docs: SAUL-TEE full ESP32-S3 system reference (arch migration) #712
18
CLAUDE.md
18
CLAUDE.md
@ -1,18 +1,22 @@
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|||||||
# SaltyLab Firmware — Agent Playbook
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# SaltyLab Firmware — Agent Playbook
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||||||
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||||||
## Project
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## Project
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||||||
Self-balancing two-wheeled robot: **two ESP32 boards** (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM.
|
**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
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||||||
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Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
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||||||
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> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) and ESP32 IO are NO LONGER USED.
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| Board | Role |
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> Replaced by: **ESP32 BALANCE** (PID loop) + **ESP32 IO** (motors/sensors/comms).
|
|-------|------|
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||||||
> The `src/` and `include/` ESP32 BALANCE firmware is legacy/archived — do not extend it.
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| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
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> New firmware goes in `esp32/` — pin assignments and framework details TBD pending max.
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| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
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| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
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> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
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## Team
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## Team
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||||||
| Agent | Role | Focus |
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| Agent | Role | Focus |
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||||||
|-------|------|-------|
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|-------|------|-------|
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||||||
| **sl-firmware** | Embedded Firmware Lead | ESP32 firmware, balance loop, I/O drivers, PlatformIO |
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| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU sensor fusion, real-time control loops, safety systems |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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## Status
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## Status
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12
TEAM.md
12
TEAM.md
@ -1,15 +1,13 @@
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# SaltyLab — Ideal Team
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# SaltyLab — Ideal Team
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||||||
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## Project
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## Project
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||||||
Self-balancing two-wheeled robot using **two ESP32 boards** (BALANCE + IO), hoverboard hub motors, Jetson Orin for AI/SLAM.
|
**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
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||||||
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Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
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> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) and ESP32 IO retired.
|
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> Replaced by ESP32 BALANCE (PID loop) + ESP32 IO (motors/sensors/comms).
|
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## Current Status
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## Current Status
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- **Hardware:** ESP32 BALANCE + ESP32 IO replacing STM32 FC — details from max incoming
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- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
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- **Firmware:** ESP32 firmware TBD; legacy STM32 code in `src/` is archived
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- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
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- **STM32 legacy (archived):** USB CDC bug was STM32-specific — no longer applies
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- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
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---
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---
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||||||
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@ -2,37 +2,29 @@
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|||||||
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You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read this entire file before touching anything.
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You're working on **SaltyLab**, a self-balancing two-wheeled indoor robot. Read this entire file before touching anything.
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||||||
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## ⚠️ ARCHITECTURE CHANGE — 2026-04-03
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## ⚠️ ARCHITECTURE — SAUL-TEE (finalised 2026-04-04)
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**ESP32 BALANCE (ESP32) and ESP32 IO are NO LONGER USED.**
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Full hardware spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md` — **read it before writing firmware.**
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New hardware:
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| Board | Role |
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- **ESP32 BALANCE** — PID balance loop (replaces FC)
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|-------|------|
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- **ESP32 IO** — motors, sensors, comms
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| **ESP32-S3 BALANCE** | Waveshare Touch LCD 1.28 (CH343 USB). QMI8658 IMU, PID loop, CAN→VESC L(68)/R(56), GC9A01 LCD |
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| **ESP32-S3 IO** | Bare devkit (JTAG USB). TBS Crossfire RC (UART0), ELRS failover (UART2), BTS7960 motors, NFC/baro/ToF, WS2812, buzzer/horn/headlight/fan |
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The `src/` and `include/` ESP32/STM32 HAL firmware is **legacy/archived**. Do not extend it.
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| **Jetson Orin** | CANable2 USB→CAN. Cmds on 0x300–0x303, telemetry on 0x400–0x401 |
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All new firmware targets the ESP32 boards in `esp32/`. Pin assignments and framework TBD — await details from max.
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## Project Overview
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A hoverboard-based balancing robot with two compute layers:
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1. **ESP32 BALANCE** — PID balance loop. IMU + balance PID, safety-critical layer.
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2. **ESP32 IO** — motors, sensors, comms layer.
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3. **Jetson Orin** — AI brain. ROS2, SLAM, person tracking. Not safety-critical.
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```
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```
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Jetson (speed+steer) ←→ ELRS RC (kill switch)
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Jetson Orin ──CANable2──► CAN 500kbps ◄───────────────────────┐
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│
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│ │
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▼
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ESP32-S3 BALANCE ←─UART 460800─► ESP32-S3 IO
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ESP32 BALANCE (IMU, PID balance loop)
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(QMI8658, PID loop) (BTS7960, RC, sensors)
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│
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│ CAN 500kbps
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▼
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┌─────────┴──────────┐
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ESP32 IO (motor drivers, sensors, comms)
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VESC Left (ID 68) VESC Right (ID 56)
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│
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▼
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Hoverboard ESC (FOC) → 2× 8" hub motors
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```
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```
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Frame: `[0xAA][LEN][TYPE][PAYLOAD][CRC8]`
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Legacy `src/` STM32 HAL code is **archived — do not extend.**
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## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
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## ⚠️ SAFETY — READ THIS OR PEOPLE GET HURT
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This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, and launch the frame. Every firmware change must preserve these invariants:
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This is not a toy. 8" hub motors + 36V battery can crush fingers, break toes, and launch the frame. Every firmware change must preserve these invariants:
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@ -1,11 +1,6 @@
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# SaltyLab — Self-Balancing Indoor Bot 🔬
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# SAUL-TEE — Self-Balancing Wagon Robot 🔬
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||||||
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Two-wheeled, self-balancing robot for indoor AI/SLAM experiments.
