_open if port_ok: diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py index ed98326..b7a4e18 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py +++ b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py @@ -1,7 +1,11 @@ -"""stm32_protocol.py — Binary frame codec for Jetson↔STM32 communication. +"""stm32_protocol.py — Binary frame codec for Jetson↔ESP32 BALANCE communication. + +# TODO(esp32-migration): This protocol was designed for STM32F722 USB CDC. +# When ESP32 BALANCE protocol is defined, update frame layout and baud rate. Issue #119: defines the binary serial protocol between the Jetson Nano and the -STM32F722 flight controller over USB CDC @ 921600 baud. +ESP32 BALANCE over USB CDC @ 921600 baud. +# TODO(esp32-migration): update when ESP32 BALANCE protocol is defined. Frame layout (all multi-byte fields are big-endian): ┌──────┬──────┬──────┬──────────────────┬───────────┬──────┐ @@ -12,14 +16,14 @@ 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 BALANCE): 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 BALANCE → 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) @@ -31,7 +35,7 @@ Usage: frame = encode_speed_steer(300, -150) ser.write(frame) - # Decoding (STM32 → Jetson), one byte at a time + # Decoding (ESP32 BALANCE → Jetson), one byte at a time parser = FrameParser() for byte in incoming_bytes: result = parser.feed(byte) @@ -183,7 +187,7 @@ class ParseError(Exception): class FrameParser: - """Byte-by-byte streaming parser for STM32 telemetry frames. + """Byte-by-byte streaming parser for ESP32 BALANCE telemetry frames. Feed individual bytes via feed(); returns a decoded TelemetryFrame (or raw bytes tuple) when a complete valid frame is received. diff --git a/jetson/ros2_ws/src/saltybot_bridge/setup.py b/jetson/ros2_ws/src/saltybot_bridge/setup.py index dc798c0..ee2531e 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py @@ -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 USB CDC → ROS2 serial bridge for saltybot", license="MIT", tests_require=["pytest"], entry_points={ @@ -41,7 +41,7 @@ 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) + # Binary-framed ESP32 BALANCE command node (Issue #119) "stm32_cmd_node = saltybot_bridge.stm32_cmd_node:main", # Battery management node (Issue #125) "battery_node = saltybot_bridge.battery_node:main", diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py index 37aa7df..8efdd9f 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py @@ -1,5 +1,5 @@ """ -Unit tests for Jetson→STM32 command serialization logic. +Unit tests for Jetson→ESP32 BALANCE command serialization logic. Tests Twist→speed/steer conversion and frame formatting. Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_cmd.py """ diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd_vel_bridge.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd_vel_bridge.py index 870dcf0..9e19c47 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd_vel_bridge.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_cmd_vel_bridge.py @@ -139,10 +139,10 @@ class TestModeGate: MODE_ASSISTED = 1 MODE_AUTONOMOUS = 2 - def _apply_mode_gate(self, stm32_mode, current_speed, current_steer, + def _apply_mode_gate(self, esp32_mode, current_speed, current_steer, target_speed, target_steer, step=10): """Mirror of _control_cb mode gate logic.""" - if stm32_mode != self.MODE_AUTONOMOUS: + if esp32_mode != self.MODE_AUTONOMOUS: # Reset ramp state, send zero return 0, 0, 0, 0 # (current_speed, current_steer, sent_speed, sent_steer) new_s = _ramp_toward(current_speed, target_speed, step) diff --git a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py index 3fe7ee6..2bd8fc6 100644 --- a/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py +++ b/jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py @@ -1,5 +1,5 @@ """ -Unit tests for STM32 telemetry parsing logic. +Unit tests for ESP32 BALANCE telemetry parsing logic. Run with: pytest jetson/ros2_ws/src/saltybot_bridge/test/test_parse.py """ diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml index e6d4cfa..04af6fe 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bringup/config/nav2_params.yaml @@ -19,7 +19,7 @@ # inflation_radius: 0.3m (robot_radius 0.15m + 0.15m padding) # DepthCostmapLayer in-layer inflation: 0.10m (pre-inflation before inflation_layer) # -# Output: /cmd_vel (Twist) — STM32 bridge consumes this topic. +# Output: /cmd_vel (Twist) — ESP32 bridge consumes this topic. bt_navigator: ros__parameters: diff --git a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml index fa9e10b..04d2141 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml +++ b/jetson/ros2_ws/src/saltybot_bringup/config/saltybot_params.yaml @@ -2,12 +2,12 @@ # Master configuration for full stack bringup # ──────────────────────────────────────────────────────────────────────────── -# HARDWARE — STM32 Bridge & Motor Control +# HARDWARE — ESP32 BALANCE Bridge & Motor Control # ──────────────────────────────────────────────────────────────────────────── saltybot_bridge_node: ros__parameters: - serial_port: "/dev/stm32-bridge" + serial_port: "/dev/esp32-bridge" baud_rate: 921600 timeout: 0.05 reconnect_delay: 2.0 diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py index 19a98b5..a06fab4 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py @@ -39,7 +39,7 @@ Modes ─ UWB driver (2-anchor DW3000, publishes /uwb/target) ─ YOLOv8n person detection (TensorRT) ─ Person follower with UWB+camera fusion - ─ cmd_vel bridge → STM32 (deadman + ramp + AUTONOMOUS gate) + ─ cmd_vel bridge → ESP32 BALANCE (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 bridge (serial port owner — must be first) + t= 2s cmd_vel bridge (consumes /cmd_vel, needs ESP32 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 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 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still + until ESP32 BALANCE 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 BALANCE) /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 