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>
79 lines
2.7 KiB
Markdown
79 lines
2.7 KiB
Markdown
# SaltyLab — Ideal Team
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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 (BALANCE + IO) + Jetson Orin. See `docs/SAUL-TEE-SYSTEM-REFERENCE.md`.
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## Current Status
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- **Hardware:** ESP32-S3 BALANCE (Waveshare Touch LCD 1.28, CH343 USB) + ESP32-S3 IO (bare devkit, JTAG USB)
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- **Firmware:** ESP-IDF/PlatformIO target; legacy `src/` STM32 HAL archived
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- **Comms:** UART 460800 baud inter-board; CANable2 USB→CAN for Orin; CAN 500 kbps to VESCs (L:68 / R:56)
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---
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## Roles Needed
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### 1. Embedded Firmware Engineer (Lead)
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**Must-have:**
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- Deep ESP32 (Arduino/ESP-IDF) or STM32 HAL experience
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- USB OTG FS / CDC ACM debugging (TxState, endpoint management, DMA conflicts)
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- SPI + UART + USB coexistence on ESP32
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- PlatformIO or bare-metal ESP32 toolchain
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- DFU bootloader implementation
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**Nice-to-have:**
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- Betaflight/iNav/ArduPilot codebase familiarity
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- PID control loop tuning for balance robots
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- FOC motor control (hoverboard ESC protocol)
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**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.
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### 2. Control Systems / Robotics Engineer
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**Must-have:**
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- PID tuning for inverted pendulum / self-balancing systems
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- Complementary filter / Kalman filter for IMU sensor fusion
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- Real-time control loop design (1kHz+)
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- Safety system design (tilt cutoff, watchdog, arming sequences)
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**Nice-to-have:**
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- Hoverboard hub motor experience
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- ELRS/CRSF RC protocol
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- ROS2 integration
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**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.
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### 3. Perception / SLAM Engineer (Phase 2)
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**Must-have:**
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- Jetson Nano / NVIDIA Jetson platform
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- Intel RealSense D435i depth camera
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- RPLIDAR integration
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- SLAM (ORB-SLAM3, RTAB-Map, or similar)
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- ROS2
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**Nice-to-have:**
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- Person tracking / following
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- Obstacle avoidance
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- Nav2 stack
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**Why:** Phase 2 goal is autonomous navigation. Jetson Nano with RealSense + RPLIDAR for indoor mapping and person following.
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---
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## Hardware Reference
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| Component | Details |
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|-----------|---------|
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| FC | ESP32 BALANCE (ESP32RET6, MPU6000) |
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| Motors | 2x 8" pneumatic hoverboard hub motors |
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| ESC | Hoverboard ESC (EFeru FOC firmware) |
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| Battery | 36V pack |
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| RC | BetaFPV ELRS 2.4GHz TX + RX |
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| AI Brain | Jetson Nano + Noctua fan |
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| Depth | Intel RealSense D435i |
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| LIDAR | RPLIDAR A1M8 |
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| Spare IMUs | BNO055, MPU6050 |
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## Repo
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- Gitea: https://gitea.vayrette.com/seb/saltylab-firmware
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- Design doc: `projects/saltybot/SALTYLAB.md`
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- Bug doc: `USB_CDC_BUG.md`
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