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Four-wheel wagon (870×510×550 mm, 23 kg). Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
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||||||
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> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** ESP32 BALANCE (ESP32) and ESP32 IO are retired.
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> New compute stack: **ESP32 BALANCE** (PID loop) + **ESP32 IO** (motors/sensors/comms).
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> Sections below referencing the Drone FC / ESP32 / GEPRC GEP-F7 are historical.
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> Await updated spec from max before writing new firmware.
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## ⚠️ SAFETY — TOP PRIORITY
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## ⚠️ SAFETY — TOP PRIORITY
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@ -1,444 +1,222 @@
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# SAUL-TEE — System Reference
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# SAUL-TEE System Reference — SaltyLab ESP32 Architecture
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**Rev A — 2026-04-04**
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*Authoritative source of truth for hardware, pins, protocols, and CAN assignments.*
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_Authoritative architecture reference for all agents. Source: hal (Orin), max._
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*Spec from hal@Orin, 2026-04-04.*
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---
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---
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## 1. Robot Overview
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## Overview
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| Parameter | Value |
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| Board | Role | MCU | USB chip |
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|-----------|-------|
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|-------|------|-----|----------|
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| **Name** | SAUL-TEE |
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| **ESP32-S3 BALANCE** | PID balance loop, CAN→VESCs, LCD display | ESP32-S3 | CH343 USB-serial |
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| **Config** | 4-wheel wagon (replaces 2-wheel self-balancing bot) |
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| **ESP32-S3 IO** | RC input, motor drivers, sensors, LEDs, peripherals | ESP32-S3 | JTAG USB (native) |
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| **Dimensions** | 870 × 510 × 550 mm (L × W × H) |
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| **Mass** | ~23 kg |
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| **Drive** | 4× hub motors via 2× VESC 6.7 (dual channel each) |
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| **Power** | 36V battery bus |
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| **AI brain** | Jetson Orin Nano Super (25W) |
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| **CAN bus** | 500 kbps, CANable 2.0 USB↔CAN on Orin |
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> ⚠️ **ARCHITECTURE CHANGE (2026-04-03):** Mamba F722S / STM32F722 / BlackPill are retired.
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**Robot form factor:** 4-wheel wagon — 870 × 510 × 550 mm, ~23 kg
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> New embedded stack: **ESP32-S3 BALANCE** + **ESP32-S3 IO** (see §2–3 below).
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**Power:** 36 V LiPo, DC-DC → 5 V and 12 V rails
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**Orin connection:** CANable2 USB → 500 kbps CAN (same bus as VESCs)
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---
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---
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||||||
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## 2. ESP32-S3 BALANCE Board
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## ESP32-S3 BALANCE
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### Hardware
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### Board
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| Item | Detail |
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Waveshare ESP32-S3 Touch LCD 1.28
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|------|--------|
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- GC9A01 round 240×240 LCD
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| **Module** | Waveshare ESP32-S3 Touch LCD 1.28 |
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- CST816S capacitive touch
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| **MCU** | ESP32-S3 (dual-core 240 MHz, 512KB SRAM, 8MB flash, 8MB PSRAM) |
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- QMI8658 6-axis IMU (accel + gyro, SPI)
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| **USB** | CH343G USB-UART bridge (UART0 / GPIO43 TX, GPIO44 RX) |
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- CH343 USB-to-serial chip
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| **Display** | 1.28" round GC9A01 240×240 LCD (SPI) |
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| **Touch** | CST816S capacitive touch (I2C) |
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| **IMU** | QMI8658 6-axis (gyro + accel), I2C on-board |
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| **CAN transceiver** | SN65HVD230, external, wired to ESP32-S3 TWAI peripheral |