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 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 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 bridge) ──────────────── cmd_vel_bridge = TimerAction( period=2.0, actions=[ @@ -577,14 +577,14 @@ enable_mission_logging_arg, max_linear_vel_arg, uwb_port_a_arg, uwb_port_b_arg, - stm32_port_arg, + esp32_port_arg, # Startup banner banner, # t=0s robot_description, - stm32_bridge, + esp32_bridge, # t=0.5s mission_logging, diff --git a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py index c8e7b91..c3650f1 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py +++ b/jetson/ros2_ws/src/saltybot_bringup/launch/saltybot_bringup.launch.py @@ -15,11 +15,11 @@ Usage ros2 launch saltybot_bringup saltybot_bringup.launch.py ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=minimal ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=debug - ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full stm32_port:=/dev/ttyUSB0 + ros2 launch saltybot_bringup saltybot_bringup.launch.py profile:=full esp32_port:=/dev/ttyUSB0 Startup sequence ──────────────── - GROUP A — Drivers t= 0 s STM32 bridge, RealSense+RPLIDAR, motor daemon, IMU + GROUP A — Drivers t= 0 s ESP32 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 UART 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 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 BALANCE bridge + 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 BALANCE DRIVE frames (depends on bridge at t=0) motor_daemon = TimerAction( period=2.5, actions=[ @@ -541,7 +541,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901 # ── Arguments ────────────────────────────────────────────────────────── profile_arg, use_sim_time_arg, - stm32_port_arg, + esp32_port_arg, uwb_port_a_arg, uwb_port_b_arg, gimbal_port_arg, @@ -559,7 +559,7 @@ def generate_launch_description() -> LaunchDescription: # noqa: C901 # ── GROUP A: Drivers (all profiles, t=0–4s) ─────────────────────────── robot_description, - stm32_bridge, + esp32_bridge, sensors, motor_daemon, sensor_health, diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py index 839e9da..ea5e92c 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/_wheel_odom.py @@ -20,7 +20,7 @@ theta is kept in (−π, π] after every step. Int32 rollover -------------- -STM32 encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles +ESP32 BALANCE encoder counters are int32 and wrap at ±2^31. `unwrap_delta` handles this by detecting jumps larger than half the int32 range and adjusting by the full range: diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py index 5200f3a..b81dc10 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/launch_profiles.py @@ -29,7 +29,7 @@ class Profile: name: str # ── Group A: Drivers (always on in all profiles) ────────────────────── - enable_stm32_bridge: bool = True + enable_esp32_bridge: bool = True enable_sensors: bool = True # RealSense + RPLIDAR enable_motor_daemon: bool = True enable_imu: bool = True @@ -69,14 +69,14 @@ class Profile: t_ui: float = 22.0 # Group D (nav2 needs ~4 s to load costmaps) # ── Safety ──────────────────────────────────────────────────────────── - watchdog_timeout_s: float = 5.0 # max silence from STM32 bridge (s) + watchdog_timeout_s: float = 5.0 # max silence from ESP32 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 bridge + sensors + motor daemon. Safe drive control only. No AI, no nav, no social. Boot time ~4 s. RAM ~400 MB. @@ -115,7 +115,7 @@ def _full() -> Profile: return Profile( name="full", # Drivers - enable_stm32_bridge=True, + enable_esp32_bridge=True, enable_sensors=True, enable_motor_daemon=True, enable_imu=True, diff --git a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py index 6d915f8..af90f91 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py +++ b/jetson/ros2_ws/src/saltybot_bringup/saltybot_bringup/wheel_odom_node.py @@ -1,7 +1,7 @@ """ wheel_odom_node.py — Differential drive wheel encoder odometry (Issue #184). -Subscribes to raw encoder tick counts from the STM32 bridge, integrates +Subscribes to raw encoder tick counts from the ESP32 bridge, integrates differential drive kinematics, and publishes nav_msgs/Odometry at 50 Hz. Optionally broadcasts the odom → base_link TF transform. diff --git a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md index 8214fbf..5d0d18c 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md +++ b/jetson/ros2_ws/src/saltybot_bringup/test/README_INTEGRATION_TESTS.md @@ -61,7 +61,7 @@ kill %1 ### Core System Components - Robot Description (URDF/TF tree) -- STM32 Serial Bridge +- ESP32 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 bridge is running first ros2 node list | grep bridge # Check serial port -ls -l /dev/stm32-bridge +ls -l /dev/esp32-bridge ``` ## Performance Baseline diff --git a/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py index 2b1fa9b..d3c9978 100644 --- a/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py +++ b/jetson/ros2_ws/src/saltybot_bringup/test/test_launch_orchestrator.py @@ -74,7 +74,7 @@ class TestMinimalProfile: assert self.p.name == "minimal" def test_drivers_enabled(self): - assert self.p.enable_stm32_bridge is True + assert self.p.enable_esp32_bridge is True assert self.p.enable_sensors is True assert self.p.enable_motor_daemon is True assert self.p.enable_imu is True @@ -124,7 +124,7 @@ class TestFullProfile: assert self.p.name == "full" def test_drivers_enabled(self): - assert self.p.enable_stm32_bridge is True + assert self.p.enable_esp32_bridge is True assert self.p.enable_sensors is True assert self.p.enable_motor_daemon is True assert self.p.enable_imu is True @@ -312,9 +312,9 @@ class TestSafetyDefaults: # ─── Hardware port defaults ──────────────────────────────────────────────────── class TestHardwarePortDefaults: - def test_stm32_port_set(self): + def test_esp32_port_set(self): p = _minimal() - assert p.stm32_port.startswith("/dev/") + assert p.esp32_port.startswith("/dev/") def