sl-firmware
291dd689f8
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>
263 lines
13 KiB
Markdown
263 lines
13 KiB
Markdown
# SaltyLab Wiring Diagram
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## System Overview
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```
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┌─────────────────────────────────────────────────────────────────────┐
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│ ORIN NANO SUPER │
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│ (Top Plate — 25W) │
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│ │
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│ USB-C ──── ESP32-S3 CDC (/dev/esp32-bridge, 921600 baud) │
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│ USB-A1 ─── RealSense D435i (USB 3.1) │
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│ USB-A2 ─── RPLIDAR A1M8 (via CP2102 adapter, 115200) │
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│ USB-C* ─── SIM7600A 4G/LTE modem (ttyUSB0-2, AT cmds + PPP) │
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│ USB ─────── Leap Motion Controller (hand/gesture tracking) │
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│ CSI-A ──── ArduCam adapter → 2× IMX219 (front + left) │
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│ CSI-B ──── ArduCam adapter → 2× IMX219 (rear + right) │
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│ M.2 ───── 1TB NVMe SSD │
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│ 40-pin ─── ReSpeaker 2-Mic HAT (I2S + I2C, WM8960 codec) │
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│ Pin 8 ──┐ │
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│ Pin 10 ─┤ UART fallback to FC (ttyTHS0, 921600) │
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│ Pin 6 ──┘ GND │
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│ │
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└─────────────────────────────────────────────────────────────────────┘
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│ USB-C (data only) │ UART fallback (3 wires)
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│ 921600 baud │ 921600 baud, 3.3V
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▼ ▼
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┌─────────────────────────────────────────────────────────────────────┐
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│ ESP32-S3 BALANCE (FC) │
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│ (Middle Plate — foam mounted) │
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│ │
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│ USB-C ──── Orin (CDC serial, primary link) │
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│ │
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│ USART2 (PA2=TX, PA3=RX) ──── Hoverboard ESC (26400 baud) │
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│ UART4 (PA0=TX, PA1=RX) ──── ELRS RX (CRSF, 420000 baud) │
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│ USART6 (PC6=TX, PC7=RX) ──── Orin UART fallback │
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│ UART5 (PC12=TX, PD2=RX) ─── Debug (optional) │
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│ │
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│ SPI1 ─── MPU6000 IMU (on-board, CW270) │
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│ I2C1 ─── BMP280 baro (on-board, disabled) │
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│ ADC ──── Battery voltage (PC1) + Current (PC3) │
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│ PB3 ──── WS2812B LED strip │
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│ PB2 ──── Buzzer │
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│ │
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└─────────────────────────────────────────────────────────────────────┘
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│ USART2 │ UART4
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│ PA2=TX → ESC RX │ PA0=TX → ELRS TX
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│ PA3=RX ← ESC TX │ PA1=RX ← ELRS RX
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│ GND ─── GND │ GND ─── GND
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▼ ▼
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┌────────────────────────┐ ┌──────────────────────────┐
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│ HOVERBOARD ESC │ │ ELRS 2.4GHz RX │
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│ (Bottom Plate) │ │ (beside FC) │
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│ │ │ │
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│ 2× BLDC hub motors │ │ CRSF protocol │
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│ 26400 baud UART │ │ 420000 baud │
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│ Frame: [0xABCD] │ │ BetaFPV 1W TX → RX │
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│ [steer][speed][csum] │ │ CH3=speed CH4=steer │
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│ │ │ CH5=arm CH6=mode │
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└────────────────────────┘ └──────────────────────────┘
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│
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┌────┴────┐
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▼ ▼
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🛞 LEFT RIGHT 🛞
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MOTOR MOTOR
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## Wire-by-Wire Connections
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### 1. Orin ↔ FC (Primary: USB Serial (CH343))
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| From | To | Wire Color | Notes |
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|------|----|-----------|-------|
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| Orin USB-C port | FC USB-C port | USB cable | Data only, FC powered from 5V bus |
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- Device: `/dev/ttyACM0` → symlink `/dev/esp32-bridge`
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- Baud: 921600, 8N1
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- Protocol: JSON telemetry (FC→Orin), ASCII commands (Orin→FC)
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### 2. Orin ↔ FC (Fallback: Hardware UART)
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| Orin Pin | Signal | FC Pin | FC Signal |
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|----------|--------|--------|-----------|
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| Pin 8 | TXD0 | PC7 | USART6 RX |
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| Pin 10 | RXD0 | PC6 | USART6 TX |
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| Pin 6 | GND | GND | GND |
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- Jetson device: `/dev/ttyTHS0`