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### Role
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### Pin Assignments
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- Runs the **PID balance / drive loop** (or stability assist for wagon mode)
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- Reads QMI8658 IMU at high rate for tilt / attitude
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- Sends drive commands to VESCs over **500 kbps CAN** (VESC native protocol)
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- Receives high-level velocity commands from Orin over CAN (0x300–0x303)
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- Publishes telemetry to Orin over CAN (0x400–0x401)
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- Bridges ESP32-IO sensor data over **inter-board UART** @ 460800 baud
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### On-Board Pin Map (fixed by Waveshare PCB)
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| Function | GPIO | Notes |
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|----------|------|-------|
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| **QMI8658 IMU (SPI)** | | |
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| SCK | IO39 | |
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| MOSI | IO38 | |
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| MISO | IO40 | |
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| CS | IO41 | |
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| INT1 | IO42 | data-ready interrupt |
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| **GC9A01 LCD (shares SPI bus)** | | |
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| CS | IO12 | |
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| DC | IO11 | |
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| RST | IO10 | |
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| BL | IO9 | PWM backlight |
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| **CST816S Touch (I2C)** | | |
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| SDA | IO4 | |
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| SCL | IO5 | |
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| INT | IO6 | |
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| RST | IO7 | |
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| **CAN — SN65HVD230 transceiver** | | 500 kbps |
|
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| TX | IO43 | → SN65HVD230 TXD |
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| RX | IO44 | ← SN65HVD230 RXD |
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| **Inter-board UART (to IO board)** | | 460800 baud |
|
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| TX | IO17 | |
|
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| RX | IO18 | |
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||||||
|
|
||||||
| Signal | GPIO | Notes |
|
### Responsibilities
|
||||||
|--------|------|-------|
|
- Read QMI8658 @ 1 kHz (SPI, INT1-driven)
|
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| LCD SCLK | 10 | GC9A01 SPI clock |
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- Complementary filter → pitch angle
|
||||||
| LCD MOSI | 11 | GC9A01 SPI data |
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- PID balance loop (configurable Kp / Ki / Kd)
|
||||||
| LCD CS | 9 | GC9A01 chip select |
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- Send VESC speed commands via CAN (ID 68 = left, ID 56 = right)
|
||||||
| LCD DC | 8 | GC9A01 data/cmd |
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- Receive Orin velocity+mode commands via CAN (0x300–0x303)
|
||||||
| LCD BL | 2 | Backlight PWM |
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- Receive IO board status (arming, RC, faults) via UART protocol
|
||||||
| Touch SDA | 6 | CST816S / I2C-0 |
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- Drive GC9A01 LCD: pitch, speed, battery %, error state
|
||||||
| Touch SCL | 7 | CST816S / I2C-0 |
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- Enforce tilt cutoff at ±25°; IWDG 50 ms timeout
|
||||||
| Touch INT | 5 | Active-low interrupt |
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- Publish telemetry on CAN 0x400–0x401 at 10 Hz
|
||||||
| Touch RST | 4 | Active-low reset |
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|
||||||
| IMU SDA | 6 | QMI8658 shares I2C-0 |
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|
||||||
| IMU SCL | 7 | QMI8658 shares I2C-0 |
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|
||||||
| IMU INT1 | 3 | Data-ready interrupt |
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|
||||||
| CH343 USB TX | 43 | UART0 TX (USB serial) |
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|
||||||
| CH343 USB RX | 44 | UART0 RX (USB serial) |
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|
||||||
|
|
||||||
### External Wiring (user-soldered, confirm with calipers/multimeter)
|
|
||||||
|
|
||||||
| Signal | GPIO | Notes |
|
|
||||||
|--------|------|-------|
|
|
||||||
| CAN TX | **TBD** | → SN65HVD230 D pin; use free header GPIO |
|
|
||||||
| CAN RX | **TBD** | ← SN65HVD230 R pin; use free header GPIO |
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|
||||||
| Inter-board UART TX | **TBD** | → ESP32-IO UART RX @ 460800 |
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|
||||||
| Inter-board UART RX | **TBD** | ← ESP32-IO UART TX @ 460800 |
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|
||||||
|
|
||||||
> ⚠️ **Verify GPIO assignments in `esp32/balance/src/config.h` before writing firmware.**