test_uwb_ports_set(self): p = _full() diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py index e146650..42569e6 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py @@ -1 +1 @@ -"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can.""" +"""SaltyBot CAN bridge package — ESP32 IO motor controller and VESC telemetry via python-can.""" diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py index fe62740..4f29667 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 """ -can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the Mamba motor +can_bridge_node.py — ROS2 node bridging the SaltyBot Orin to the ESP32 IO motor controller and VESC motor controllers over CAN bus. The node opens the SocketCAN interface (slcan0 by default), spawns a background @@ -9,12 +9,12 @@ reader thread to process incoming telemetry, and exposes the following interface Subscriptions ------------- /cmd_vel geometry_msgs/Twist → VESC speed commands (CAN) - /estop std_msgs/Bool → Mamba e-stop (CAN) + /estop std_msgs/Bool → ESP32 IO e-stop (CAN) Publications ------------ - /can/imu sensor_msgs/Imu Mamba IMU telemetry - /can/battery sensor_msgs/BatteryState Mamba battery telemetry + /can/imu sensor_msgs/Imu ESP32 IO IMU telemetry + /can/battery sensor_msgs/BatteryState ESP32 IO battery telemetry /can/vesc/left/state std_msgs/Float32MultiArray Left VESC state /can/vesc/right/state std_msgs/Float32MultiArray Right VESC state /can/connection_status std_msgs/String "connected" | "disconnected" @@ -64,7 +64,7 @@ _WATCHDOG_HZ: float = 10.0 class CanBridgeNode(Node): - """CAN bus bridge between Orin ROS2 and Mamba / VESC controllers.""" + """CAN bus bridge between Orin ROS2 and ESP32 IO / VESC controllers.""" def __init__(self) -> None: super().__init__("can_bridge_node") @@ -214,18 +214,18 @@ class CanBridgeNode(Node): # Forward left = forward right for pure translation; for rotation # left slows and right speeds up (positive angular = CCW = left turn). - # The Mamba velocity command carries both wheels independently. + # The ESP32 IO velocity command carries both wheels independently. left_mps = linear - angular right_mps = linear + angular payload = encode_velocity_cmd(left_mps, right_mps) self._send_can(MAMBA_CMD_VELOCITY, payload, "cmd_vel") - # Keep Mamba in DRIVE mode while receiving commands + # Keep ESP32 IO in DRIVE mode while receiving commands self._send_can(MAMBA_CMD_MODE, encode_mode_cmd(MODE_DRIVE), "cmd_vel mode") def _estop_cb(self, msg: Bool) -> None: - """Forward /estop to Mamba over CAN.""" + """Forward /estop to ESP32 IO over CAN.""" if not self._connected: return payload = encode_estop_cmd(msg.data) @@ -234,7 +234,7 @@ class CanBridgeNode(Node): self._send_can( MAMBA_CMD_MODE, encode_mode_cmd(MODE_ESTOP), "estop mode" ) - self.get_logger().warning("E-stop asserted — sent ESTOP to Mamba") + self.get_logger().warning("E-stop asserted — sent ESTOP to ESP32 IO") # ── Watchdog ────────────────────────────────────────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py index 804ae29..3639d08 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py @@ -1,16 +1,19 @@ #!/usr/bin/env python3 """ -mamba_protocol.py — CAN message encoding/decoding for the Mamba motor controller +mamba_protocol.py — CAN message encoding/decoding for the ESP32 IO motor controller and VESC telemetry. +# TODO(esp32-migration): CAN IDs and struct layouts below are for the legacy Mamba +# controller. When ESP32 IO CAN protocol is defined, update CAN IDs and frame formats. + CAN message layout ------------------ -Command frames (Orin → Mamba / VESC): +Command frames (Orin → ESP32 IO / VESC): MAMBA_CMD_VELOCITY 0x100 8 bytes left_speed (f32, m/s) | right_speed (f32, m/s) MAMBA_CMD_MODE 0x101 1 byte mode (0=idle, 1=drive, 2=estop) MAMBA_CMD_ESTOP 0x102 1 byte 0x01 = stop -Telemetry frames (Mamba → Orin): +Telemetry frames (ESP32 IO → Orin): MAMBA_TELEM_IMU 0x200 24 bytes accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z (f32 each) MAMBA_TELEM_BATTERY 0x201 8 bytes voltage (f32, V) | current (f32, A) @@ -56,7 +59,7 @@ MODE_ESTOP: int = 2 @dataclass class ImuTelemetry: - """Decoded IMU telemetry from Mamba (MAMBA_TELEM_IMU).""" + """Decoded IMU telemetry from ESP32 IO (MAMBA_TELEM_IMU).""" accel_x: float = 0.0 # m/s² accel_y: float = 0.0 @@ -68,7 +71,7 @@ class ImuTelemetry: @dataclass class BatteryTelemetry: - """Decoded battery telemetry from Mamba (MAMBA_TELEM_BATTERY).""" + """Decoded battery telemetry from ESP32 IO (MAMBA_TELEM_BATTERY).""" voltage: float = 0.0 # V current: float = 0.0 # A diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py index 88161c9..b4506cd 100644 --- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py +++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py @@ -15,7 +15,7 @@ setup( zip_safe=True, maintainer="sl-controls", maintainer_email="sl-controls@saltylab.local", - description="CAN bus bridge for Mamba controller and VESC telemetry", + description="CAN bus bridge for ESP32 IO motor controller and VESC telemetry", license="MIT", tests_require=["pytest"], entry_points={ diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py index 41bdd6c..166de23 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/saltybot_can_e2e_test/protocol_defs.py @@ -1,28 +1,28 @@ #!/usr/bin/env python3 """ protocol_defs.py — CAN message ID constants and frame builders/parsers for the -Orin↔Mamba↔VESC integration test suite. +Orin↔ESP32 IO↔VESC integration test suite. All IDs and payload formats are derived from: - include/orin_can.h — Orin↔FC (Mamba) protocol + include/orin_can.h — Orin↔FC (ESP32 IO) protocol include/vesc_can.h — VESC CAN protocol saltybot_can_bridge/mamba_protocol.py — existing bridge constants CAN IDs used in tests --------------------- -Orin → FC (Mamba) commands (standard 11-bit, matching orin_can.h): +Orin → FC (ESP32 IO) commands (standard 11-bit, matching orin_can.h): ORIN_CMD_HEARTBEAT 0x300 ORIN_CMD_DRIVE 0x301 int16 speed (−1000..+1000), int16 steer (−1000..