sl-mechanical a2c554c232 cleanup: remove all Mamba/F722S/STM32F722 refs — replace with ESP32-S3 BALANCE/IO

- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update
  SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs
- cad/: dimensions.scad FC params → ESP32-S3 BALANCE params
- chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/
  FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout
- CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC
- USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era)
- AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE)
- projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN
- jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge
- jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC
- jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py,
  stm32_cmd_node.py → esp32_cmd_node.py,
  mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated
- scripts/flash_firmware.py: DFU/STM32 → pio run -t upload
- src/ include/: ARCHIVED headers added (legacy code preserved)
- test/: ARCHIVED notices; STM32F722 comments marked LEGACY
- ui/diagnostics_panel.html: Board/STM32 → ESP32-S3

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-04 09:06:09 -04:00

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SAUL-TEE Wiring Reference

Authoritative reference: docs/SAUL-TEE-SYSTEM-REFERENCE.md

This document is a quick-access wiring summary. For pin assignments, CAN frame formats, RC channel mapping, and serial commands, see the full reference doc.

System Block 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 (front + left)            │
                    │  CSI-B ─── 2× IMX219 cameras (rear + right)            │
                    │  40-pin ── ReSpeaker 2-Mic HAT                          │
                    └──────────────────────┬───────────────────────────────────┘
                                           │ USB-A → CANable 2.0
                                           │ can0, 500 kbps
          ┌────────────────────────────────┴──────────────────────────────────┐
          │                    CAN BUS  (CANH / CANL / GND)                   │
          │              120 Ω ─┤                     ├─ 120 Ω               │
          └───────────┬──────────────────────────────────────────┬────────────┘
                      │                                          │
          ┌───────────┴────────────┐              ┌─────────────┴──────────┐
          │  ESP32-S3 BALANCE      │              │  VESC left  (ID 68)    │
          │  Waveshare Touch LCD   │              │  VESC right (ID 56)    │
          │  1.28 — CH343 USB      │              │  FSESC 6.7 Pro Mini    │
          │                        │              │  Dual                  │
          │  QMI8658 IMU (I2C)     │              └──────┬─────────────────┘
          │  SN65HVD230 (CAN)      │                     │ Phase wires
          │                        │            ┌────────┴─────────────┐
          │  UART ──────────────┐  │            │  Hub motors (4×)     │
          └────────────────────────┘            │  FL / FR / RL / RR   │
            ↕ 460800 baud binary │              └──────────────────────┘
              inter-board proto  │
          ┌───────────────────────┘
          │  ESP32-S3 IO (bare board)
          │  JTAG USB
          │
          │  UART0 ── TBS Crossfire RX (CRSF @ 420000)
          │  UART2 ── ELRS receiver (CRSF failover @ 420000)
          │  PWM ──── 4× BTS7960 H-bridge motor drivers
          │  I2C ──── NFC + Barometer + ToF (shared bus)
          │  RMT ──── WS2812B LED strip
          │  GPIO ─── Horn / Headlight / Fan / Buzzer
          └──────────────────────────────────────────────

Wire-by-Wire Connections

1. Orin ↔ CAN Bus (via CANable 2.0)

From	To	Notes
Orin USB-A	CANable 2.0 USB	`/dev/canable0` → `can0`
CANable CANH	CAN bus CANH	Twisted pair
CANable CANL	CAN bus CANL	Twisted pair
CANable GND	CAN GND	Common

Setup: ip link set can0 up type can bitrate 500000

2. ESP32-S3 BALANCE ↔ CAN Bus

Signal	GPIO	CAN bus
CAN TX	TBD	→ SN65HVD230 D pin
CAN RX	TBD	← SN65HVD230 R pin

TBD pins — confirm in esp32/balance/src/config.h

3. ESP32-S3 BALANCE ↔ ESP32-S3 IO (Inter-Board UART)

Signal	BALANCE GPIO	IO GPIO	Baud
TX	TBD	TBD (RX)	460800
RX	TBD (RX)	TBD (TX)	460800
GND	GND	GND	—

Frame: [0xAA][LEN][TYPE][PAYLOAD…][CRC8] — see esp32/shared/protocol.h

4. ESP32-S3 IO ↔ TBS Crossfire RX (UART0)

IO GPIO	Signal	Crossfire pin	Notes
GPIO43	TX	RX	CRSF telemetry to TX module
GPIO44	RX	TX	CRSF RC frames in
GND	GND	GND
5V	—	VCC	Power from 5V bus

Baud: 420000 (CRSF). Failsafe: disarm after 300 ms without frame.