|
|
||||||
|
|
||||||
### QMI8658 Details
|
|
||||||
| Item | Value |
|
|
||||||
|------|-------|
|
|
||||||
| I2C address | 0x6A (SA0 pin low) or 0x6B (SA0 high) |
|
|
||||||
| Gyro full-scale | ±2048 °/s (configurable ±16/32/64/128/256/512/1024/2048) |
|
|
||||||
| Accel full-scale | ±16 g (configurable ±2/4/8/16) |
|
|
||||||
| Output data rate | Up to 7174.4 Hz |
|
|
||||||
| Interface | I2C or SPI (board routes I2C) |
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 3. ESP32-S3 IO Board
|
## ESP32-S3 IO
|
||||||
|
|
||||||
### Hardware
|
### Board
|
||||||
| Item | Detail |
|
Bare ESP32-S3 devkit (JTAG USB)
|
||||||
|------|--------|
|
|
||||||
| **Module** | ESP32-S3 bare dev board (JTAG USB) |
|
|
||||||
| **MCU** | ESP32-S3 (dual-core 240 MHz) |
|
|
||||||
| **USB** | Built-in USB-JTAG/Serial (no external bridge) |
|
|
||||||
|
|
||||||
### Role
|
### Pin Assignments
|
||||||
- All **physical I/O**: motors, RC, sensors, indicators, accessories
|
|
||||||
- TBS Crossfire primary RC (UART0)
|
|
||||||
- ELRS failover RC (UART2)
|
|
||||||
- BTS7960 half-bridge motor drivers (4-wheel PWM drive)
|
|
||||||
- NFC, barometer, ToF range sensors (I2C)
|
|
||||||
- WS2812B LED strip
|
|
||||||
- Horn, headlight, cooling fan, buzzer
|
|
||||||
|
|
||||||
### Pin Map
|
| Function | GPIO | Notes |
|
||||||
|
|----------|------|-------|
|
||||||
|
| **TBS Crossfire RC — UART0 (primary)** | | |
|
||||||
|
| RX | IO44 | CRSF frames from Crossfire RX |
|
||||||
|
| TX | IO43 | telemetry to Crossfire TX |
|
||||||
|
| **ELRS failover — UART2** | | active if CRSF absent >100 ms |
|
||||||
|
| RX | IO16 | |
|
||||||
|
| TX | IO17 | |
|
||||||
|
| **BTS7960 Motor Driver — Left** | | |
|
||||||
|
| RPWM | IO1 | forward PWM |
|
||||||
|
| LPWM | IO2 | reverse PWM |
|
||||||
|
| R_EN | IO3 | right enable |
|
||||||
|
| L_EN | IO4 | left enable |
|
||||||
|
| **BTS7960 Motor Driver — Right** | | |
|
||||||
|
| RPWM | IO5 | |
|
||||||
|
| LPWM | IO6 | |
|
||||||
|
| R_EN | IO7 | |
|
||||||
|
| L_EN | IO8 | |
|
||||||
|
| **I2C bus** | | |
|
||||||
|
| SDA | IO11 | |
|
||||||
|
| SCL | IO12 | |
|
||||||
|
| NFC (PN532 or similar) | I2C | |
|
||||||
|
| Barometer (BMP280/BMP388) | I2C | |
|
||||||
|
| ToF (VL53L0X/VL53L1X) | I2C | |
|
||||||
|
| **WS2812B LEDs** | | |
|
||||||
|
| Data | IO13 | |
|
||||||
|
| **Outputs** | | |
|
||||||
|
| Horn / buzzer | IO14 | PWM tone |
|
||||||
|
| Headlight | IO15 | PWM or digital |
|
||||||
|
| Fan | IO16 | (if ELRS not fitted on UART2) |
|
||||||
|
| **Inputs** | | |
|
||||||
|
| Arming button | IO9 | active-low, hold 3 s to arm |
|
||||||
|
| Kill switch sense | IO10 | hardware estop detect |
|
||||||
|
| **Inter-board UART (to BALANCE board)** | | 460800 baud |
|
||||||
|
| TX | IO18 | |
|
||||||
|
| RX | IO21 | |
|
||||||
|
|
||||||
| Signal | GPIO | Protocol | Notes |
|
### Responsibilities
|
||||||
|--------|------|----------|-------|
|
- Parse CRSF frames (TBS Crossfire, primary)
|
||||||
| **TBS Crossfire RX** UART TX | 43 | CRSF @ 420000 baud | Telemetry out to TBS TX module |
|
- Parse ELRS frames (failover, activates if no CRSF for >100 ms)
|
||||||
| **TBS Crossfire RX** UART RX | 44 | CRSF @ 420000 baud | UART0 — RC frames in |
|
- Drive BTS7960 left/right PWM motor drivers
|
||||||
| **ELRS failover** UART TX | **TBD** | CRSF @ 420000 baud | UART2 |
|
- Read NFC, barometer, ToF via I2C
|
||||||
| **ELRS failover** UART RX | **TBD** | CRSF @ 420000 baud | UART2 |
|
- Drive WS2812B LEDs (armed/fault/idle patterns)
|
||||||
| **Inter-board UART TX** | **TBD** | Binary @ 460800 | → BALANCE UART RX |
|
- Control horn, headlight, fan, buzzer
|
||||||
| **Inter-board UART RX** | **TBD** | Binary @ 460800 | ← BALANCE UART TX |
|
- Manage arming: hold button 3 s while upright → send ARM to BALANCE
|
||||||
| **BTS7960 — FL** RPWM | **TBD** | PWM | Front-left forward |
|
- Monitor kill switch input → immediate motor off + FAULT frame
|
||||||
| **BTS7960 — FL** LPWM | **TBD** | PWM | Front-left reverse |
|
- Forward RC + sensor data to BALANCE via binary UART protocol
|
||||||
| **BTS7960 — FL** R_EN | **TBD** | GPIO | Enable H |
|
- Report faults and RC-loss upstream
|
||||||
| **BTS7960 — FL** L_EN | **TBD** | GPIO | Enable H |
|
|
||||||
| **BTS7960 — FR** RPWM | **TBD** | PWM | Front-right forward |
|
|
||||||
| **BTS7960 — FR** LPWM | **TBD** | PWM | Front-right reverse |
|
|
||||||
| **BTS7960 — FR** R_EN | **TBD** | GPIO | Enable H |
|
|
||||||
| **BTS7960 — FR** L_EN | **TBD** | GPIO | Enable H |
|
|
||||||
| **BTS7960 — RL** RPWM | **TBD** | PWM | Rear-left forward |
|
|
||||||
| **BTS7960 — RL** LPWM | **TBD** | PWM | Rear-left reverse |
|
|
||||||
| **BTS7960 — RL** R_EN | **TBD** | GPIO | Enable H |
|
|
||||||
| **BTS7960 — RL** L_EN | **TBD** | GPIO | Enable H |
|
|
||||||
| **BTS7960 — RR** RPWM | **TBD** | PWM | Rear-right forward |
|
|
||||||
| **BTS7960 — RR** LPWM | **TBD** | PWM | Rear-right reverse |
|
|
||||||
| **BTS7960 — RR** R_EN | **TBD** | GPIO | Enable H |
|
|
||||||
| **BTS7960 — RR** L_EN | **TBD** | GPIO | Enable H |
|
|
||||||
| **I2C SDA** | **TBD** | I2C | NFC + baro + ToF shared bus |
|
|
||||||
| **I2C SCL** | **TBD** | I2C | NFC + baro + ToF shared bus |
|
|
||||||
| **WS2812B data** | **TBD** | RMT | LED strip |
|
|
||||||
| **Horn** | **TBD** | GPIO/PWM | MOSFET or relay |
|
|
||||||
| **Headlight** | **TBD** | GPIO/PWM | MOSFET |
|
|
||||||
| **Fan** | **TBD** | PWM | ESC/electronics cooling |
|
|
||||||
| **Buzzer** | **TBD** | GPIO/PWM | Piezo or active buzzer |
|
|
||||||
|
|
||||||
> ⚠️ **TBD pin assignments** — to be confirmed in `esp32/io/src/config.h` once wiring is set.
