sl-firmware
5ef1f7e365
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>
69 lines
2.8 KiB
Markdown
69 lines
2.8 KiB
Markdown
# SaltyLab Firmware — Agent Playbook
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## Project
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**SAUL-TEE** — 4-wheel wagon (870×510×550 mm, 23 kg).
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Two ESP32-S3 boards + Jetson Orin via CAN. Full spec: `docs/SAUL-TEE-SYSTEM-REFERENCE.md`
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| Board | Role |
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|-------|------|
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| **ESP32-S3 BALANCE** | QMI8658 IMU, PID balance, CAN→VESC (L:68 / R:56), GC9A01 LCD (Waveshare Touch LCD 1.28) |
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| **ESP32-S3 IO** | TBS Crossfire RC, ELRS failover, BTS7960 motors, NFC/baro/ToF, WS2812 |
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| **Jetson Orin** | AI/SLAM, CANable2 USB→CAN, cmds 0x300–0x303, telemetry 0x400–0x401 |
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> **Legacy:** `src/` and `include/` = archived STM32 HAL — do not extend. New firmware in `esp32/`.
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## Team
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| Agent | Role | Focus |
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|-------|------|-------|
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| **sl-firmware** | Embedded Firmware Lead | ESP32-S3, ESP-IDF, QMI8658, CAN/UART protocol, BTS7960 |
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| **sl-controls** | Control Systems Engineer | PID tuning, IMU fusion, balance loop, safety |
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| **sl-perception** | Perception / SLAM Engineer | Jetson Orin, RealSense D435i, RPLIDAR, ROS2, Nav2 |
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## Status
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USB CDC TX bug resolved (PR #10 — DCache MPU non-cacheable region + IWDG ordering fix).
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## Repo Structure
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- `projects/saltybot/SALTYLAB.md` — Design doc
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- `USB_CDC_BUG.md` — USB peripheral conflict details
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- `TEAM.md` — Team roles specification
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## Branch Strategy (issue #28)
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### Variant branches
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| Branch | Purpose |
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|--------|---------|
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| `saltylab` | Stable — SaltyLab 2-wheel balance bot (promoted from saltylab-dev) |
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| `saltylab-dev` | Integration — SaltyLab balance bot; agents target this branch |
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| `saltyrover` | Stable — 4-wheel rover variant |
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| `saltyrover-dev` | Integration — rover variant |
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| `saltytank` | Stable — tracked tank variant |
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| `saltytank-dev` | Integration — tank variant |
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| `main` | Shared code only (IMU drivers, USB CDC, balance core, safety) |
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### Rules
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- Agents branch FROM `<variant>-dev` and PR back TO `<variant>-dev`
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- Shared/infrastructure code (IMU drivers, USB CDC, balance core, safety) goes in `main`
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- Variant-specific code (motor topology, kinematics, config) goes in variant branches
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- Stable branches get promoted from `-dev` after review and hardware testing
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- **Current SaltyLab team** works against `saltylab-dev`
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### Git Workflow
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- Branch naming: `<agent>/<slug>` (e.g., `sl-firmware/usb-cdc-fix`)
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- For shared code targeting `main`: `<agent>/bd-<id>-<slug>`
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- Before every push: `git fetch origin && git rebase origin/<base-branch>`
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- Gitea: `gitea.vayrette.com/seb/saltylab-firmware`
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## Communication
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- Report progress to max via MQTT: `AGENT_NAME=<agent> ~/agent-mqtt/agent-send max "<message>"`
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- Check inbox: `~/agent-mqtt/agent-read 2>/dev/null | tail -15`
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- Prioritize messages from max (PM)
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## Beads (Task System)
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```bash
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cd /Users/seb/AI/saltylab-firmware
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br list # List open beads
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br update <id> --claim # Claim a bead
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br close <id> --reason "Done. PR #N"
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br comment <id> "message"
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```
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