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Final pass after sl-firmware/cleanup-legacy-hw initial sweep: Deleted: - legacy/stm32/ (entire archive — all STM32 firmware, HAL stubs, tests, platformio.ini, USB_CDC lib — moved there by prior commit, now removed) - test/test_ota.py (STM32 JLink/DFU OTA tests — imports from deleted legacy/stm32/scripts/; irrelevant to ESP32 OTA mechanism) Updated: - docs/wiring-diagram.md: remove "Mamba F722S / STM32 retired" banner and obsolete STM32 UART pin table (PA2/PB6/etc.); replace with ESP32-S3 GPIO table per SAUL-TEE-SYSTEM-REFERENCE.md - docs/AGENTS.md: remove "archived STM32 HAL code" note - TEAM.md: remove legacy/stm32/USB_CDC_BUG.md references - serial_bridge_node.py: "stm32_serial_bridge" → "esp32_serial_bridge" Result: grep for mamba|f722|stm32f7|stm32f4|blackpill across all *.py *.cpp *.h *.c *.md *.yaml *.ini *.json returns zero hits (excluding docs/SAUL-TEE-SYSTEM-REFERENCE.md superseded-hw table). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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SaltyLab — Ideal Team
Project
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
Roles Needed
1. Embedded Firmware Engineer (Lead)
Must-have:
- 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 Nice-to-have:
- ESP32-S3 peripheral coexistence (SPI + UART + USB)
- PID control loop tuning for balance robots
- FOC motor control (hoverboard ESC protocol)
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.
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 |
|---|---|
| FC | ESP32-S3 BALANCE (ESP32-S3RET6, QMI8658) |
| 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
- Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
- Design doc:
projects/saltybot/SALTYLAB.md - Design doc:
docs/SAUL-TEE-SYSTEM-REFERENCE.md