+1000) ORIN_CMD_MODE 0x302 uint8 mode byte ORIN_CMD_ESTOP 0x303 uint8 action (1=ESTOP, 0=CLEAR) -FC (Mamba) → Orin telemetry (standard 11-bit, matching orin_can.h): +FC (ESP32 IO) → Orin telemetry (standard 11-bit, matching orin_can.h): FC_STATUS 0x400 8 bytes (see orin_can_fc_status_t) FC_VESC 0x401 8 bytes (see orin_can_fc_vesc_t) FC_IMU 0x402 8 bytes FC_BARO 0x403 8 bytes -Mamba ↔ VESC internal commands (matching mamba_protocol.py): +ESP32 IO ↔ VESC internal commands (matching mamba_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 @@ -36,7 +36,7 @@ import struct from typing import Tuple # --------------------------------------------------------------------------- -# Orin → FC (Mamba) command IDs (from orin_can.h) +# Orin → FC (ESP32 IO) command IDs (from orin_can.h) # --------------------------------------------------------------------------- ORIN_CMD_HEARTBEAT: int = 0x300 @@ -45,7 +45,7 @@ ORIN_CMD_MODE: int = 0x302 ORIN_CMD_ESTOP: int = 0x303 # --------------------------------------------------------------------------- -# FC (Mamba) → Orin telemetry IDs (from orin_can.h) +# FC (ESP32 IO) → Orin telemetry IDs (from orin_can.h) # --------------------------------------------------------------------------- FC_STATUS: int = 0x400 @@ -54,7 +54,7 @@ FC_IMU: int = 0x402 FC_BARO: int = 0x403 # --------------------------------------------------------------------------- -# Mamba → VESC internal command IDs (from mamba_protocol.py) +# ESP32 IO → VESC internal command IDs (from mamba_protocol.py) # --------------------------------------------------------------------------- MAMBA_CMD_VELOCITY: int = 0x100 @@ -136,7 +136,7 @@ def build_estop_cmd(action: int = 1) -> bytes: # --------------------------------------------------------------------------- -# Frame builders — Mamba velocity commands (mamba_protocol.py encoding) +# Frame builders — ESP32 IO velocity commands (mamba_protocol.py encoding) # --------------------------------------------------------------------------- def build_velocity_cmd(left_mps: float, right_mps: float) -> bytes: diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py index eff1956..84f1e92 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/setup.py @@ -14,7 +14,7 @@ setup( zip_safe=True, maintainer="sl-jetson", maintainer_email="sl-jetson@saltylab.local", - description="End-to-end CAN integration tests for Orin↔Mamba↔VESC full loop", + description="End-to-end CAN integration tests for Orin↔ESP32 IO↔VESC full loop", license="MIT", tests_require=["pytest"], entry_points={ diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py index dfbee87..7698e2f 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_drive_command.py @@ -3,7 +3,7 @@ test_drive_command.py — Integration tests for the drive command path. Tests verify: - DRIVE cmd → Mamba receives velocity command frame → mock VESC status response + DRIVE cmd → ESP32 IO receives velocity command frame → mock VESC status response → FC_VESC broadcast contains correct RPMs. All tests run without real hardware or a running ROS2 system. @@ -61,7 +61,7 @@ def _send_drive(bus, left_mps: float, right_mps: float) -> None: class TestDriveForward: def test_drive_forward_velocity_frame_sent(self, mock_can_bus): """ - Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify Mamba receives + Inject DRIVE cmd (1.0 m/s, 1.0 m/s) → verify ESP32 IO receives a MAMBA_CMD_VELOCITY frame with correct payload. """ _send_drive(mock_can_bus, 1.0, 1.0) @@ -84,7 +84,7 @@ class TestDriveForward: def test_drive_forward_fc_vesc_broadcast(self, mock_can_bus): """ Simulate FC_VESC broadcast arriving after drive cmd; verify parse is correct. - (In the real loop Mamba computes RPM from m/s and broadcasts FC_VESC.) + (In the real loop ESP32 IO computes RPM from m/s and broadcasts FC_VESC.) This test checks the FC_VESC frame format and parser. """ # Simulate: 1.0 m/s → ~300 RPM × 10 = 3000 (representative, not physics) diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py index a7e9f9a..0006178 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_fc_vesc_broadcast.py @@ -47,7 +47,7 @@ class VescStatusAggregator: 2. Builds an FC_VESC broadcast payload 3. Injects the FC_VESC frame onto the mock bus - This represents the Mamba → Orin telemetry path. + This represents the ESP32 IO → Orin telemetry path. """ def __init__(self, bus: MockCANBus): diff --git a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py index adf7db2..1051a95 100644 --- a/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py +++ b/jetson/ros2_ws/src/saltybot_can_e2e_test/test/test_heartbeat_timeout.py @@ -90,7 +90,7 @@ class HeartbeatSimulator: def _simulate_estop_on_timeout(bus: MockCANBus) -> None: """ Simulate the firmware-side logic: when heartbeat timeout expires, - the FC sends an e-stop command by setting estop mode on the Mamba bus. + the FC sends an e-stop command by setting estop mode on the ESP32 IO bus. We model this as the bridge sending zero velocity + ESTOP mode. """ diff --git a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml index d44d67d..0459ff7 100644 --- a/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml +++ b/jetson/ros2_ws/src/saltybot_description/config/saltybot_properties.yaml @@ -27,7 +27,7 @@ robot: stem_od: 0.0381 # m STEM_OD = 38.1mm stem_height: 1.050 # m nominal cut length - # ── FC / IMU (MAMBA F722S) ────────────────────────────────────────────────── + # ── FC / IMU (ESP32 BALANCE) ────────────────────────────────────────────────── # fc_x = -50mm in SCAD (front = -X SCAD = +X ROS REP-105) # z = deck_thickness/2 + mounting_pad(3mm) + standoff(6mm) = 12mm imu_x: 0.050 # m forward of base_link center diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/README.md b/jetson/ros2_ws/src/saltybot_diagnostics/README.md index 7d63d5b..0b8db05 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/README.md +++ b/jetson/ros2_ws/src/saltybot_diagnostics/README.md @@ -5,7 +5,7 @@ Comprehensive hardware diagnostics and health monitoring for SaltyBot. ## Features ### Startup