sl-firmware 5ef1f7e365 docs: full SAUL-TEE ESP32-S3 spec — pins, CAN, UART, RC mapping

Complete hardware reference from hal@Orin spec (2026-04-04):
- docs/SAUL-TEE-SYSTEM-REFERENCE.md: authoritative pin/protocol/CAN reference
  ESP32-S3 BALANCE: QMI8658 SPI(IO38-42), GC9A01 LCD, SN65HVD230 CAN(IO43/44),
  inter-board UART(IO17/18)
  ESP32-S3 IO: Crossfire UART0(IO43/44), ELRS UART2(IO16/17), BTS7960(IO1-8),
  I2C(IO11/12), WS2812(IO13), buzzer/headlight/fan, arming btn, kill-sw, UART(IO18/21)
- Inter-board binary protocol: [0xAA][LEN][TYPE][PAYLOAD][CRC8] @ 460800 baud
- CAN: VESC L=68, R=56; Orin cmds 0x300-0x303; telemetry 0x400-0x401 @ 10Hz
- RC: CH5=ARM, CH6=ESTOP, CH7=speed-limit; CRSF loss >100ms = motors cut
- CLAUDE.md, TEAM.md, docs/AGENTS.md, docs/SALTYLAB.md updated with full spec

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-04-04 08:25:24 -04:00

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SaltyLab Firmware — Agent Playbook

Project

SAUL-TEE — 4-wheel wagon (870×510×550 mm, 23 kg). Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md

Board	Role
ESP32-S3 BALANCE	QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28)
ESP32-S3 IO	TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812
Jetson Orin	AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401

Legacy: src/ and include/ = archived STM32 HAL — do not extend. New firmware in esp32/.

Team

Agent	Role	Focus
sl-firmware	Embedded Firmware Lead	ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960
sl-controls	Control Systems Engineer	PID tuning, IMU fusion, balance loop, safety
sl-perception	Perception / SLAM Engineer	Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2

Status

USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).

Repo Structure

projects/saltybot/SALTYLAB.md — Design doc
USB_CDC_BUG.md — USB peripheral conflict details
TEAM.md — Team roles specification

Branch Strategy (issue #28)

Variant branches

Branch	Purpose
`saltylab`	Stable — SaltyLab 2-wheel balance bot (promoted from saltylab-dev)
`saltylab-dev`	Integration — SaltyLab balance bot; agents target this branch
`saltyrover`	Stable — 4-wheel rover variant
`saltyrover-dev`	Integration — rover variant
`saltytank`	Stable — tracked tank variant
`saltytank-dev`	Integration — tank variant
`main`	Shared code only (IMU drivers, USB CDC, balance core, safety)

Rules

Agents branch FROM <variant>-dev and PR back TO <variant>-dev
Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in main
Variant-specific code (motor topology, kinematics, config) goes in variant branches
Stable branches get promoted from -dev after review and hardware testing
Current SaltyLab team works against saltylab-dev

Git Workflow

Branch naming: <agent>/<slug> (e.g., sl-firmware/usb-cdc-fix)
For shared code targeting main: <agent>/bd-<id>-<slug>
Before every push: git fetch origin && git rebase origin/<base-branch>
Gitea: gitea.vayrette.com/seb/saltylab-firmware

Communication

Report progress to max via MQTT: AGENT_NAME=<agent> ~/agent-mqtt/agent-send max "<message>"
Check inbox: ~/agent-mqtt/agent-read 2>/dev/null | tail -15
Prioritize messages from max (PM)

Beads (Task System)

cd /Users/seb/AI/saltylab-firmware
br list                    # List open beads
br update <id> --claim     # Claim a bead
br close <id> --reason "Done. PR #N"
br comment <id> "message"

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