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saltylab-firmware/TEAM.md
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 — Ideal Team

Project

SAUL-TEE — 4-wheel wagon (870×510×550 mm, 23 kg). Two ESP32-S3 boards (BALANCE + IO) + Jetson Orin. See docs/SAUL-TEE-SYSTEM-REFERENCE.md.

Current Status

  • Hardware: ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
  • Firmware: ESP-IDF/PlatformIO target; legacy src/ STM32 HAL archived
  • Comms: UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)

Roles Needed

1. Embedded Firmware Engineer (Lead)

Must-have:

  • Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
  • USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
  • SPI + UART + USB coexistence on ESP32
  • PlatformIO or bare-metal ESP32 toolchain
  • DFU bootloader implementation

Nice-to-have:

  • Betaflight/iNav/ArduPilot codebase familiarity
  • PID control loop tuning for balance robots
  • FOC motor control (hoverboard ESC protocol)

Why: The immediate blocker is a USB peripheral conflict. Need someone who's debugged STM32 USB issues before — ESP32 firmware for the balance loop and I/O needs to be written from scratch.

2. Control Systems / Robotics Engineer

Must-have:

  • PID tuning for inverted pendulum / self-balancing systems
  • Complementary filter / Kalman filter for IMU sensor fusion
  • Real-time control loop design (1kHz+)
  • Safety system design (tilt cutoff, watchdog, arming sequences)

Nice-to-have:

  • Hoverboard hub motor experience
  • ELRS/CRSF RC protocol
  • ROS2 integration

Why: Once USB is fixed, the balance loop needs real-world tuning. PID gains, filter coefficients, motor response curves, safety margins — all need someone with hands-on balance bot experience.

3. Perception / SLAM Engineer (Phase 2)

Must-have:

  • Jetson Nano / NVIDIA Jetson platform
  • Intel RealSense D435i depth camera
  • RPLIDAR integration
  • SLAM (ORB-SLAM3, RTAB-Map, or similar)
  • ROS2

Nice-to-have:

  • Person tracking / following
  • Obstacle avoidance
  • Nav2 stack

Why: Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.

Hardware Reference

Component Details
FC ESP32 BALANCE (ESP32RET6, MPU6000)
Motors 2x 8" pneumatic hoverboard hub motors
ESC Hoverboard ESC (EFeru FOC firmware)
Battery 36V pack
RC BetaFPV ELRS 2.4GHz TX + RX
AI Brain Jetson Nano + Noctua fan
Depth Intel RealSense D435i
LIDAR RPLIDAR A1M8
Spare IMUs BNO055, MPU6050

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