|
|
||||||
|
|
||||||
### I2C Peripherals
|
|
||||||
|
|
||||||
| Device | Address | Function |
|
|
||||||
|--------|---------|----------|
|
|
||||||
| NFC module | 0x24 (PN532) or 0x28 | NFC tag read/write |
|
|
||||||
| Barometer | 0x76 (BMP280/BMP388) | Altitude + temp |
|
|
||||||
| ToF range | 0x29 (VL53L0X) or 0x52 (VL53L4CD) | Proximity/obstacle |
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 4. Inter-Board UART Protocol (BALANCE ↔ IO)
|
## Inter-Board Binary Protocol (UART @ 460800 baud)
|
||||||
|
|
||||||
### Link Parameters
|
|
||||||
| Parameter | Value |
|
|
||||||
|-----------|-------|
|
|
||||||
| Baud rate | 460800 |
|
|
||||||
| Format | 8N1 |
|
|
||||||
| Direction | Full-duplex |
|
|
||||||
|
|
||||||
### Frame Format
|
|
||||||
|
|
||||||
```
|
```
|
||||||
Byte 0: 0xAA (start-of-frame magic)
|
[0xAA][LEN][TYPE][PAYLOAD × LEN bytes][CRC8]
|
||||||
Byte 1: LEN (payload length in bytes, uint8)
|
|
||||||
Byte 2: TYPE (message type, uint8)
|
|
||||||
Byte 3…N: PAYLOAD (LEN bytes)
|
|
||||||
Byte N+1: CRC8 (CRC-8/MAXIM over bytes 1..N)
|
|
||||||
```
|
```
|
||||||
|
- `0xAA` — start byte
|
||||||
|
- `LEN` — payload length in bytes (uint8)
|
||||||
|
- `TYPE` — message type (uint8)
|
||||||
|
- `CRC8` — CRC-8/MAXIM over TYPE + PAYLOAD bytes
|
||||||
|
|
||||||
### Message Types (draft — confirm in firmware)
|
### IO → BALANCE Messages
|
||||||
|
|
||||||
| Type | Direction | Payload | Description |
|
| TYPE | Name | Payload | Description |
|
||||||
|------|-----------|---------|-------------|
|
|------|------|---------|-------------|
|
||||||
| 0x01 | IO → BAL | `[ch1:u16][ch2:u16]…[ch16:u16][flags:u8]` | RC channels (16× uint16, 1000–2000 µs) + status flags |
|
| 0x01 | RC_CMD | int16 throttle, int16 steer, uint8 flags | flags: bit0=armed, bit1=kill |
|
||||||
| 0x02 | IO → BAL | `[sensor_id:u8][value:f32]` | Sensor reading (ToF, baro, etc.) |
|
| 0x02 | SENSOR | uint16 tof_mm, int16 baro_delta_pa, uint8 nfc_present | |
|
||||||
| 0x03 | IO → BAL | `[nfc_uid:u8×7][len:u8]` | NFC tag detected |
|
| 0x03 | FAULT | uint8 fault_flags | bit0=rc_loss, bit1=motor_fault, bit2=estop |
|
||||||
| 0x10 | BAL → IO | `[leds:u8][horn:u8][light:u8][fan:u8][buzz:u8]` | Actuator commands |
|
|
||||||
| 0x11 | BAL → IO | `[state:u8][pitch:f32][speed:f32]` | Status for LED animations |
|
|
||||||
| 0xFF | both | `[uptime_ms:u32]` | Heartbeat (watchdog reset) |
|
|
||||||
|
|
||||||
> Frame types are **draft** — refer to `esp32/shared/protocol.h` for authoritative definitions.
|
### BALANCE → IO Messages
|
||||||
|
|
||||||
### CRC-8 Polynomial
|
| TYPE | Name | Payload | Description |
|
||||||
```
|
|------|------|---------|-------------|
|
||||||
Poly: 0x31 (CRC-8/MAXIM, also called CRC-8/1-Wire)
|
| 0x10 | STATE | int16 pitch_x100, int16 pid_out, uint8 error_state | |
|
||||||
Init: 0x00
|
| 0x11 | LED_CMD | uint8 pattern, uint8 r, uint8 g, uint8 b | |
|
||||||
RefIn/RefOut: true
|
| 0x12 | BUZZER | uint8 tone_id, uint16 duration_ms | |
|
||||||
XorOut: 0x00
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 5. CAN Bus
|
## CAN Bus — 500 kbps
|
||||||
|
|
||||||
### Bus Parameters
|
### Node Assignments
|
||||||
| Parameter | Value |
|
|
||||||
|-----------|-------|
|
|
||||||
| Bit rate | 500 kbps |
|
|
||||||
| Topology | Single bus; all nodes share CANH/CANL + GND |
|
|
||||||
| Termination | 120 Ω at each end of the bus |
|
|
||||||
| Orin interface | CANable 2.0 USB↔CAN → `/dev/canable0` (or `can0` after `ip link`) |
|
|
||||||
|
|
||||||
### Node Addresses
|
| Node | CAN ID | Role |
|
||||||
|
|------|--------|------|
|
||||||
|
| VESC Left motor | **68** | Receives speed/duty via VESC CAN protocol |
|
||||||
|
| VESC Right motor | **56** | Receives speed/duty via VESC CAN protocol |
|
||||||
|
| ESP32-S3 BALANCE | — | Sends VESC commands; publishes telemetry |
|
||||||
|
| Jetson Orin (CANable2) | — | Sends velocity commands; receives telemetry |
|
||||||
|
|
||||||
| Node | CAN ID / Role |
|
### Frame Table
|
||||||
|------|--------------|
|
|
||||||
| VESC left motor | ID **68** (0x44) — FSESC 6.7 Pro Mini Dual, left channel |
|
|
||||||
| VESC right motor | ID **56** (0x38) — FSESC 6.7 Pro Mini Dual, right channel |
|
|
||||||
| ESP32-S3 BALANCE | transmits telemetry 0x400–0x401; receives Orin cmds 0x300–0x303 |