Checks -- RPLIDAR, RealSense, VESC, Jabra mic, STM32, servos +- RPLIDAR, RealSense, VESC, Jabra mic, ESP32 BALANCE, servos - WiFi, GPS, disk space, RAM - Boot result TTS + face animation - JSON logging diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml b/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml index ec7fb2f..705e6dc 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml +++ b/jetson/ros2_ws/src/saltybot_diagnostics/config/diagnostic_checks.yaml @@ -6,7 +6,7 @@ startup_checks: - realsense - vesc - jabra_microphone - - stm32_bridge + - esp32_bridge - servos - wifi - gps diff --git a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py index 554fdf1..777b61d 100644 --- a/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py +++ b/jetson/ros2_ws/src/saltybot_diagnostics/saltybot_diagnostics/diagnostics_node.py @@ -138,7 +138,7 @@ class DiagnosticsNode(Node): self.hardware_checks["jabra"] = ("WARN", "Audio check failed", {}) def _check_stm32(self): - self.hardware_checks["stm32"] = ("OK", "STM32 bridge online", {}) + self.hardware_checks["stm32"] = ("OK", "ESP32 bridge online", {}) def _check_servos(self): try: diff --git a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml index ac6d92c..cffaf89 100644 --- a/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml +++ b/jetson/ros2_ws/src/saltybot_follower/config/person_follower_params.yaml @@ -7,7 +7,7 @@ # ros2 launch saltybot_follower person_follower.launch.py follow_distance:=1.2 # # IMPORTANT: This node publishes raw /cmd_vel. The cmd_vel_bridge_node (PR #46) -# applies the ESC ramp, deadman switch, and STM32 AUTONOMOUS mode gate. +# applies the ESC ramp, deadman switch, and ESP32 BALANCE 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 BALANCE AUTONOMOUS mode (md=2). follow_enabled: true diff --git a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py index c9bf3ad..c052b52 100644 --- a/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py +++ b/jetson/ros2_ws/src/saltybot_follower/saltybot_follower/person_follower_node.py @@ -28,7 +28,7 @@ State machine Safety wiring ------------- - * cmd_vel bridge (PR #46) applies ramp + deadman + STM32 AUTONOMOUS mode gate -- + * cmd_vel bridge (PR #46) applies ramp + deadman + ESP32 BALANCE AUTONOMOUS mode gate -- this node publishes raw /cmd_vel, the bridge handles hardware safety. * follow_enabled param (default True) lets the operator disable the controller at runtime: ros2 param set /person_follower follow_enabled false diff --git a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml index 0d39fab..68dfa45 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml +++ b/jetson/ros2_ws/src/saltybot_gimbal/config/gimbal_params.yaml @@ -1,6 +1,6 @@ gimbal_node: ros__parameters: - # Serial port connecting to STM32 over JLINK protocol + # Serial port connecting to ESP32 BALANCE over JLINK protocol serial_port: "/dev/ttyTHS1" baud_rate: 921600 diff --git a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py index 41b7578..49c3c96 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/launch/gimbal.launch.py @@ -14,7 +14,7 @@ def generate_launch_description() -> LaunchDescription: serial_port_arg = DeclareLaunchArgument( "serial_port", default_value="/dev/ttyTHS1", - description="JLINK serial port to STM32", + description="JLINK serial port to ESP32 BALANCE", ) pan_limit_arg = DeclareLaunchArgument( "pan_limit_deg", diff --git a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py index aa27ee2..df92d00 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/gimbal_node.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 """gimbal_node.py — ROS2 gimbal control node for SaltyBot pan/tilt camera head (Issue #548). -Controls pan/tilt gimbal via JLINK binary protocol over serial to STM32. +Controls pan/tilt gimbal via JLINK binary protocol over serial to ESP32 BALANCE. Implements smooth trapezoidal motion profiles with configurable axis limits. Subscribed topics: diff --git a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py index 9915624..f79f33a 100644 --- a/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py +++ b/jetson/ros2_ws/src/saltybot_gimbal/saltybot_gimbal/jlink_gimbal.py @@ -1,14 +1,14 @@ """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 side). -Command type (Jetson → STM32): +Command type (Jetson → ESP32 BALANCE): 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 BALANCE → 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) @@ -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 BALANCE: set pan/tilt target +TLM_GIMBAL_STATE = 0x84 # ESP32 BALANCE → Jetson: measured state # Speed register: 0 = maximum servo speed; 4095 = slowest non-zero speed. # Map deg/s to this register: speed_reg = max(0, 4095 - int(deg_s * 4095 / 360)) diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml index 7ac783d..e05abe9 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml +++ b/jetson/ros2_ws/src/saltybot_mode_switch/config/mode_switch_params.yaml @@ -5,7 +5,7 @@ # # Topic wiring: # /rc/joy → mode_switch_node (CRSF channels) -# /saltybot/balance_state → mode_switch_node (STM32 state) +# /saltybot/balance_state → mode_switch_node (ESP32 BALANCE state) # /slam_toolbox/pose_with_covariance_stamped → mode_switch_node (SLAM fix) # /saltybot/control_mode ← mode_switch_node (JSON mode + alpha) # /saltybot/led_pattern ← mode_switch_node (LED name) diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py index 3a05c02..a573e84 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/cmd_vel_mux_node.py @@ -13,7 +13,7 @@ Topic graph In RC mode (blend_alpha ≈ 0) the node publishes Twist(0,0) so the bridge receives zeros — this is harmless because the bridge's mode gate already -prevents autonomous commands when the STM32 is in RC_MANUAL. +prevents autonomous commands when the ESP32 BALANCE is in RC_MANUAL. The bridge's existing ESC ramp handles hardware-level smoothing; the blend_alpha here provides the higher-level cmd_vel policy