sl-webui
308be74330
Spec source: docs/SAUL-TEE-SYSTEM-REFERENCE.md (hal, 2026-04-04) stm32_protocol.py — rewritten for inter-board UART protocol (ESP32 BALANCE ↔ IO): - Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8] @ 460800 baud (was STX/ETX/CRC16) - CRC-8 poly 0x07 over LEN+TYPE+PAYLOAD - New message types: RC_CHANNELS(0x01), SENSORS(0x02), LED_CMD(0x10), OUTPUT_CMD(0x11), MOTOR_CMD(0x12), HEARTBEAT(0x20) mamba_protocol.py — updated CAN IDs and frame formats: - Orin→BALANCE: DRIVE(0x300) f32×2 LE, MODE(0x301), ESTOP(0x302), LED(0x303) - BALANCE→Orin: FC_STATUS(0x400) pitch/vbat/state, FC_VESC(0x401) rpm/current - VESC node IDs: Left=56, Right=68 (authoritative per §8) - VESC extended frames: STATUS1(cmd=9), STATUS4(cmd=16), STATUS5(cmd=27) - Replaced old MAMBA_CMD_*/MAMBA_TELEM_* constants can_bridge_node.py — updated to use new IDs: - ORIN_CMD_DRIVE/MODE/ESTOP replace MAMBA_CMD_VELOCITY/MODE/ESTOP - FC_STATUS handler: publishes pitch→/can/imu, vbat_mv→/can/battery - FC_VESC handler: publishes rpm/cur→/can/vesc/left|right/state - VESC STATUS1 extended frames decoded per node ID (56/68) - Removed PID CAN command (not in new spec) CLAUDE.md — updated with ESP32-S3 BALANCE/IO hardware summary + key protocols 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 | ESP32 (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, ESP32 BALANCE)
├── 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.