5. ESP32-S3 IO ↔ ELRS Receiver (UART2, failover)

IO GPIO	Signal	ELRS pin
TBD	TX	RX
TBD	RX	TX
GND	GND	GND
5V	—	VCC

Baud: 420000 (CRSF). Activates automatically if Crossfire link lost >300 ms.

6. ESP32-S3 IO ↔ BTS7960 Motor Drivers (4×)

TBD GPIO assignments — see esp32/io/src/config.h.

Signal	Per-driver	Notes
RPWM	GPIO TBD	Forward PWM
LPWM	GPIO TBD	Reverse PWM
R_EN	GPIO TBD	Enable H
L_EN	GPIO TBD	Enable H
Motor+ / Motor−	Hub motor	36V via B+ / B− on BTS7960

7. ESP32-S3 IO I2C Sensors

Device	I2C Address	Notes
NFC (PN532)	0x24	NFC tag read/write
Barometer (BMP280/388)	0x76	Altitude + temp
ToF range (VL53L0X)	0x29	Proximity/obstacle

SDA / SCL GPIOs TBD — confirm in esp32/io/src/config.h

8. Power Distribution

36V BATTERY
  │
  ├── VESC left  (36V) ─── Front-left + Rear-left hub motors
  ├── VESC right (36V) ─── Front-right + Rear-right hub motors
  ├── BTS7960 boards (B+/B−) — 36V motor power
  │
  ├── DC-DC 12V ──── Fan / Headlight / Accessories
  │
  └── DC-DC 5V ─┬── Jetson Orin (USB-C PD)
                 ├── ESP32-S3 BALANCE (USB 5V)
                 ├── ESP32-S3 IO (USB 5V)
                 ├── TBS Crossfire RX (5V)
                 ├── ELRS RX (5V)
                 ├── WS2812B strip (5V)
                 ├── RPLIDAR A1M8 (5V via USB)
                 └── Sensors (3.3V from ESP32-IO LDO)

Orin USB Peripherals

Device	Interface	Node
CANable 2.0	USB-A	`can0` (after `ip link set can0 up type can bitrate 500000`)
RealSense D435i	USB 3.1	`/dev/bus/usb/...`
RPLIDAR A1M8	USB-UART	`/dev/rplidar`
SIM7600A 4G	USB	`/dev/ttyUSB0–2`
ESP32-S3 BALANCE debug	USB-A (CH343)	`/dev/esp32-balance`
ESP32-S3 IO debug	USB-A (JTAG/CDC)	`/dev/esp32-io`

ReSpeaker 2-Mic HAT (Orin 40-pin)

Orin Pin	Signal	Function
Pin 12 (GPIO 18)	I2S BCLK	Audio bit clock
Pin 35 (GPIO 19)	I2S LRCLK	Audio left/right clock
Pin 38 (GPIO 20)	I2S DIN	Audio data in (from mics)
Pin 40 (GPIO 21)	I2S DOUT	Audio data out (to speaker)
Pin 3 (GPIO 2)	I2C SDA	WM8960 codec (i2c-7)
Pin 5 (GPIO 3)	I2C SCL	WM8960 codec (i2c-7)
Pin 2, 4	5V	Power
Pin 6, 9	GND	Ground

Codec: Wolfson WM8960 (0x1A). Use: voice commands, wake word, audio feedback.

SIM7600A 4G/LTE HAT (Orin USB)

Connection	Detail
Interface	USB (micro-B on HAT → USB-A on Orin)
Device nodes	`/dev/ttyUSB0` (AT), `/dev/ttyUSB1` (PPP/data), `/dev/ttyUSB2` (GPS NMEA)
Power	5V from USB (peak 2A during TX)
SIM	Nano-SIM slot

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