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- Baud: 921600, 8N1
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- Voltage: 3.3V both sides (no level shifter needed)
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- **Cross-connect:** Orin TX → FC RX, Orin RX ← FC TX
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### 3. FC ↔ Hoverboard ESC
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| FC Pin | Signal | ESC Pin | Notes |
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|--------|--------|---------|-------|
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| PA2 | USART2 TX | RX | FC sends speed/steer commands |
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| PA3 | USART2 RX | TX | ESC sends feedback (optional) |
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| GND | GND | GND | Common ground |
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- Baud: 26400, 8N1
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- Protocol: Binary frame — `[0xABCD][steer:int16][speed:int16][checksum:uint16]`
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- Speed range: -1000 to +1000
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- **Keep wires short and twisted** (EMI from ESC)
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### 4. FC ↔ ELRS Receiver
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| FC Pin | Signal | ELRS Pin | Notes |
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|--------|--------|----------|-------|
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| PA0 | UART4 TX | RX | Telemetry to TX (optional) |
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| PA1 | UART4 RX | TX | CRSF frames from RX |
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| GND | GND | GND | Common ground |
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| 5V | — | VCC | Power ELRS from 5V bus |
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- Baud: 420000 (CRSF protocol)
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- Failsafe: disarm after 300ms without frame
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### 5. Power Distribution
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```
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BATTERY (36V) ──┬── Hoverboard ESC (36V direct)
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│
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├── 5V BEC/regulator ──┬── Orin (USB-C PD or barrel jack)
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│ ├── FC (via USB or 5V pad)
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│ ├── ELRS RX (5V)
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│ ├── WS2812B LEDs (5V)
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│ └── RPLIDAR (5V via USB)
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│
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└── Battery monitor ──── FC ADC (PC1=voltage, PC3=current)
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```
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### 6. Sensors on Orin (USB/CSI)
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| Device | Interface | Orin Port | Device Node |
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|--------|-----------|-----------|-------------|
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| RealSense D435i | USB 3.1 | USB-A (blue) | `/dev/bus/usb/...` |
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| RPLIDAR A1M8 | USB-UART | USB-A | `/dev/rplidar` |
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| IMX219 front+left | MIPI CSI-2 | CSI-A (J5) | `/dev/video0,2` |
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| IMX219 rear+right | MIPI CSI-2 | CSI-B (J8) | `/dev/video4,6` |
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| 1TB NVMe | PCIe Gen3 ×4 | M.2 Key M | `/dev/nvme0n1` |
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## FC UART Summary (ESP32-S3 BALANCE)
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| UART | Pins | Baud | Assignment | Notes |
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|------|------|------|------------|-------|
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| USART1 | PB6=TX, PB7=RX | — | SmartAudio/VTX | Unused in SaltyLab |
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| USART2 | PA2=TX, PA3=RX | 26400 | Hoverboard ESC | Binary motor commands |
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| USART3 | PB10=TX, PB11=RX | — | Available | Was SBUS default |
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| UART4 | PA0=TX, PA1=RX | 420000 | ELRS RX (CRSF) | RC control |
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| UART5 | PC12=TX, PD2=RX | 115200 | Debug serial | Optional |
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| USART6 | PC6=TX, PC7=RX | 921600 | Jetson UART | Fallback link |
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| USB Serial (CH343) | USB-C | 921600 | Jetson primary | `/dev/esp32-bridge` |
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### 7. ReSpeaker 2-Mic HAT (on Orin 40-pin header)
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| Orin Pin | Signal | Function |
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|----------|--------|----------|
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| Pin 12 (GPIO 18) | I2S BCLK | Audio bit clock |
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| Pin 35 (GPIO 19) | I2S LRCLK | Audio left/right clock |
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| Pin 38 (GPIO 20) | I2S DIN | Audio data in (from mics) |
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| Pin 40 (GPIO 21) | I2S DOUT | Audio data out (to speaker) |
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| Pin 3 (GPIO 2) | I2C SDA | WM8960 codec control (i2c-7) |
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| Pin 5 (GPIO 3) | I2C SCL | WM8960 codec control (i2c-7) |
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| Pin 32 (GPIO 12) | GPIO | Button input |
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| Pin 11 (GPIO 17) | GPIO | RGB LED (APA102 data) |
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| Pin 2, 4 | 5V | Power |
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| Pin 6, 9 | GND | Ground |
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- **Codec:** Wolfson WM8960 (I2C addr 0x1A)
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- **Mics:** 2× MEMS (left + right) — basic stereo / sound localization
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- **Speaker:** 3W class-D amp output (JST connector)
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- **Headset:** 3.5mm TRRS jack
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- **Requires:** WM8960 device tree overlay for Jetson (community port)