|
|
||||||
| Orin (CANable2) | transmits cmds 0x300–0x303; receives telemetry 0x400–0x401 |
|
|
||||||
|
|
||||||
### Orin → Robot Command Frames (0x300–0x303)
|
| CAN ID | Direction | Description | Rate |
|
||||||
|
|--------|-----------|-------------|------|
|
||||||
| CAN ID | DLC | Payload | Description |
|
| 0x300 | Orin → BALANCE | Velocity cmd: int16 speed_mmps, int16 steer_mrad | 20 Hz |
|
||||||
|--------|-----|---------|-------------|
|
| 0x301 | Orin → BALANCE | PID tuning: float Kp, float Ki, float Kd (3×4B IEEE-754) | on demand |
|
||||||
| **0x300** | 8 | `[speed:i16][steer:i16][mode:u8][flags:u8][_:u16]` | Drive command (speed/steer ±1000, mode byte) |
|
| 0x302 | Orin → BALANCE | Mode: uint8 (0=off, 1=balance, 2=manual, 3=estop) | on demand |
|
||||||
| **0x301** | 1 | `[arm:u8]` | Arm/disarm (0x01 = arm, 0x00 = disarm) |
|
| 0x303 | Orin → BALANCE | Config: uint16 tilt_limit_x100, uint16 max_speed_mmps | on demand |
|
||||||
| **0x302** | 8 | `[kp:f16][ki:f16][kd:f16][_:u16]` | PID update (half-float) |
|
| 0x400 | BALANCE → Orin | Telemetry A: int16 pitch_x100, int16 pid_out, int16 speed_mmps, uint8 state | 10 Hz |
|
||||||
| **0x303** | 1 | `[0xE5]` | Emergency stop (magic byte, cuts all motors) |
|
| 0x401 | BALANCE → Orin | Telemetry B: int16 vesc_l_rpm, int16 vesc_r_rpm, uint16 battery_mv, uint8 faults | 10 Hz |
|
||||||
|
|
||||||
### Robot → Orin Telemetry Frames (0x400–0x401)
|
|
||||||
|
|
||||||
| CAN ID | DLC | Payload | Description |
|
|
||||||
|--------|-----|---------|-------------|
|
|
||||||
| **0x400** | 8 | `[pitch:f16][speed:f16][yaw_rate:f16][state:u8][flags:u8]` | Attitude + drive state |
|
|
||||||
| **0x401** | 4 | `[vbat:u16][fault_code:u8][rssi:i8]` | Battery voltage (mV), fault, RC RSSI |
|
|
||||||
|
|
||||||
### VESC Native CAN (standard VESC protocol)
|
|
||||||
|
|
||||||
ESP32-S3 BALANCE sends VESC commands using the standard VESC CAN protocol:
|
|
||||||
|
|
||||||
| Frame type | CAN ID formula | Notes |
|
|
||||||
|------------|---------------|-------|
|
|
||||||
| SET_DUTY | `(0x00 << 8) | VESC_ID` | Duty cycle −1.0..+1.0 × 100000 |
|
|
||||||
| SET_CURRENT | `(0x01 << 8) | VESC_ID` | Current in mA |
|
|
||||||
| SET_RPM | `(0x03 << 8) | VESC_ID` | Electrical RPM |
|
|
||||||
| SET_CURRENT_BRAKE | `(0x02 << 8) | VESC_ID` | Braking current in mA |
|
|
||||||
| STATUS_1 | `(0x09 << 8) | VESC_ID` | ERPMs + current + duty (rx) |
|
|
||||||
| STATUS_4 | `(0x10 << 8) | VESC_ID` | Temp + input voltage + input current (rx) |
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 6. RC Channel Mapping
|
## RC Channel Mapping (TBS Crossfire / ELRS CRSF)
|
||||||
|
|
||||||
### Primary: TBS Crossfire (UART0 on ESP32-IO, CRSF @ 420000 baud)
|
| CH | Function | Range (µs) | Notes |
|
||||||
|
|----|----------|------------|-------|
|
||||||
|
| 1 | Steer (Roll) | 988–2012 | ±100% → ±max steer |
|
||||||
|
| 2 | Throttle (Pitch) | 988–2012 | forward / back speed |
|
||||||
|
| 3 | Spare | 988–2012 | |
|
||||||
|
| 4 | Spare | 988–2012 | |
|
||||||
|
| 5 | ARM switch | <1500=disarm, >1500=arm | SB on TX |
|
||||||
|
| 6 | **ESTOP** | <1500=normal, >1500=kill | SC on TX — checked first every loop |
|
||||||
|
| 7 | Speed limit | 988–2012 | maps to 10–100% speed cap |
|
||||||
|
| 8 | Spare | | |
|
||||||
|
|
||||||
| Channel | Function | Range | Notes |
|
**RC loss:** No valid CRSF frame >100 ms → IO sends FAULT(rc_loss) → BALANCE cuts motors.
|
||||||
|---------|----------|-------|-------|
|
|
||||||
| CH1 | Roll / Steer | 1000–2000 µs | Left stick X (mode 2) |
|
|
||||||
| CH2 | Pitch / Speed | 1000–2000 µs | Left stick Y |
|
|
||||||
| CH3 | Throttle | 1000–2000 µs | Right stick Y |
|
|
||||||
| CH4 | Yaw | 1000–2000 µs | Right stick X |
|
|
||||||
| CH5 | Arm | 1000 / 2000 µs | 2-pos switch — <1200=DISARM, >1800=ARM |
|
|
||||||
| CH6 | Drive mode | 1000/1500/2000 µs | 3-pos: RC / Assisted / Autonomous |
|
|
||||||
| CH7 | Speed limit | 1000–2000 µs | Analog knob, scales max speed |
|
|
||||||
| CH8 | Aux / Horn | 1000 / 2000 µs | Momentary for horn; held = klaxon |
|
|
||||||
|
|
||||||
### Failover: ELRS (UART2 on ESP32-IO, CRSF @ 420000 baud)
|
|
||||||
Same channel mapping as TBS Crossfire. IO board switches to ELRS automatically if Crossfire link lost for > 300 ms.
