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>
sl-firmware
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