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- **Use:** Voice commands (faster-whisper), wake word (openWakeWord), audio feedback, status announcements
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### 8. SIM7600A 4G/LTE HAT (via USB)
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| Connection | Detail |
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|-----------|--------|
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| Interface | USB (micro-B on HAT → USB-A/C on Orin) |
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| Device nodes | `/dev/ttyUSB0` (AT), `/dev/ttyUSB1` (PPP/data), `/dev/ttyUSB2` (GPS NMEA) |
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| Power | 5V from USB or separate 5V supply (peak 2A during TX) |
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| SIM | Nano-SIM slot on HAT |
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| Antenna | 4G LTE + GPS/GNSS (external SMA antennas — mount high on chassis) |
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- **Data:** PPP or QMI for internet connectivity
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- **GPS/GNSS:** Built-in receiver, NMEA sentences on ttyUSB2 — outdoor positioning
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- **AT commands:** `AT+CGPS=1` (enable GPS), `AT+CGPSINFO` (get fix)
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- **Connected via USB** (not 40-pin) — avoids UART conflict with FC fallback, flexible antenna placement
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- **Use:** Remote telemetry, 4G connectivity outdoors, GPS positioning, remote SSH/control
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### 10. Leap Motion Controller (USB)
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| Connection | Detail |
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|-----------|--------|
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| Interface | USB 3.0 (micro-B on controller → USB-A on Orin) |
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| Power | ~0.5W |
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| Range | ~80cm, 150° FOV |
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| SDK | Ultraleap Gemini V5+ (Linux ARM64 support) |
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| ROS2 | `leap_motion_ros2` wrapper available |
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- **2× IR cameras + 3× IR LEDs** — tracks all 10 fingers in 3D, sub-mm precision
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- **Mount:** Forward-facing on sensor tower or upward on Orin plate
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- **Use:** Gesture control (palm=stop, point=go, fist=arm), hand-following mode, demos
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- **Combined with ReSpeaker:** Voice + gesture control with zero hardware in hand
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### 11. Power Budget (USB)
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| Device | Interface | Power Draw |
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|--------|-----------|------------|
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| ESP32-S3 FC (CDC) | USB-C | ~0.5W (data only, FC on 5V bus) |
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| RealSense D435i | USB-A | ~1.5W (3.5W peak) |
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| RPLIDAR A1M8 | USB-A | ~2.6W (motor on) |
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| SIM7600A | USB | ~1W idle, 3W TX peak |
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| Leap Motion | USB | ~0.5W |
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| ReSpeaker HAT | 40-pin | ~0.5W |
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| **Total USB** | | **~6.5W typical, ~10.5W peak** |
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Orin Nano Super delivers up to 25W — USB peripherals are well within budget.
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---
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## Data Flow
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```
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┌──────────────┐
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│ ELRS TX │ (in your hand)
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│ (2.4GHz) │
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└──────┬───────┘
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│ radio
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┌──────▼───────┐
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│ ELRS RX │ CRSF 420kbaud
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└──────┬───────┘
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│ UART4
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┌────────────▼────────────┐
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│ ESP32-S3 BALANCE │
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│ │
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│ MPU6000 → Balance PID │
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│ CRSF → Mode Manager │
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│ Safety Monitor │
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│ │
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└──┬──────────┬───────────┘
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USART2 ─────┘ └───── USB Serial (CH343) / USART6
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26400 baud 921600 baud
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│ │
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▼ ▼
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┌────────────────┐ ┌───────────────────┐
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│ Hoverboard ESC │ │ Orin Nano Super │
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│ │ │ │
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│ L motor R motor│ │ SLAM / Nav2 / AI │
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│ 🛞 🛞 │ │ Person following │
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└────────────────┘ │ Voice commands │
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│ 4G telemetry │
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└──┬──────────┬───────┘
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│ │
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┌──────────▼─┐ ┌────▼──────────┐
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│ ReSpeaker │ │ SIM7600A │
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│ 2-Mic HAT │ │ 4G/LTE + GPS │
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│ 🎤 🔊 │ │ 📡 🛰️ │
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└────────────┘ └───────────────┘
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```
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