sl-firmware
19a30a1c4f
Implement Ziegler-Nichols relay feedback auto-tuning with flash persistence: Firmware (STM32F722): - pid_flash.c/h: erase+write Kp/Ki/Kd to flash sector 7 (0x0807FFC0), magic-validated; load on boot to restore saved tune - jlink.h: add JLINK_CMD_PID_SAVE (0x0A) and JLINK_TLM_PID_RESULT (0x83) with jlink_tlm_pid_result_t struct and pid_save_req flag in JLinkState - jlink.c: dispatch JLINK_CMD_PID_SAVE -> pid_save_req; add jlink_send_pid_result() to confirm flash write outcome over USART1 - main.c: load saved PID from flash after balance_init(); handle pid_save_req in main loop (disarmed-only, erase stalls CPU ~1s) Jetson ROS2 (saltybot_pid_autotune): - pid_autotune_node.py: add Ki to Ziegler-Nichols formula (ZN PID: Kp=0.6Ku, Ki=1.2Ku/Tu, Kd=0.075KuTu); add JLink serial client that sends JLINK_CMD_PID_SET + JLINK_CMD_PID_SAVE after tuning completes - autotune_config.yaml: add jlink_serial_port and jlink_baud_rate params Trigger: ros2 service call /saltybot/autotune_pid std_srvs/srv/Trigger Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Jetson Nano — AI/SLAM Platform Setup
Self-balancing robot: Jetson Nano dev environment for ROS2 Humble + SLAM stack.
Stack
| Component | Version / Part |
|---|---|
| Platform | Jetson Nano 4GB |
| JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
| ROS2 | Humble Hawksbill |
| DDS | CycloneDDS |
| SLAM | slam_toolbox |
| Nav | Nav2 |
| Depth camera | Intel RealSense D435i |
| LiDAR | RPLIDAR A1M8 |
| MCU bridge | STM32F722 (USB CDC @ 921600) |
Quick Start
# 1. Host setup (once, on fresh JetPack 4.6)
sudo bash scripts/setup-jetson.sh
# 2. Build Docker image
bash scripts/build-and-run.sh build
# 3. Start full stack
bash scripts/build-and-run.sh up
# 4. Open ROS2 shell
bash scripts/build-and-run.sh shell
Docs
docs/pinout.md— GPIO/I2C/UART pinout for all peripheralsdocs/power-budget.md— 10W power envelope analysis
Files
jetson/
├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, STM32)
├── README.md # This file
├── docs/
│ ├── pinout.md # GPIO/I2C/UART pinout reference
│ └── power-budget.md # Power budget analysis (10W envelope)
└── scripts/
├── entrypoint.sh # Docker container entrypoint
├── setup-jetson.sh # Host setup (udev, Docker, nvpmodel)
└── build-and-run.sh # Build/run helper
Power Budget (Summary)
| Scenario | Total |
|---|---|
| Idle | 2.9W |
| Nominal (SLAM active) | ~10.2W |
| Peak | 15.4W |
Target: 10W (MAXN nvpmodel). Use RPLIDAR standby + 640p D435i for compliance.
See docs/power-budget.md for full analysis.