seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 2 Actions Packages Projects Releases Wiki Activity
saltylab-firmware/TEAM.md
sl-firmware fa75c442a7 feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only 
Archive STM32 firmware to legacy/stm32/:
- src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py
- test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c
- USB_CDC_BUG.md

Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol,
  stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params,
  stm32_cmd.launch.py → esp32_cmd.launch.py,
  test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node

Content cleanup across all files:
- Mamba F722S → ESP32-S3 BALANCE
- BlackPill → ESP32-S3 IO
- STM32F722/F7xx → ESP32-S3
- stm32Mode/Version/Port → esp32Mode/Version/Port
- STM32 State/Mode labels → ESP32 State/Mode
- Jetson Nano → Jetson Orin Nano Super
- /dev/stm32 → /dev/esp32
- stm32_bridge → esp32_bridge
- STM32 HAL → ESP-IDF

docs/SALTYLAB.md:
- Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28)
- Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md

TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF

No new functionality — cleanup only.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 09:00:38 -04:00

4.2 KiB
Raw Permalink Blame History

SaltyLab — Ideal Team

Project

<<<<<<< HEAD SAUL-TEE — 4-wheel wagon (870×510×550 mm, 23 kg). Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See docs/SAUL-TEE-SYSTEM-REFERENCE.md.

Current Status

  • Hardware: ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
  • Firmware: ESP-IDF/PlatformIO target; legacy src/ STM32 HAL archived
  • Comms: UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56) ======= Self-balancing two-wheeled robot using a drone ESP32-S3 BALANCE (ESP32-S3), hoverboard hub motors, and eventually a Jetson Orin Nano Super for AI/SLAM.

Current Status

  • Hardware: Assembled — FC, motors, ESC, IMU, battery, RC all on hand
  • Firmware: Balance PID + hoverboard ESC protocol written, but blocked by USB Serial (CH343) bug
  • Blocker: USB Serial (CH343) TX stops working when peripheral inits (SPI/UART/GPIO) are added alongside USB on ESP32-S3 — see legacy/stm32/USB_CDC_BUG.md for historical context

291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)

Roles Needed

1. Embedded Firmware Engineer (Lead)

Must-have: <<<<<<< HEAD

  • 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 ESP32
  • PlatformIO or bare-metal ESP32 toolchain
  • DFU bootloader implementation =======
  • Deep ESP-IDF experience (ESP32-S3 specifically)
  • USB Serial (CH343) / UART debugging on ESP32-S3
  • SPI + UART + USB coexistence on ESP32-S3
  • ESP-IDF / Arduino-ESP32 toolchain
  • OTA firmware update implementation

291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)

Nice-to-have:

  • ESP32-S3 peripheral coexistence (SPI + UART + USB)
  • PID control loop tuning for balance robots
  • FOC motor control (hoverboard ESC protocol)

<<<<<<< HEAD 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.

Why: The immediate blocker is a USB peripheral conflict on ESP32-S3. Need someone who's debugged ESP32-S3 USB Serial (CH343) issues before — this is not a software logic bug, it's a hardware peripheral interaction issue.

291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)

2. Control Systems / Robotics Engineer

Must-have:

  • PID tuning for inverted pendulum / self-balancing systems
  • Complementary filter / Kalman filter for IMU sensor fusion
  • Real-time control loop design (1kHz+)
  • Safety system design (tilt cutoff, watchdog, arming sequences)

Nice-to-have:

  • Hoverboard hub motor experience
  • ELRS/CRSF RC protocol
  • ROS2 integration

Why: Once USB is fixed, the balance loop needs real-world tuning. PID gains, filter coefficients, motor response curves, safety margins — all need someone with hands-on balance bot experience.

3. Perception / SLAM Engineer (Phase 2)

Must-have:

  • Jetson Orin Nano Super / NVIDIA Jetson platform
  • Intel RealSense D435i depth camera
  • RPLIDAR integration
  • SLAM (ORB-SLAM3, RTAB-Map, or similar)
  • ROS2

Nice-to-have:

  • Person tracking / following
  • Obstacle avoidance
  • Nav2 stack

Why: Phase 2 goal is autonomous navigation. Jetson Orin Nano Super with RealSense + RPLIDAR for indoor mapping and person following.

Hardware Reference

Component Details
<<<<<<< HEAD
FC ESP32 BALANCE (ESP32RET6, MPU6000)

======= | FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |

291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only) | Motors | 2x 8" pneumatic hoverboard hub motors | | ESC | Hoverboard ESC (EFeru FOC firmware) | | Battery | 36V pack | | RC | BetaFPV ELRS 2.4GHz TX + RX | | AI Brain | Jetson Orin Nano Super + Noctua fan | | Depth | Intel RealSense D435i | | LIDAR | RPLIDAR A1M8 | | Spare IMUs | BNO055, MPU6050 |

Repo