9.6 KiB
9.6 KiB
SaltyLab Wiring Diagram
System Overview
┌─────────────────────────────────────────────────────────────────────┐
│ ORIN NANO SUPER │
│ (Top Plate — 25W) │
│ │
│ USB-C ──── STM32 CDC (/dev/stm32-bridge, 921600 baud) │
│ USB-A1 ─── RealSense D435i (USB 3.1) │
│ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │
│ CSI-A ──── ArduCam adapter → 2× IMX219 (front + left) │
│ CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right) │
│ M.2 ───── 1TB NVMe SSD │
│ Pin 8 ──┐ │
│ Pin 10 ─┤ UART fallback to FC (ttyTHS0, 921600) │
│ Pin 6 ──┘ GND │
│ │
└─────────────────────────────────────────────────────────────────────┘
│ USB-C (data only) │ UART fallback (3 wires)
│ 921600 baud │ 921600 baud, 3.3V
▼ ▼
┌─────────────────────────────────────────────────────────────────────┐
│ MAMBA F722S (FC) │
│ (Middle Plate — foam mounted) │
│ │
│ USB-C ──── Orin (CDC serial, primary link) │
│ │
│ USART2 (PA2=TX, PA3=RX) ──── Hoverboard ESC (26400 baud) │
│ UART4 (PA0=TX, PA1=RX) ──── ELRS RX (CRSF, 420000 baud) │
│ USART6 (PC6=TX, PC7=RX) ──── Orin UART fallback │
│ UART5 (PC12=TX, PD2=RX) ─── Debug (optional) │
│ │
│ SPI1 ─── MPU6000 IMU (on-board, CW270) │
│ I2C1 ─── BMP280 baro (on-board, disabled) │
│ ADC ──── Battery voltage (PC1) + Current (PC3) │
│ PB3 ──── WS2812B LED strip │
│ PB2 ──── Buzzer │
│ │
└─────────────────────────────────────────────────────────────────────┘
│ USART2 │ UART4
│ PA2=TX → ESC RX │ PA0=TX → ELRS TX
│ PA3=RX ← ESC TX │ PA1=RX ← ELRS RX
│ GND ─── GND │ GND ─── GND
▼ ▼
┌────────────────────────┐ ┌──────────────────────────┐
│ HOVERBOARD ESC │ │ ELRS 2.4GHz RX │
│ (Bottom Plate) │ │ (beside FC) │
│ │ │ │
│ 2× BLDC hub motors │ │ CRSF protocol │
│ 26400 baud UART │ │ 420000 baud │
│ Frame: [0xABCD] │ │ BetaFPV 1W TX → RX │
│ [steer][speed][csum] │ │ CH3=speed CH4=steer │
│ │ │ CH5=arm CH6=mode │
└────────────────────────┘ └──────────────────────────┘
│
┌────┴────┐
▼ ▼
🛞 LEFT RIGHT 🛞
MOTOR MOTOR
## Wire-by-Wire Connections
### 1. Orin ↔ FC (Primary: USB CDC)
| From | To | Wire Color | Notes |
|------|----|-----------|-------|
| Orin USB-C port | FC USB-C port | USB cable | Data only, FC powered from 5V bus |
- Device: `/dev/ttyACM0` → symlink `/dev/stm32-bridge`
- Baud: 921600, 8N1
- Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)
### 2. Orin ↔ FC (Fallback: Hardware UART)
| Orin Pin | Signal | FC Pin | FC Signal |
|----------|--------|--------|-----------|
| Pin 8 | TXD0 | PC7 | USART6 RX |
| Pin 10 | RXD0 | PC6 | USART6 TX |
| Pin 6 | GND | GND | GND |
- Jetson device: `/dev/ttyTHS0`
- Baud: 921600, 8N1
- Voltage: 3.3V both sides (no level shifter needed)
- **Cross-connect:** Orin TX → FC RX, Orin RX ← FC TX
### 3. FC ↔ Hoverboard ESC
| FC Pin | Signal | ESC Pin | Notes |
|--------|--------|---------|-------|
| PA2 | USART2 TX | RX | FC sends speed/steer commands |
| PA3 | USART2 RX | TX | ESC sends feedback (optional) |
| GND | GND | GND | Common ground |
- Baud: 26400, 8N1
- Protocol: Binary frame — `[0xABCD][steer:int16][speed:int16][checksum:uint16]`
- Speed range: -1000 to +1000
- **Keep wires short and twisted** (EMI from ESC)
### 4. FC ↔ ELRS Receiver
| FC Pin | Signal | ELRS Pin | Notes |
|--------|--------|----------|-------|
| PA0 | UART4 TX | RX | Telemetry to TX (optional) |
| PA1 | UART4 RX | TX | CRSF frames from RX |
| GND | GND | GND | Common ground |
| 5V | — | VCC | Power ELRS from 5V bus |
- Baud: 420000 (CRSF protocol)
- Failsafe: disarm after 300ms without frame
### 5. Power Distribution
BATTERY (36V) ──┬── Hoverboard ESC (36V direct) │ ├── 5V BEC/regulator ──┬── Orin (USB-C PD or barrel jack) │ ├── FC (via USB or 5V pad) │ ├── ELRS RX (5V) │ ├── WS2812B LEDs (5V) │ └── RPLIDAR (5V via USB) │ └── Battery monitor ──── FC ADC (PC1=voltage, PC3=current)
### 6. Sensors on Orin (USB/CSI)
| Device | Interface | Orin Port | Device Node |
|--------|-----------|-----------|-------------|
| RealSense D435i | USB 3.1 | USB-A (blue) | `/dev/bus/usb/...` |
| RPLIDAR A1M8 | USB-UART | USB-A | `/dev/rplidar` |
| IMX219 front+left | MIPI CSI-2 | CSI-A (J5) | `/dev/video0,2` |
| IMX219 rear+right | MIPI CSI-2 | CSI-B (J8) | `/dev/video4,6` |
| 1TB NVMe | PCIe Gen3 ×4 | M.2 Key M | `/dev/nvme0n1` |
## FC UART Summary (MAMBA F722S)
| UART | Pins | Baud | Assignment | Notes |
|------|------|------|------------|-------|
| USART1 | PB6=TX, PB7=RX | — | SmartAudio/VTX | Unused in SaltyLab |
| USART2 | PA2=TX, PA3=RX | 26400 | Hoverboard ESC | Binary motor commands |
| USART3 | PB10=TX, PB11=RX | — | Available | Was SBUS default |
| 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` |
## Data Flow
┌──────────────┐
│ ELRS TX │ (in your hand)
│ (2.4GHz) │
└──────┬───────┘
│ radio
┌──────▼───────┐
│ ELRS RX │ CRSF 420kbaud
└──────┬───────┘
│ UART4
┌────────────▼────────────┐
│ MAMBA F722S │
│ │
│ MPU6000 → Balance PID │
│ CRSF → Mode Manager │
│ Safety Monitor │
│ │
└──┬──────────┬───────────┘
USART2 ─────┘ └───── USB CDC / USART6
26400 baud 921600 baud
│ │
▼ ▼
┌────────────────┐ ┌───────────────────┐ │ Hoverboard ESC │ │ Orin Nano Super │ │ │ │ │ │ L motor R motor│ │ SLAM / Nav2 / AI │ │ 🛞 🛞 │ │ Person following │ └────────────────┘ │ cmd_vel → FC │ └───────────────────┘