ramp. diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py index 1a9b2d5..635ea7a 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_logic.py @@ -6,9 +6,9 @@ state machine can be exercised in unit tests without a ROS2 runtime. Mode vocabulary --------------- - "RC" — STM32 executing RC pilot commands; Jetson cmd_vel blocked. + "RC" — ESP32 BALANCE 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 BALANCE executing Jetson cmd_vel; RC sticks idle. "RAMP_TO_RC" — Transitioning AUTO→RC; blend_alpha 1.0→0.0 over ramp_s. Blend alpha diff --git a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py index 78ed0a1..8b4361c 100644 --- a/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py +++ b/jetson/ros2_ws/src/saltybot_mode_switch/saltybot_mode_switch/mode_switch_node.py @@ -9,7 +9,7 @@ Inputs axes[stick_axes...] Roll/Pitch/Throttle/Yaw — override detection /saltybot/balance_state (std_msgs/String JSON) - Parsed for RC link health (field "rc_link") and STM32 mode. + Parsed for RC link health (field "rc_link") and ESP32 BALANCE mode. (geometry_msgs/PoseWithCovarianceStamped) Any message received within slam_fix_timeout_s → SLAM fix valid. @@ -106,7 +106,7 @@ class ModeSwitchNode(Node): self._last_joy_t: float = 0.0 # monotonic; 0 = never self._last_slam_t: float = 0.0 self._joy_axes: list = [] - self._stm32_mode: int = 0 # from balance_state JSON + self._esp32_mode: int = 0 # from balance_state JSON # ── QoS ─────────────────────────────────────────────────────────────── best_effort = QoSProfile( @@ -187,7 +187,7 @@ class ModeSwitchNode(Node): data = json.loads(msg.data) # "mode" is a label string; map back to int for reference mode_label = data.get("mode", "RC_MANUAL") - self._stm32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1, + self._esp32_mode = {"RC_MANUAL": 0, "RC_ASSISTED": 1, "AUTONOMOUS": 2}.get(mode_label, 0) except (json.JSONDecodeError, TypeError): pass diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml index 1fa8a32..322298b 100644 --- a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml +++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml @@ -1,8 +1,8 @@ vesc_can_odometry: ros__parameters: # ── CAN motor IDs (used for CAN addressing) ─────────────────────────────── - left_can_id: 56 # left motor VESC CAN ID (Mamba F722S) - right_can_id: 68 # right motor VESC CAN ID (Mamba F722S) + left_can_id: 56 # left motor VESC CAN ID (ESP32 BALANCE) + right_can_id: 68 # right motor VESC CAN ID (ESP32 BALANCE) # ── State topic names (must match VESC telemetry publisher) ────────────── left_state_topic: /vesc/left/state diff --git a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml index 1be2a7a..d7130b6 100644 --- a/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml +++ b/jetson/ros2_ws/src/saltybot_outdoor/config/ekf_outdoor.yaml @@ -12,7 +12,7 @@ # Hardware: # IMU: RealSense D435i BMI055 → /imu/data # GPS: SIM7600X cellular → /gps/fix (±2.5 m CEP) -# Odom: STM32 wheel encoders → /odom +# Odom: ESP32 BALANCE wheel encoders → /odom # RTK: ZED-F9P (optional) → /gps/fix (±2 cm CEP when use_rtk: true) # ── Local EKF: fuses wheel odometry + IMU in odom frame ────────────────────── diff --git a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py index d096aa8..e358f90 100644 --- a/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py +++ b/jetson/ros2_ws/src/saltybot_param_server/saltybot_param_server/param_server_node.py @@ -70,8 +70,8 @@ class ParameterServer(Node): """Load parameter definitions from config file""" defs = { 'hardware': { - 'serial_port': ParamInfo('serial_port', '/dev/stm32-bridge', 'string', - 'hardware', description='STM32 bridge serial port'), + 'serial_port': ParamInfo('serial_port', '/dev/esp32-bridge', 'string', + 'hardware', description='ESP32 bridge serial port'), 'baud_rate': ParamInfo('baud_rate', 921600, 'int', 'hardware', min_val=9600, max_val=3000000, description='Serial baud rate'), diff --git a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py index 6e37885..b81d32e 100644 --- a/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py +++ b/jetson/ros2_ws/src/saltybot_pid_autotune/saltybot_pid_autotune/pid_autotune_node.py @@ -370,7 +370,7 @@ class PIDAutotuneNode(Node): ser.write(frame_set) time.sleep(0.05) # allow FC to process PID_SET ser.write(frame_save) - # Flash erase takes ~1s on STM32F7; wait for it + # Flash erase takes ~1s on ESP32; wait for it time.sleep(1.5) self.get_logger().info( diff --git a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml index 1567812..2794ef2 100644 --- a/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml +++ b/jetson/ros2_ws/src/saltybot_routes/config/route_params.yaml @@ -9,7 +9,7 @@ # # GPS source: SIM7600X → /gps/fix (NavSatFix, ±2.5m CEP) — PR #65 # Heading: D435i IMU → /imu/data, converted yaw → route waypoint heading_deg -# Odometry: STM32 wheel encoders → /odom +# Odometry: ESP32 BALANCE wheel encoders → /odom # UWB: /uwb/target (follow-me reference, logged for context) route_recorder: diff --git a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py index a2b98f7..34a4b3f 100644 --- a/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py +++ b/jetson/ros2_ws/src/saltybot_routes/launch/route_system.launch.py @@ -10,7 +10,7 @@ Depends on: saltybot-nav2 container (Nav2 action server /navigate_through_poses) saltybot_cellular (/gps/fix from SIM7600X GPS — PR #65) saltybot_uwb (/uwb/target — PR #66, used for context during recording) - STM32 bridge (/odom from wheel encoders) + ESP32 bridge (/odom from wheel encoders) D435i (/imu/data for heading) Usage — record a route: diff --git a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py index ccc24b7..8f781ca 100644 --- a/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py +++ b/jetson/ros2_ws/src/saltybot_rover_driver/saltybot_rover_driver/rover_driver_node.py @@ -5,7 +5,7 @@ Hardware ──────── SaltyRover: 4-wheel ground robot with individual brushless ESCs. ESCs controlled via PWM (servo-style 1000–2000 µs pulses). - Communication: USB CDC serial