|
|
||||||
|
|
||||||
### Failsafe
|
|
||||||
- **RC lost > 300 ms**: motors stop, DISARM state, wait for link restoration
|
|
||||||
- **Arm switch** must be cycled to DISARM→ARM to re-arm after failsafe
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 7. Serial Commands (Orin → ESP32-S3 BALANCE via CAN 0x300)
|
## Safety Invariants
|
||||||
|
|
||||||
All high-level commands from the Orin go over CAN. The BALANCE board also accepts direct USB-serial commands on its CH343 port for bench debugging:
|
1. **Motors NEVER spin on power-on** — 3 s button hold required while upright
|
||||||
|
2. **Tilt cutoff ±25°** — immediate motor zero, manual re-arm required
|
||||||
|
3. **IWDG 50 ms** — firmware hang → motors cut
|
||||||
|
4. **ESTOP RC channel** checked first in every loop iteration
|
||||||
|
5. **Orin CAN timeout 500 ms** → revert to RC-only mode
|
||||||
|
6. **Speed hard cap** — start at 10%, increase in 10% increments only after stable tethered testing
|
||||||
|
7. **Never untethered** until stable for 5+ continuous minutes tethered
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## USB Debug Commands (both boards, serial console)
|
||||||
|
|
||||||
```
|
```
|
||||||
# Arm / disarm
|
help list commands
|
||||||
ARM
|
status print pitch, PID state, CAN stats, UART stats
|
||||||
DISARM
|
pid <Kp> <Ki> <Kd> set PID gains
|
||||||
|
arm arm (if upright and safe)
|
||||||
# Set drive (speed -1000..1000, steer -1000..1000)
|
disarm disarm immediately
|
||||||
DRIVE <speed> <steer>
|
estop emergency stop (requires re-arm)
|
||||||
|
tilt_limit <deg> set tilt cutoff angle (default 25)
|
||||||
# Set mode
|
speed_limit <pct> set speed cap percentage (default 10)
|
||||||
MODE RC # full RC passthrough
|
can_stats CAN bus counters (tx/rx/errors/busoff)
|
||||||
MODE ASSISTED # Orin sends velocity, BALANCE does stability
|
uart_stats inter-board UART frame counters
|
||||||
MODE AUTO # full autonomous (Orin CAN commands only)
|
reboot soft reboot
|
||||||
|
|
||||||
# PID update
|
|
||||||
PID <kp> <ki> <kd>
|
|
||||||
|
|
||||||
# Emergency stop (same as CAN 0x303)
|
|
||||||
ESTOP
|
|
||||||
|
|
||||||
# Status query
|
|
||||||
STATUS # returns JSON telemetry line
|
|
||||||
|
|
||||||
# IMU calibration
|
|
||||||
IMU CAL
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 8. System Wiring Diagram
|
|
||||||
|
|
||||||
```
|
|
||||||
┌──────────────────────────────────────────────────────────┐
|
|
||||||
│ JETSON ORIN NANO SUPER │
|
|
||||||
│ (Top plate, 25W) │
|
|
||||||
│ │
|
|
||||||
│ USB-A ─── CANable 2.0 USB↔CAN (can0, 500 kbps) │
|
|
||||||
│ USB-A ─── RealSense D435i (USB 3.1) │
|
|
||||||
│ USB-A ─── RPLIDAR A1M8 (CP2102, 115200) │
|
|
||||||
│ USB-C ─── SIM7600A 4G/LTE modem │
|
|
||||||
│ CSI-A ─── 2× IMX219 cameras │
|
|
||||||
│ CSI-B ─── 2× IMX219 cameras │
|
|
||||||
│ 40-pin ── ReSpeaker 2-Mic HAT │
|
|
||||||
└──────────────────────┬───────────────────────────────────┘
|
|
||||||
│ USB-A
|
|
||||||
│ CANable 2.0
|
|
||||||
│ 500 kbps CAN
|
|
||||||
┌────────────────────────────────┴──────────────────────────────────┐
|
|
||||||
│ CAN BUS (CANH / CANL) │
|
|
||||||
│ 120Ω ───┤ (all nodes) ├─── 120Ω │
|
|
||||||
└───┬──────────────────────────┬───────────────────┬────────────────┘
|
|
||||||
│ │ │
|
|
||||||
▼ ▼ ▼
|
|
||||||
┌─────────────────────┐ ┌─────────────────────┐ (CAN ID 56/68)
|
|
||||||
│ ESP32-S3 BALANCE │ │ VESC left (ID 68)│ VESC right (ID 56)
|
|
||||||
│ Waveshare LCD 1.28 │ │ FSESC 6.7 Pro Mini│
|
|
||||||
│ │ │ Dual │
|
|
||||||
│ QMI8658 IMU (I2C) │ └────────┬────────────┘
|
|
||||||
│ SN65HVD230 (CAN) │ │ Phase wires
|
|
||||||
│ CH343 USB (debug) │ ┌─────┴────────────────┐
|
|
||||||
│ │ │ Hub motors (4×) │
|
|
||||||
│ UART ─────────────────┐ │ FL / FR / RL / RR │
|
|
||||||
└─────────────────────┘ │ └──────────────────────┘
|
|
||||||
↑ 460800 baud binary │
|
|
||||||
↓ inter-board protocol │
|
|
||||||
┌─────────────────────────┘
|
|
||||||
│ ESP32-S3 IO (bare board)
|
|
||||||
│ JTAG USB (debug)
|
|
||||||
│
|
|
||||||
│ UART0 ── TBS Crossfire RX (CRSF, 420000)
|
|
||||||
│ UART2 ── ELRS receiver (CRSF failover, 420000)
|
|
||||||
│ PWM ──── 4× BTS7960 motor drivers
|
|
||||||
│ I2C ──── NFC + Baro + ToF sensors
|
|
||||||
│ GPIO ─── WS2812B LEDs
