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>
66 lines
1.8 KiB
Markdown
66 lines
1.8 KiB
Markdown
# Jetson Orin Nano Super — AI/SLAM Platform Setup
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Self-balancing robot: Jetson Orin Nano Super dev environment for ROS2 Humble + SLAM stack.
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## Stack
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| Component | Version / Part |
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|-----------|---------------|
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| Platform | Jetson Orin Nano Super 4GB |
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| JetPack | 4.6 (L4T R32.6.1, CUDA 10.2) |
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| ROS2 | Humble Hawksbill |
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| DDS | CycloneDDS |
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| SLAM | slam_toolbox |
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| Nav | Nav2 |
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| Depth camera | Intel RealSense D435i |
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| LiDAR | RPLIDAR A1M8 |
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| MCU bridge | ESP32-S3 (USB Serial (CH343) @ 921600) |
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## Quick Start
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```bash
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# 1. Host setup (once, on fresh JetPack 4.6)
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sudo bash scripts/setup-jetson.sh
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# 2. Build Docker image
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bash scripts/build-and-run.sh build
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# 3. Start full stack
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bash scripts/build-and-run.sh up
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# 4. Open ROS2 shell
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bash scripts/build-and-run.sh shell
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```
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## Docs
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- [`docs/pinout.md`](docs/pinout.md) — GPIO/I2C/UART pinout for all peripherals
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- [`docs/power-budget.md`](docs/power-budget.md) — 10W power envelope analysis
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## Files
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```
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jetson/
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├── Dockerfile # L4T base + ROS2 Humble + SLAM packages
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├── docker-compose.yml # Multi-service stack (ROS2, RPLIDAR, D435i, ESP32-S3)
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├── README.md # This file
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├── docs/
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│ ├── pinout.md # GPIO/I2C/UART pinout reference
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│ └── power-budget.md # Power budget analysis (10W envelope)
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└── scripts/
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├── entrypoint.sh # Docker container entrypoint
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├── setup-jetson.sh # Host setup (udev, Docker, nvpmodel)
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└── build-and-run.sh # Build/run helper
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```
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## Power Budget (Summary)
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| Scenario | Total |
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|---------|-------|
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| Idle | 2.9W |
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| Nominal (SLAM active) | ~10.2W |
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| Peak | 15.4W |
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Target: 10W (MAXN nvpmodel). Use RPLIDAR standby + 640p D435i for compliance.
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See [`docs/power-budget.md`](docs/power-budget.md) for full analysis.
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