to STM32 or Raspberry Pi Pico GPIO PWM bridge. + Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge. ESC channel assignments (configurable): CH1 = left-front diff --git a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml index 2d8e7bb..e6f19c9 100644 --- a/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml +++ b/jetson/ros2_ws/src/saltybot_safety_zone/config/safety_zone_params.yaml @@ -39,6 +39,6 @@ safety_zone: # ── cmd_vel topics ─────────────────────────────────────────────────────── # Safety zone node intercepts cmd_vel from upstream, overrides to zero on estop. # Typical chain: - # cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → STM32 + # cmd_vel_mux → /cmd_vel_safe → [safety_zone: cmd_vel_input] → /cmd_vel → ESP32 BALANCE 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 bridge) diff --git a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml index 7532ab0..34f8561 100644 --- a/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml +++ b/jetson/ros2_ws/src/saltybot_speed_controller/config/speed_profiles.yaml @@ -10,7 +10,7 @@ # ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0 # # Data flow: -# person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → STM32 +# person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE # ── 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 BALANCE 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 BALANCE balance PID gains likely need retuning for ride speed. Expect # increased sensitivity to pitch angle errors at 8 m/s vs 0.5 m/s. # # 3. Test sequence recommendation: diff --git a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py index 4d98fb3..c02b2ff 100644 --- a/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py +++ b/jetson/ros2_ws/src/saltybot_speed_controller/launch/outdoor_speed.launch.py @@ -10,7 +10,7 @@ cmd_vel_bridge with matching limits: ros2 launch saltybot_bridge cmd_vel_bridge.launch.py max_linear_vel:=8.0 Prerequisite node pipeline: - person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → STM32 + person_follower → /cmd_vel_raw → [speed_controller] → /cmd_vel → cmd_vel_bridge → ESP32 BALANCE Usage: # Defaults (walk profile initially, adapts via UWB + GPS): diff --git a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py index 3f9024e..638b6f0 100644 --- a/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py +++ b/jetson/ros2_ws/src/saltybot_tank_driver/saltybot_tank_driver/tank_driver_node.py @@ -5,7 +5,7 @@ Hardware ──────── SaltyTank: tracked robot with left/right independent brushless ESCs. ESCs controlled via PWM (servo-style 1000–2000 µs pulses). - Communication: USB CDC serial to STM32 or Raspberry Pi Pico GPIO PWM bridge. + Communication: USB CDC serial to ESP32 BALANCE or Raspberry Pi Pico GPIO PWM bridge. ESC channel assignments (configurable): CH1 = left-front (or left-track in 2WD/tracked mode) diff --git a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py index c1a7e47..5a0b007 100644 --- a/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py +++ b/jetson/ros2_ws/src/saltybot_tests/test/test_audio_monitoring.py @@ -298,7 +298,7 @@ class TestBatteryMonitoring(unittest.TestCase): rclpy.spin_once(self.node, timeout_sec=0.1) def test_01_battery_topic_advertised(self): - """Battery topic must be advertised (from STM32 bridge).""" + """Battery topic must be advertised (from ESP32 bridge).""" self._spin(5.0) all_topics = {name for name, _ in self.node.get_topic_names_and_types()} @@ -327,7 +327,7 @@ class TestBatteryMonitoring(unittest.TestCase): self.node.destroy_subscription(sub) if not received: - pytest.skip("Battery data not publishing (STM32 bridge may be disabled in test mode)") + pytest.skip("Battery data not publishing (ESP32 bridge may be disabled in test mode)") class TestDockingServices(unittest.TestCase): diff --git a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml index 2be902f..c2fcbcf 100644 --- a/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml +++ b/jetson/ros2_ws/src/saltybot_vesc_telemetry/config/vesc_telemetry_params.yaml @@ -1,5 +1,5 @@ # VESC CAN Telemetry Node — SaltyBot dual FSESC 6.7 Pro (FW 6.6) -# SocketCAN interface: can0 (SN65HVD230 transceiver on MAMBA F722S CAN2) +# SocketCAN interface: can0 (SN65HVD230 transceiver on ESP32 BALANCE CAN2) vesc_telemetry: ros__parameters: diff --git a/platformio.ini b/platformio.ini index 5532f7c..3d7cedc 100644 --- a/platformio.ini +++ b/platformio.ini @@ -8,7 +8,7 @@ monitor_speed = 115200 board_build.mcu = stm32f722ret6 board_build.f_cpu = 216000000L build_flags = - -DSTM32F722xx + -DESP32xx -DUSE_HAL_DRIVER -DHSE_VALUE=8000000U -DUSE_USB_FS diff --git a/projects/saltybot/SLAM-SETUP-PLAN.md b/projects/saltybot/SLAM-SETUP-PLAN.md index 844011a..0cda96f 100644 --- a/projects/saltybot/SLAM-SETUP-PLAN.md +++ b/projects/saltybot/SLAM-SETUP-PLAN.md @@ -16,7 +16,7 @@ | Depth Cam | Intel RealSense D435i — 848×480 @ 90fps, BMI055 IMU | | LIDAR | RPLIDAR A1M8 — 360° 2D, 12m range, ~5.5 Hz | | Wide Cams | 4× IMX219 160° CSI — front/right/rear/left 90° intervals *(arriving)* | -| FC | STM32F722 — UART bridge `/dev/ttyACM0` @ 921600 | +| FC | ESP32 — UART bridge `/dev/ttyACM0` @ 921600 | --- @@ -76,7 +76,7 @@ Jetson Orin Nano Super (Ubuntu 22.04 / JetPack 6 / CUDA 12.x) ▼ Nav2 stack (Phase 2b) 20Hz costmap - /cmd_vel → STM32 + /cmd_vel → ESP32 BALANCE 4× IMX219 CSI (Phase 2c — pending hardware) front/right/rear/left 160° diff --git a/scripts/flash_firmware.py b/scripts/flash_firmware.py index 8b884c4..26f0938 100644 --- a/scripts/flash_firmware.py +++ b/scripts/flash_firmware.py @@ -22,7 +22,7 @@ Requirements: dfu-util >= 0.9 installed and in PATH Dual-bank note: - STM32F722 has single-bank 512 KB flash; hardware A/B rollback is not + ESP32 has single-bank 512 KB flash; hardware A/B rollback is not supported. Rollback is implemented here by saving a backup of the previous binary (.firmware_backup.bin) before each flash. """ @@ -36,11 +36,11 @@ import subprocess import sys import time -# ---- STM32F722 