|
|
||||||
│ GPIO ─── Horn / Headlight / Fan / Buzzer
|
|
||||||
└─────────────────────────────────────────────
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 9. Power Architecture
|
|
||||||
|
|
||||||
```
|
|
||||||
36V BATTERY
|
|
||||||
│
|
|
||||||
├── VESCs (36V direct) ──── 4× Hub motors
|
|
||||||
│
|
|
||||||
├── BTS7960 boards (36V → motor logic 5V via onboard reg)
|
|
||||||
│
|
|
||||||
├── DC-DC 12V ──── Fan / Headlight / Accessories
|
|
||||||
│
|
|
||||||
└── DC-DC 5V ─┬── Jetson Orin (USB-C PD or barrel)
|
|
||||||
├── ESP32-S3 BALANCE (USB 5V or VIN)
|
|
||||||
├── ESP32-S3 IO (USB 5V or VIN)
|
|
||||||
├── TBS Crossfire RX (5V)
|
|
||||||
├── ELRS RX (5V)
|
|
||||||
├── WS2812B strip (5V)
|
|
||||||
├── RPLIDAR A1M8 (5V via USB)
|
|
||||||
└── Sensors / NFC / ToF / Baro (3.3V LDO from ESP32)
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 10. Device Nodes (Orin)
|
|
||||||
|
|
||||||
| Device | Node | Notes |
|
|
||||||
|--------|------|-------|
|
|
||||||
| CANable 2.0 | `can0` | `ip link set can0 up type can bitrate 500000` |
|
|
||||||
| RealSense D435i | `/dev/bus/usb/...` | realsense-ros driver |
|
|
||||||
| RPLIDAR A1M8 | `/dev/rplidar` | udev symlink from ttyUSB* |
|
|
||||||
| SIM7600A 4G | `/dev/ttyUSB0–2` | AT, PPP, GNSS NMEA |
|
|
||||||
| IMX219 cameras | `/dev/video0,2,4,6` | CSI-A: 0/2, CSI-B: 4/6 |
|
|
||||||
| ESP32-S3 BAL debug | `/dev/ttyACM0` or `/dev/esp32-balance` | CH343 CDC |
|
|
||||||
| ESP32-S3 IO debug | `/dev/ttyACM1` or `/dev/esp32-io` | JTAG/CDC |
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 11. Safety Systems
|
|
||||||
|
|
||||||
| System | Trigger | Action |
|
|
||||||
|--------|---------|--------|
|
|
||||||
| **HW kill switch** | Big red button (NC inline with 36V) | Cuts all power instantly |
|
|
||||||
| **Tilt cutoff** | `|pitch| > 25°` | Motors off → DISARM, manual re-arm required |
|
|
||||||
| **RC failsafe** | No RC frame > 300 ms | Motors off → DISARM |
|
|
||||||
| **CAN watchdog** | No Orin heartbeat > 500 ms | Drop to RC-only mode |
|
|
||||||
| **ESTOP CAN** | CAN frame 0x303 (magic 0xE5) | Immediate motor off, DISARM |
|
|
||||||
| **ESTOP inter-board** | Type 0xFF heartbeat missing > 200 ms | IO board stops BTS7960 enables |
|
|
||||||
| **Startup arming** | Cold power-on | Motors NEVER spin; need deliberate ARM |
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 12. Firmware Repository Layout
|
|
||||||
|
|
||||||
```
|
|
||||||
esp32/
|
|
||||||
├── balance/ — ESP32-S3 BALANCE firmware (PlatformIO)
|
|
||||||
│ ├── src/
|
|
||||||
│ │ ├── main.cpp
|
|
||||||
│ │ ├── config.h ← GPIO assignments live here
|
|
||||||
│ │ ├── imu_qmi8658.cpp/.h
|
|
||||||
│ │ ├── can_vesc.cpp/.h
|
|
||||||
│ │ └── protocol.cpp/.h
|
|
||||||
│ └── platformio.ini
|
|
||||||
├── io/ — ESP32-S3 IO firmware (PlatformIO)
|
|
||||||
│ ├── src/
|
|
||||||
│ │ ├── main.cpp
|
|
||||||
│ │ ├── config.h ← GPIO assignments live here
|
|
||||||
│ │ ├── rc_crsf.cpp/.h
|
|
||||||
│ │ ├── motor_bts7960.cpp/.h
|
|
||||||
│ │ └── protocol.cpp/.h
|
|
||||||
│ └── platformio.ini
|
|
||||||
└── shared/
|
|
||||||
└── protocol.h — inter-board frame types (authoritative)
|
|
||||||
|
|
||||||
src/ — LEGACY STM32 firmware (ARCHIVED — do not extend)
|
|
||||||
include/ — LEGACY STM32 headers (ARCHIVED — do not extend)
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 13. Open Questions / TBDs
|
|
||||||
|
|
||||||
| Item | Owner | Status |
|
|
||||||
|------|-------|--------|
|
|
||||||
| GPIO assignments for CAN TX/RX on BALANCE board | sl-firmware | **TBD** |
|
|
||||||
| GPIO assignments for IO board (all external pins) | sl-firmware | **TBD** |
|
|
||||||
| Inter-board protocol message type table (finalized) | sl-firmware | **TBD** |
|
|
||||||
| BTS7960 wiring — 4WD vs 2WD mode (all 4 or front 2 only) | max | **TBD** |
|
|
||||||
| UWB ESP-NOW receiver — BALANCE or IO board? | sl-uwb + max | **TBD** |
|
|
||||||
| VESC CAN IDs confirmed (68/56 left/right) | max | ✅ Confirmed |
|
|
||||||
| Robot dimensions 870×510×550 mm, 23 kg | max | ✅ Confirmed |
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
_Last updated: 2026-04-04. Contact max or hal on MQTT for corrections._
|
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user