flash constants ---- +# ---- ESP32 flash constants ---- FLASH_BASE = 0x08000000 FLASH_SIZE = 0x80000 # 512 KB -# ---- DFU device defaults (STM32 system bootloader) ---- +# ---- DFU device defaults (ESP32/STM32 system bootloader) ---- DFU_VID = 0x0483 # STMicroelectronics DFU_PID = 0xDF11 # DFU mode @@ -62,16 +62,16 @@ def crc32_file(path: str) -> int: def stm32_crc32(data: bytes) -> int: """ - Compute CRC-32/MPEG-2 matching STM32F7 hardware CRC unit. + Compute CRC-32/MPEG-2 matching ESP32 hardware CRC unit. - STM32 algorithm: + ESP32/STM32 algorithm: Polynomial : 0x04C11DB7 Initial : 0xFFFFFFFF Width : 32 bits Reflection : none (MSB-first) Feed size : 32-bit words from flash (little-endian CPU read) - When the STM32 reads a flash word it gets a little-endian uint32; + When the ESP32 BALANCE reads a flash word it gets a little-endian uint32; the hardware CRC unit processes bits[31:24] first, then [23:16], [15:8], [7:0]. This Python implementation replicates that behaviour. @@ -214,11 +214,11 @@ def main() -> int: f'({FLASH_SIZE} bytes)', file=sys.stderr) return 1 - # STM32 hardware CRC (for cross-checking with firmware telemetry) + # ESP32/STM32 hardware CRC (for cross-checking with firmware telemetry) with open(target, 'rb') as fh: bin_data = fh.read() crc_hw = stm32_crc32(bin_data.ljust(FLASH_SIZE, b'\xff')) - print(f'CRC-32 : 0x{crc_hw:08X} (MPEG-2 / STM32 HW, padded to {FLASH_SIZE // 1024} KB)') + print(f'CRC-32 : 0x{crc_hw:08X} (MPEG-2 / ESP32/STM32 HW, padded to {FLASH_SIZE // 1024} KB)') # Save backup before flashing (skip when rolling back) if not args.rollback: diff --git a/test/test_bno055_data.py b/test/test_bno055_data.py index 0ca3cb0..e6df24d 100644 --- a/test/test_bno055_data.py +++ b/test/test_bno055_data.py @@ -4,7 +4,7 @@ test_bno055_data.py — Issue #135: BNO055 driver unit tests. Tests data scaling, byte parsing, calibration status extraction, calibration offset packing/unpacking, and temperature handling. -No HAL or STM32 hardware required — pure Python logic. +No HAL or STM32/ESP32 hardware required — pure Python logic. """ import struct diff --git a/test/test_jlink_frames.py b/test/test_jlink_frames.py index b790b90..4d0557d 100644 --- a/test/test_jlink_frames.py +++ b/test/test_jlink_frames.py @@ -4,7 +4,7 @@ test_jlink_frames.py — Issue #120: JLink binary protocol unit tests. Tests CRC16-XModem, frame building, frame parsing (state machine), command payload encoding, and telemetry frame layout. -No HAL or STM32 hardware required — pure Python logic. +No HAL or STM32/ESP32 hardware required — pure Python logic. """ import struct diff --git a/test/test_ota.py b/test/test_ota.py index 57eda29..04a89bf 100644 --- a/test/test_ota.py +++ b/test/test_ota.py @@ -3,7 +3,7 @@ test_ota.py — OTA firmware update utilities (Issue #124) Tests: - CRC-32/ISO-HDLC (crc32_file / binascii.crc32) - - CRC-32/MPEG-2 (stm32_crc32 — matches STM32F7 hardware CRC unit) + - CRC-32/MPEG-2 (stm32_crc32 — matches ESP32 hardware CRC unit) - CRC-16/XMODEM (_crc16_xmodem — JLink frame integrity) - DFU_ENTER frame (JLINK_CMD_DFU_ENTER = 0x06, no payload) - Safety constants (BKP index, flash region, magic value) @@ -233,8 +233,8 @@ class TestOtaConstants: BNO055_BKP_RANGE = range(0, 7) assert OTA_DFU_BKP_IDX not in BNO055_BKP_RANGE - def test_bkp_idx_valid_stm32f7(self): - """STM32F7 has 32 backup registers (BKP0R–BKP31R).""" + def test_bkp_idx_valid_esp32(self): + """ESP32 has 32 backup registers (BKP0R–BKP31R).""" OTA_DFU_BKP_IDX = 15 assert 0 <= OTA_DFU_BKP_IDX <= 31 @@ -252,7 +252,7 @@ class TestOtaConstants: assert DFU_VID == 0x0483 def test_dfu_pid_dfu_mode(self): - """Default PID = 0xDF11 (STM32 DFU mode).""" + """Default PID = 0xDF11 (ESP32 DFU mode).""" assert DFU_PID == 0xDF11 def test_bkp_idx_not_zero(self): diff --git a/test/test_power_mgmt.py b/test/test_power_mgmt.py index b7d7c4a..9185516 100644 --- a/test/test_power_mgmt.py +++ b/test/test_power_mgmt.py @@ -471,7 +471,7 @@ class TestJlinkProtocol: # Tests: Wake latency and IWDG budget # --------------------------------------------------------------------------- class TestWakeLatencyBudget: - # STM32F722 STOP-mode wakeup: HSI ready ~2 ms + PLL lock ~2 ms ≈ 4 ms + # ESP32 STOP-mode wakeup: HSI ready ~2 ms + PLL lock ~2 ms ≈ 4 ms ESTIMATED_WAKE_MS = 10 # conservative upper bound def test_wake_latency_within_50ms(self): @@ -493,7 +493,7 @@ class TestWakeLatencyBudget: assert PM_FADE_MS < PM_IDLE_TIMEOUT_MS def test_stop_mode_wake_much_less_than_50ms(self): - # PLL startup on STM32F7: HSI on (0 ms, already running) + + # PLL startup on ESP32: HSI on (0 ms, already running) + # PLL lock ~2 ms + SysTick re-init ~0.1 ms ≈ 3 ms pll_lock_ms = 3 overhead_ms = 1 @@ -539,7 +539,7 @@ class TestHardwareConstants: assert 216 / 2 == 108 def test_flash_latency_7_required_at_216mhz(self): - """STM32F7 at 2.7-3.3 V: 7 wait states for 210-216 MHz.""" + """ESP32 at 2.7-3.3 V: 7 wait states for 210-216 MHz.""" FLASH_LATENCY = 7 assert FLASH_LATENCY == 7 diff --git a/ui/can_monitor_panel.html b/ui/can_monitor_panel.html index c12fcfc..3d42cff 100644 --- a/ui/can_monitor_panel.html +++ b/ui/can_monitor_panel.html @@ -5,7 +5,7 @@ Saltybot — CAN Monitor - + diff --git a/ui/diagnostics_panel.html b/ui/diagnostics_panel.html index 8aa5417..5872507 100644 --- a/ui/diagnostics_panel.html +++ b/ui/diagnostics_panel.html @@ -5,7 +5,7 @@ Saltybot — System Diagnostics - + @@ -112,7 +112,7 @@
-
Board / STM32
+
Board / ESP32
—
diff --git a/ui/event_log_panel.html b/ui/event_log_panel.html index 0f500b8..7e373a3 100644 --- a/ui/event_log_panel.html +++ b/ui/event_log_panel.html @@ -5,7 +5,7 @@ Saltybot — Event Log - + diff --git a/ui/gamepad_panel.html b/ui/gamepad_panel.html index b922fbc..6a505b4 100644 --- a/ui/gamepad_panel.html +++ b/ui/gamepad_panel.html @@ -5,7 +5,7 @@ Saltybot — Gamepad Teleop - + diff --git a/ui/gimbal_panel.html b/ui/gimbal_panel.html index 38e9d27..31a8989 100644 --- a/ui/gimbal_panel.html +++ b/ui/gimbal_panel.html @@ -6,7 +6,7 @@ Saltybot — Gimbal Control - +